Mobile x-ray photography system and control method, device, host and medium thereof

Abstract

Embodiments of the present application disclose a mobile X-ray photography system, a control method and device thereof, a host and a medium. The system comprises an X-ray photography body, the X-ray photography body comprising a pulley; the system further comprises: a bearing unit arranged on the X-ray photography body and configured to provide a bearing position; a control device arranged on the X-ray photography body and configured to detect a control parameter when the mobile X-ray photography system is in a driving mode; a motion control module arranged on the X-ray photography body and configured to generate a first motion control instruction based on the control parameter; a motor driver arranged on the X-ray photography body and configured to generate a first driving instruction based on the first motion control instruction; and a motor arranged on the X-ray photography body and configured to drive the pulley based on the first driving instruction. The mobile DR system can be accurately controlled without manual pushing.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, and in particular to mobile X-ray imaging systems and their control methods, devices, main units, and media. Background Technology

[0002] X-rays are electromagnetic radiation with wavelengths between ultraviolet and gamma rays. X-rays are penetrating, penetrating materials of varying densities to varying degrees. In medicine, X-rays are commonly used to project images of human organs and bones to create medical images.

[0003] A mobile digital radiography (DR) system is a medical device that combines digital imaging technology with portability, and is widely used in various scenarios such as radiology departments, operating rooms, and emergency rooms. For example, if a patient is lying in bed and unable to go to the examination room on their own, the technician can manually push the mobile DR system to the patient's bedside and perform the X-ray examination.

[0004] Mobile DR systems are quite heavy (e.g., approaching 500 kg), making them difficult to move. Manually pushing them is particularly challenging when long distances need to be covered. Furthermore, precise control of movement is difficult when manually pushing them. For example, unintended collisions may occur when navigating narrow doorways or sharp turns. Summary of the Invention

[0005] The present invention provides a mobile DR system and its control method, device, host and medium.

[0006] A mobile DR system includes an X-ray imaging body, the X-ray imaging body comprising pulleys; the mobile DR system further includes:

[0007] A support unit, arranged on the X-ray imaging body, is used to provide a support position;

[0008] A control device, mounted on the X-ray imaging body, is used to detect control parameters when the mobile DR system is in driving mode;

[0009] A motion control module, disposed on the X-ray imaging body, is used to generate a first motion control command based on the control parameters;

[0010] A motor driver, arranged on the X-ray imaging body, is used to generate a first drive command based on the first motion control command;

[0011] An electric motor, arranged on the X-ray imaging body, is used to drive the pulley based on the first drive command.

[0012] As can be seen, the mobile DR system has a support unit on its main body that can carry the user. In driving mode, the user on the support unit can precisely control the movement of the mobile DR system by operating the device via a motor-driven mechanism, eliminating the need for manual pushing. Moreover, the user on the support unit can move along with the main body, improving user comfort.

[0013] In one embodiment, the control device includes a handle;

[0014] The handle is used to detect the offset angle and offset amount of the handle being manipulated;

[0015] The motion control module is used to determine the motion direction based on the offset angle, determine the motion speed based on the offset amount, and generate a first motion control command that includes the motion direction and the motion speed.

[0016] Therefore, thanks to the convenient operation of the handle, the direction and speed of movement can be quickly adjusted. Furthermore, the handle's design is simple, ergonomic, and offers the advantage of easy and intuitive operation.

[0017] In one implementation, it includes:

[0018] A mode switching switch is arranged on the X-ray imaging body for switching between the driving mode and the power assist mode;

[0019] A pressure sensor, disposed on the X-ray imaging body, is used to detect the pressure pushing the X-ray imaging body when the mobile DR system is in the assist mode;

[0020] The motion control module is used to generate a second motion control command based on the pressure when the pressure is greater than or equal to a predetermined threshold.

[0021] The motor driver is used to generate a second drive command based on the second motion control command;

[0022] The motor is used to drive the pulley based on the second drive command.

[0023] As can be seen, the embodiments of the present invention also support a power-assisted mode. In power-assisted mode, the user, not in the load-bearing position, can push the X-ray imaging body with a slight thrust, assisted by the motor drive, achieving a labor-saving pushing method. In addition, a mode switch allows for convenient switching between driving mode and power-assisted mode.

[0024] In one embodiment, the pressure sensor includes a first pressure sensor and a second pressure sensor disposed on a push rod, the push rod being on the X-ray imaging body;

[0025] The motion control module is configured to determine the difference between the first pressure and the second pressure when the average value of the first pressure detected by the first pressure sensor and the second pressure detected by the second pressure sensor is greater than or equal to the predetermined threshold, determine the motion direction based on the difference, determine the motion speed based on the average value, and generate a second motion control command that includes the motion direction and the motion speed.

[0026] As can be seen, the assist mode can be achieved based on the first and second pressure sensors on the push rod.

[0027] In one embodiment, when the mobile DR system is in the power assist mode, the support unit is in a retracted state; when the mobile DR system is in the driving mode, the support unit is in an extended state.

[0028] Therefore, by expanding or contracting the load-bearing unit, it is possible to adapt to the corresponding requirements of different modes.

[0029] In one embodiment, the support unit includes a support plate, and the bottom of the X-ray imaging body includes a receiving cavity with a pull-out structure;

[0030] When the mobile DR system is in the power assist mode, the support plate is housed in the receiving cavity; when the mobile DR system is in the driving mode, the support plate extends outward from the receiving cavity via the pull-out structure.

[0031] It is evident that the coordinated operation of the receiving cavity and the pull-out structure facilitates the state transition of the load-bearing unit.

[0032] In one embodiment, the support unit includes a support plate, and the bottom of the X-ray imaging body includes at least one joint, with the support plate coupled to the at least one joint;

[0033] When the mobile DR system is in the assisted mode, the support plate is folded and close to the X-ray imaging body via the at least one joint; when the mobile DR system is in the driving mode, the support plate is unfolded and away from the X-ray imaging body via the at least one joint.

[0034] It is evident that the simple joint structure facilitates the state transition of the load-bearing unit.

[0035] In one implementation, it includes:

[0036] A position detection module, arranged on the X-ray imaging body, is used to detect the current position of the mobile DR system;

[0037] The mode switching switch is used to switch the mobile DR system to the power assist mode when the current location meets the predetermined environmental conditions, and to switch the mobile DR system to the driving mode when the current location does not meet the environmental conditions.

[0038] Therefore, by detecting location, a pattern that matches the location can be adaptively and automatically selected.

[0039] A control method for a mobile DR system, the mobile DR system including an X-ray imaging body, the X-ray imaging body including pulleys, the method comprising:

[0040] When the mobile DR system is in driving mode, control parameters are detected, wherein the support unit is arranged on the X-ray imaging body to provide a support position;

[0041] Based on the aforementioned control parameters, a first motion control command is generated;

[0042] Based on the first motion control command, a first drive command is generated;

[0043] The pulley is driven based on the first driving command.

[0044] As can be seen, the mobile DR system has a support unit on its main body that can carry the user. In driving mode, the user on the support unit can precisely control the movement of the mobile DR system by operating the device via a motor-driven mechanism, eliminating the need for manual pushing. Moreover, the user on the support unit can move along with the main body, improving user comfort.

[0045] In one implementation, it includes:

[0046] When the mobile DR system is in assisted mode, it detects the pressure pushing the X-ray imaging body, and the pressure sensor is arranged on the X-ray imaging body;

[0047] When the pressure is greater than or equal to a predetermined threshold, a second motion control command is generated based on the pressure.

[0048] Based on the second motion control command, a second drive command is generated;

[0049] The pulley is driven based on the second driving command.

[0050] As can be seen, the embodiments of the present invention also support a power-assisted mode. In power-assisted mode, the user, not in the load-bearing position, can push the X-ray imaging body with a slight thrust, assisted by the motor drive, achieving a labor-saving pushing method. In addition, a mode switch allows for convenient switching between driving mode and power-assisted mode.

[0051] In one implementation, the current location of the mobile DR system is detected;

[0052] When the current location meets the predetermined environmental conditions, the mobile DR system is switched to the power assist mode; when the current location does not meet the environmental conditions, the mobile DR system is switched to the driving mode.

[0053] Therefore, by detecting location, a pattern that matches the location can be adaptively and automatically selected.

[0054] A control device for a mobile DR system, the mobile DR system including an X-ray imaging body, the X-ray imaging body including pulleys, the device comprising:

[0055] The detection module is used to detect control parameters when the mobile DR system is in driving mode, wherein the support unit is arranged on the X-ray imaging body to provide a support position;

[0056] The first generation module is used to generate a first motion control command based on the control parameters;

[0057] The second generation module is used to generate a first drive instruction based on the first motion control instruction;

[0058] A drive module is used to drive the pulley based on the first drive command.

[0059] As can be seen, the mobile DR system has a support unit on its main body that can carry the user. In driving mode, the user on the support unit can precisely control the movement of the mobile DR system by operating the device via a motor-driven mechanism, eliminating the need for manual pushing. Moreover, the user on the support unit can move along with the main body, improving user comfort.

[0060] A control host for a mobile DR system, comprising a processor and a memory;

[0061] The memory stores an application program that can be executed by the processor, which enables the processor to execute the control method of the mobile DR system as described above.

[0062] A computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the control method of any of the mobile DR systems described above.

[0063] A computer program product includes a computer program that, when executed by a processor, implements the control method of any of the mobile DR systems described above. Attached Figure Description

[0064] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which will make the above and other features and advantages of the present invention more apparent to those skilled in the art. In the drawings:

[0065] Figure 1 This is an exemplary schematic diagram of a mobile X-ray imaging system according to an embodiment of the present invention.

[0066] Figure 2 This is an exemplary block diagram of a mobile X-ray imaging system according to an embodiment of the present invention.

[0067] Figure 3A This is an exemplary schematic diagram of the support plate in a folded state according to an embodiment of the present invention.

[0068] Figure 3B This is an exemplary schematic diagram of the support plate in an unfolded state according to an embodiment of the present invention.

[0069] Figure 4A This is an exemplary schematic diagram of a support plate concealed in a receiving cavity according to an embodiment of the present invention.

[0070] Figure 4B This is an exemplary schematic diagram of a support plate being pulled out of a receiving cavity according to an embodiment of the present invention.

[0071] Figure 5 This is an exemplary schematic diagram of a mobile X-ray imaging system in assisted mode according to an embodiment of the present invention.

[0072] Figure 6 This is an exemplary flowchart of a control method for a mobile X-ray imaging system according to an embodiment of the present invention.

[0073] Figure 7 This is an exemplary structural diagram of the control device for a mobile X-ray imaging system according to an embodiment of the present invention.

[0074] Figure 8 This is an exemplary structural diagram of the control host of a mobile X-ray imaging system according to an embodiment of the present invention.

[0075] The accompanying figure is labeled as follows:

[0076]

[0077]

[0078] Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this invention clearer, the following embodiments are provided to further illustrate the invention in detail. The nouns and pronouns referring to "person" in this patent application are not limited to specific genders.

[0080] For the sake of brevity and intuitiveness, the following description uses several representative embodiments to illustrate the solution of the present invention. Numerous details in the embodiments are only used to aid in understanding the solution of the present invention. However, it is obvious that the technical solution of the present invention can be implemented without being limited to these details. To avoid unnecessarily obscuring the solution of the present invention, some embodiments are not described in detail, but only a framework is given. In the following text, "comprising" means "including but not limited to," and "according to..." means "at least according to..., but not limited to only according to...". Due to Chinese language habits, unless the quantity of a component is specifically indicated below, it means that the component can be one or more, or can be understood as at least one.

[0081] Considering the numerous drawbacks of manually pushing a mobile DR system, such as operational difficulty and low motion precision, this invention proposes a mobile DR system with a driving mode. The mobile DR system body is equipped with a support unit (e.g., a support plate or seat, etc.) for carrying the user. In driving mode, the user on the support unit can operate the control devices on the body to precisely drive the casters, thus accurately controlling the movement of the mobile DR system without manual pushing. Furthermore, the user on the support unit moves along with the body, eliminating the need for walking and improving user comfort.

[0082] In one implementation, the mobile DR system can also support a assisted mode. In assisted mode, the pressure exerted by a user not on the support unit (e.g., a user standing on the ground and holding the main body) pushing the X-ray imaging body is detected. A second motion control command is generated based on the pressure, a second drive command is generated based on the second motion control command, and the pulley is driven based on the second drive command. In assisted mode, the user can easily push the main body with the assistance of a motor by applying a slight pushing force, achieving a labor-saving pushing method.

[0083] In addition, the mobile DR system of the present invention can freely switch between driving mode and power assist mode, making it convenient for users to select the appropriate mode according to their specific needs.

[0084] Figure 1 This is an exemplary schematic diagram of a mobile DR system according to an embodiment of the present invention. Figure 1 As shown, the mobile X-ray imaging system includes an X-ray imaging body 10. The bottom of the X-ray imaging body 10 includes pulleys 16.

[0085] The X-ray imaging body 10 (also known as the gantry) is the core support structure of a mobile DR system, and its design and function directly affect the flexibility, stability, and clinical application capabilities of the equipment. For example, the X-ray imaging body 10 of a mobile DR system can adopt a column-type or telescopic gantry structure.

[0086] In one embodiment, the X-ray imaging body 10 may include: (1) a column: used to fix and support other components, such as X-ray tube assembly or flat panel detector; (2) a cross arm: the cross arm is a component connecting the column and the X-ray tube assembly, which usually has the functions of forward and backward movement and up and down lifting, and can flexibly adjust the imaging position according to clinical needs; (3) a height-adjustable column: the height-adjustable column may have an electric lifting function, which can realize a wide range of height adjustment to adapt to different patient positions and imaging needs; (4) a rotation mechanism: the rotation mechanism can allow the X-ray tube assembly to rotate a wide range in the horizontal and vertical directions; (5) a beam limiter: the beam limiter is used to adjust and limit the size of the X-ray irradiation field to reduce the radiation dose to patients and medical staff; (6) a detector bracket: the detector bracket is used to fix the flat panel detector to ensure that it remains stable during imaging.

[0087] The above illustrative description of the specific structure of the X-ray imaging body 10 will be appreciated by those skilled in the art as such description is merely illustrative and is not intended to limit the specific structure of the X-ray imaging body 10.

[0088] exist Figure 1 The mobile DR system also includes: a support unit 11, arranged on the X-ray imaging body 10, for providing a support position, such as a support position suitable for supporting a user 20; a control device 12, arranged on the X-ray imaging body 10, for detecting control parameters when the mobile DR system is in driving mode, such as control parameters that can characterize the control actions triggered by the user 20 supported at the support position; a motion control module 13, arranged on the X-ray imaging body 10, for generating a first motion control command based on the control parameters; a motor driver 14, arranged on the X-ray imaging body 10, for generating a first drive command based on the first motion control command; and a motor 15, arranged on the X-ray imaging body 10, for driving the pulley 16 based on the first drive command.

[0089] The support unit 11 has a support position suitable for accommodating the user 20. For example, the support unit 11 can be implemented as a support plate on the X-ray imaging body 10 for the user 20 to stand on. Alternatively, the support unit 11 can be implemented as a seat on the X-ray imaging body 10 for the user 20 to sit on. When the user 20 is standing on the support plate or sitting in the seat, the user 20 can move together with the X-ray imaging body 10.

[0090] The control device 12 detects the control actions (such as forward, backward, turning, and stopping) performed by the user 20 on the support unit 11, and converts them into electrical signals representing control parameters to be sent to the motion control module 13. For example, the control device 12 can be implemented as a handle, and the control parameters can be implemented as the offset and offset angle of the handle. The user can operate the handle to perform control actions.

[0091] The motion control module 13 receives the electrical signal provided by the handle and converts it into a first motion control command. For example, the motion control module 13 parses the control parameters (such as offset and offset angle) provided by the handle, calculates the motion parameters (such as speed, acceleration, steering angle, etc.) based on the control parameters, and then outputs the first motion control command (such as a pulse signal or analog voltage signal) containing the motion parameters to the motor driver 14.

[0092] The motor driver 14 converts the first motion control command into the drive signal required by the motor (i.e., the first drive command). For example, the motor driver 14 receives the first motion control command (such as a pulse signal or an analog voltage signal) and converts the first motion control command into the current or voltage signal required by the motor 15 (such as speed, torque, and power, etc.).

[0093] Motor 15 is the power source for pulley 16. Pulley 16 is a mechanical actuator of X-ray imaging body 10, which can convert the rotational motion of motor 15 into linear or directional motion of X-ray imaging body 10. Based on a first drive command, motor 15 can convert electrical energy into mechanical energy to drive pulley 16 to move in accordance with the first motion control command. Motor 15 can obtain electrical energy from a battery in X-ray imaging body 10 to drive pulley 16. The battery can also provide power to the high-voltage generator. After being driven by motor 15, pulley 16 can drive the movement of X-ray imaging body 10.

[0094] In one implementation, such as Figure 1 As shown, the pulley 16 can be implemented as the rear wheel of the X-ray imaging body 10 (preferably, there can be two rear wheels), thereby realizing rear-wheel drive. Furthermore, two casters 17 can be arranged on the X-ray imaging body 10 as the front wheels. The casters 17 are freely rotatable wheels that can move in any direction.

[0095] In one embodiment, the pulley 16 can be implemented as the front wheel of the X-ray imaging body 10 (preferably, there can be two front wheels), thereby realizing front-wheel drive. Moreover, two casters 17 can be arranged on the X-ray imaging body 10 to serve as the rear wheels of the X-ray imaging body 10.

[0096] In one embodiment, the pulley 16 can be implemented as the rear wheel (preferably, there can be two rear wheels) and the front wheel (preferably, there can be two front wheels) of the X-ray imaging body 10, thereby realizing the joint drive of the front and rear wheels.

[0097] In one embodiment, the control device 12 includes a handle 54. The handle 54 is used to detect the offset angle and offset amount of the handle 54 being manipulated, such as detecting the offset angle and offset amount characterizing the user 20's manipulation action of the handle 54. The motion control module 13 is used to determine the motion direction based on the offset angle, determine the motion speed based on the offset amount, and generate a first motion control command including the motion direction and motion speed.

[0098] For example, the specific methods for determining the direction and speed of movement based on the offset angle and offset amount of the handle can include: when the offset angle is 0°, forward movement is determined; when the offset angle is 180°, backward movement is determined; when the offset angle is 90°, leftward movement is determined; and when the offset angle is 270°, rightward movement is determined. Generally, the larger the offset amount, the higher the movement speed, and when the offset amount is zero, movement stops.

[0099] The above illustrative description illustrates a specific method for determining the direction and speed of motion based on the offset angle and offset amount of the handle. Those skilled in the art will recognize that this description is merely illustrative and is not intended to limit the scope of protection of the embodiments of the present invention.

[0100] In one implementation method Figure 1 The mobile DR system also supports an assisted mode (assisted mode and driving mode can be selected as one). In assisted mode, the system detects the pressure exerted by a user not on the support unit 11 (e.g., the user is standing on the ground and holding the X-ray imaging body 10), and generates a second motion control command based on the pressure. Based on the second motion control command, a second drive command is generated, and the pulley is driven based on the second drive command. Therefore, by applying a slight pushing force to the X-ray imaging body 10, the user can push the X-ray imaging body 10 with the assistance of the motor, achieving a labor-saving pushing method.

[0101] In one embodiment, the X-ray imaging body 10 includes: a mode switching switch 18 disposed on the X-ray imaging body 10 for switching between driving mode and power-assisted mode; a pressure sensor disposed on the X-ray imaging body 10 for detecting the pressure exerted by a user 20 not being supported in the bearing position on the X-ray imaging body 10 when the mobile X-ray imaging system is in power-assisted mode; a motion control module 13 for generating a second motion control command based on the pressure when the pressure is greater than or equal to a predetermined threshold; a motor driver 14 for generating a second drive command based on the second motion control command; and a motor 15 for driving a pulley 16 based on the second drive command.

[0102] For example, the mode switch 18 can be implemented as a rotary switch. Based on the user's manual rotary operation, the operating mode can be set to driving mode or power-assisted mode.

[0103] As can be seen, the mobile DR system of the present invention can freely switch between driving mode and power assist mode, making it convenient for users to select the appropriate mode according to their specific needs.

[0104] In one embodiment, the pressure sensor includes a first pressure sensor and a second pressure sensor disposed on a push rod, which is located on the X-ray imaging body 10. When the mobile DR system is in assisted mode: the motion control module 13 is used to determine the difference between the first pressure and the second pressure when the average value of the first pressure detected by the first pressure sensor and the second pressure detected by the second pressure sensor is greater than or equal to a threshold, determine the motion direction based on the difference, determine the motion speed based on the average value, and generate a second motion control command containing the motion direction and motion speed.

[0105] For example, the first pressure sensor and the second pressure sensor are installed on both sides of the push rod (usually the user's left and right hand positions) to detect the pressure (P1) applied to the push rod by the left hand and the pressure (P2) applied to the push rod by the right hand, respectively. Calculate the difference (ΔP) between the pressure values ​​of the two sensors, where ΔP = P1 - P2. ΔP can be used to determine the direction of movement. Calculate the average pressure P_av of the two sensors, where P_av = (P1 + P2) / 2. P_av is used to determine the speed of movement. The direction of movement can be determined based on the sign of the pressure difference ΔP: (1) If ΔP > 0, it means that the push rod is subjected to force to one side, and the direction of movement is positive (e.g., forward); (2) If ΔP < 0, it means that the push rod is subjected to force to the other side, and the direction of movement is negative (e.g., backward). The speed of movement can be determined based on the magnitude of the average pressure P_av. The larger the average pressure P_av, the higher the speed of movement. For example, multiple pressure thresholds can be set to divide the speed of movement into different levels. For example: if the average pressure P_av < threshold 1, the movement speed is low; if threshold 1 ≤ average pressure P_av < threshold 2, the speed is medium; if the average pressure P_av ≥ threshold 2, the movement speed is high; where threshold 2 is greater than threshold 1.

[0106] The above illustrative description illustrates a specific method for determining the direction and speed of motion based on a pressure sensor. Those skilled in the art will recognize that this description is merely illustrative and is not intended to limit the scope of protection of the embodiments of the present invention.

[0107] In one implementation, when the mobile DR system is in power-assisted mode, the support unit 11 is in a retracted state; when the mobile DR system is in driving mode, the support unit 11 is in an extended state. Therefore, by extending or retracting the support unit, the corresponding requirements of different modes can be adapted.

[0108] In one embodiment, the support unit 11 includes a support plate, and the bottom of the X-ray imaging body 10 includes a receiving cavity with a pull-out structure; wherein when the mobile DR system is in assisted mode, the support plate is housed in the receiving cavity; when the mobile DR system is in driving mode, the support plate extends outward from the receiving cavity via the pull-out structure. It is evident that the coordinated operation of the receiving cavity and the pull-out structure facilitates the state transition of the support unit.

[0109] For example, the pull-out structure can be implemented as a slide rail system. The slide rail system is based on rolling friction (balls) or sliding friction (slider) to pull the carrier plate out of the receiving cavity or put the carrier plate back into the receiving cavity. For example, the slide rail system may include: (1) an outer rail, which is fixed to the inner walls of both sides of the receiving cavity by screws or clips to provide support and guidance for the slide rail system; (2) a middle rail, which is installed on both sides of the carrier plate to cooperate with the outer rail to realize the sliding of the carrier plate; (3) ball / slider, which is located between the outer rail and the middle rail to reduce friction and provide a smooth sliding effect; (4) a slide rail connector to connect the outer rail and the middle rail to ensure a stable fit between the two; and (5) a limiting device, which is fixed to the end of the outer rail by screws or clips to prevent the carrier plate from being pulled out or pushed in excessively.

[0110] The above description uses a slide rail system as an example to illustrate the pull-out structure. In practice, the pull-out structure can also be implemented as a roller pull-out structure, a suspended pull-out structure, a gear and rack pull-out structure, a pneumatic or hydraulic pull-out structure, or a spring pull-out structure, etc., and the embodiments of the present invention are not limited in this regard.

[0111] In one embodiment, the support unit 11 includes a support plate, and the bottom of the X-ray imaging body includes at least one joint, with the support plate coupled to the at least one joint. When the mobile DR system is in assisted mode, the support plate is folded close to the X-ray imaging body 10 via the at least one joint; when the mobile DR system is in driving mode, the support plate is unfolded away from the X-ray imaging body 10 via the at least one joint. Thus, the simple joint structure facilitates the state transition of the support unit.

[0112] When long-distance movement of the mobile DR system is required (e.g., between buildings), the driving mode allows for more effortless movement. When long-distance movement of the mobile DR system is not required (e.g., within a ward), the assist mode allows for more convenient movement. In this embodiment of the invention, the current position of the mobile DR system is further detected, and then the system automatically switches to either assist mode or driving mode based on the current position, thereby achieving automatic mode switching.

[0113] In one embodiment, the mobile DR system includes: a position detection module 19 disposed on the X-ray imaging body 10 for detecting the current position of the mobile DR system; and a mode switching switch 18 for switching the mobile DR system to an assist mode when the current position meets predetermined environmental conditions, and switching the mobile DR system to a driving mode when the current position does not meet environmental conditions.

[0114] The position detection module 19 can detect the current position of the mobile DR system based on position detection sensors (such as photoelectric position sensors, magnetoelectric position sensors, GPS sensors, ultrasonic sensors, vision sensors, and laser rangefinders, etc.). For example, environmental conditions include at least one of the following: emergency room; intensive care unit (ICU); operating room; ward; isolation area, etc.

[0115] For example, when the location detection module 19 detects that the current location of the mobile DR system is not in the emergency room, ICU, operating room, ward, or isolation area, the mode switching switch 18 automatically switches the mobile DR system to driving mode (correspondingly, the carrying unit 11 is in the deployed state), thereby meeting the needs of long-distance mobile DR system movement. When the location detection module 19 detects that the current location of the mobile DR system is in the emergency room, ICU, operating room, ward, or isolation area, the mode switching switch 18 automatically switches the mobile DR system to assisted mode (correspondingly, the carrying unit 11 is in the retracted state), thereby meeting the needs of convenient short-distance movement.

[0116] Figure 2 This is an exemplary block diagram of a mobile X-ray imaging system according to an embodiment of the present invention. Figure 2 As shown, the mobile DR system includes a mode switching switch 51, a motion control module 52, a pressure sensor 53, a handle 54, and a motor driver 55.

[0117] When the driving mode is selected based on the mode switch 51, the handle 54 detects the user's operation on the carrier unit and converts the operation into an electrical signal representing the control parameters (e.g., the handle's offset and offset angle). The motion control module 52 generates a first motion control command based on the control parameters. For example, the motion control module 52 determines the motion direction based on the offset angle, determines the motion speed based on the offset, and generates a first motion control command containing the motion direction and speed. The motor driver 55 converts the first motion control command into motor drive signals for the first motor 56 and the second motor 57. The first motor 56 drives the first pulley of the X-ray imaging body, and the second motor 57 drives the second pulley of the X-ray imaging body, wherein the first pulley and the second pulley are the rear wheels of the X-ray imaging body, respectively.

[0118] When the assist mode is selected based on the mode switch 51, the pressure sensor 53 detects the pressure exerted by the user pushing the X-ray imaging body when it is not on the support unit, and converts the pressure into an electrical signal. The motion control module 52 generates a second motion control command based on the electrical signal. For example, the motion control module 52 generates a second motion control command that includes the direction and speed of movement. The motor driver 55 converts the second motion control command into motor drive signals for the first motor 56 and the second motor 57.

[0119] When driving mode is selected based on mode switch 51, pressure sensor 53 is not activated. When power assist mode is selected based on mode switch 51, handlebar 54 is not activated.

[0120] The first motor 56 and the second motor can be implemented as various types of motors. For example, the first motor 56 and the second motor can be implemented as DC motors, AC motors, stepper motors, servo motors, and so on.

[0121] When the first motor 56 and the second motor are DC motors, the motor drive signals typically include: (1) Pulse Width Modulation (PWM) signal: the motor speed and torque are adjusted by changing the duty cycle of the pulse; (2) Direction control signal: used to control the forward and reverse rotation of the motor; (3) Current signal: the output torque of the motor is controlled by adjusting the current magnitude.

[0122] When the first motor 56 and the second motor 57 are AC motors, the motor drive signals usually include: (1) Three-phase voltage signal: DC power is converted into three-phase AC power by the inverter, and its frequency and amplitude can be adjusted according to the speed and torque requirements of the motor; (2) PWM modulation signal: used to control the switching frequency of the inverter, thereby realizing precise control of the frequency and amplitude of the AC power.

[0123] When the first motor 56 and the second motor 57 are stepper motors, the motor drive signals usually include: (1) pulse signals: each pulse signal causes the motor to rotate by a fixed angle (step angle), and the pulse frequency determines the speed of the motor;

[0124] (2) Direction signal: Used to control the forward and reverse rotation of the motor. (3) Microstepping signal: Through the microstepping function, a single pulse signal is subdivided into multiple small steps, thereby improving the running accuracy of the motor and reducing vibration.

[0125] When the first motor 56 and the second motor 57 are servo motors, the motor drive signals typically include: (1) position feedback signal: from the motor encoder, used to monitor the actual position and speed of the motor in real time; (2) control signal: such as PWM signal or analog voltage signal, used to precisely control the position, speed and torque of the motor; (3) current signal: to control the output torque of the motor by adjusting the current magnitude.

[0126] Figure 3A This is an exemplary schematic diagram of the support plate in a folded state according to an embodiment of the present invention. Figure 3B This is an exemplary schematic diagram of the support plate in an unfolded state according to an embodiment of the present invention.

[0127] exist Figure 3A and Figure 3B middle, Figure 1 The support unit is implemented as a support plate 30, and the X-ray imaging body 10 includes a push rod 40 and an X-ray tube 42. The flat panel detector 41 is housed in the receiving cavity of the X-ray imaging body 10. The bottom of the X-ray imaging body 10 includes at least one joint 31, and the support plate 30 is coupled to at least one joint 31.

[0128] like Figure 3A As shown, when the mobile DR system is in assisted mode, the support plate 30 is folded and close to the X-ray imaging body 10 via at least one joint 31. At this time, the user stands beside the X-ray imaging body 10 and applies pressure to the push rod 40. A pressure sensor arranged on the push rod 40 detects the pressure. Based on the detected pressure, the motor drives the X-ray imaging body 10 to move.

[0129] When according to Figure 3A As indicated by the arrow, when the support plate 30 is flattened, the support plate 30 is moved away from the X-ray imaging body 10 via at least one joint 31. The flattened support plate 30 is as follows: Figure 3B As shown. The user rotates the mode switch 46 to set the mobile DR system to driving mode. The user stands on the support plate 30 and operates the handle on the X-ray imaging body 10. Figure 3A and Figure 3B (Not shown) The user drives the X-ray imaging body 10. The user moves along with the X-ray imaging body 10. During this movement, the user can hold the push rod 40 for stability. When the mobile DR system is in driving mode, the pressure sensor on the push rod 40 is not active. When the mobile DR system is in assist mode, the handle is not active.

[0130] Figure 4A This is an exemplary schematic diagram of a support plate concealed in a receiving cavity according to an embodiment of the present invention. Figure 4B This is an exemplary schematic diagram of a support plate being pulled out of a receiving cavity according to an embodiment of the present invention.

[0131] exist Figure 4A and Figure 4BIn this embodiment, the support unit is implemented as a support plate 30, and the X-ray imaging body 10 includes a push rod 40 and an X-ray tube 42. The flat panel detector 41 is housed in the receiving cavity of the X-ray imaging body 10. The bottom of the X-ray imaging body 10 includes a receiving cavity 32 with a pull-out structure.

[0132] like Figure 4A As shown, when the mobile DR system is in assisted mode, the support plate 30 is housed in the receiving cavity 32. At this time, the user stands beside the X-ray imaging body 10 and applies pressure to the push rod 40. A pressure sensor arranged on the push rod 40 detects the pressure. Based on the detected pressure, the motor drives the X-ray imaging body 10 to move.

[0133] You can follow Figure 4A As indicated by the arrow, the support plate 30 is pulled out of the receiving cavity 32 via the pull-out structure. Figure 4B As shown, the support plate 30 extends outward from the receiving cavity 32 via a pull-out structure. The user rotates the mode switch 46 to set the mobile DR system to driving mode. The user can stand on the support plate 30 and operate the handle on the X-ray imaging body 10 (…). Figure 4A and Figure 4B (Not shown) The user drives the X-ray imaging body 10. The user moves along with the X-ray imaging body 10. During this movement, the user can hold the push rod 40 for stability. When the mobile DR system is in driving mode, the pressure sensor on the push rod 40 is not active. When the mobile DR system is in assist mode, the handle is not active.

[0134] Figure 5 This is an exemplary schematic diagram of a mobile X-ray imaging system in assisted mode according to an embodiment of the present invention. Figure 5 In the middle, the supporting unit is in a retracted state. Moreover, a first pressure sensor 43 and a second pressure sensor 44 are respectively arranged at both ends of the push rod 40 of the X-ray imaging body 10.

[0135] like Figure 5 As shown, the user stands beside the X-ray imaging body 10, applying a first pressure to the first pressure sensor 43 with their left hand and a second pressure to the second pressure sensor 44 with their right hand. When the average of the first and second pressures is greater than or equal to a predetermined threshold, the motion control module on the X-ray imaging body 10 determines the difference between the first and second pressures, determines the motion direction based on the difference, determines the motion speed based on the average value, and generates a second motion control command containing the motion direction and speed. The motor driver on the X-ray imaging body 10 generates a second drive command based on the second motion control command. The motor on the X-ray imaging body 10 drives the pulley 45 of the body 10 based on the second drive command.

[0136] Figure 6 This is an exemplary flowchart of a control method for a mobile DR system according to an embodiment of the present invention. The mobile DR system includes an X-ray imaging body, which includes pulleys. Figure 6 The method shown can be performed by the control unit of a mobile DR system (typically located within the X-ray imaging unit). For example... Figure 6 As shown, the method includes:

[0137] Step 101: When the mobile DR system is in driving mode, detect control parameters. For example, when the mobile DR system is in driving mode, detect control parameters that characterize the control actions triggered by a user being carried in a carrying position, wherein the carrying unit is arranged on the X-ray imaging body to provide the carrying position.

[0138] Step 102: Generate the first motion control command based on the control parameters.

[0139] Step 103: Generate the first drive command based on the first motion control command.

[0140] Step 104: Drive the pulley based on the first drive command.

[0141] In one embodiment, the method includes: when the mobile DR system is in assisted mode, detecting the pressure exerted by a user pushing the X-ray imaging body when not supported in a bearing position, wherein a pressure sensor is disposed on the X-ray imaging body; when the pressure is greater than or equal to a predetermined threshold, generating a second motion control command based on the pressure; generating a second drive command based on the second motion control command; and driving a pulley based on the second drive command.

[0142] In one embodiment, the method includes: detecting the current position of the mobile DR system; switching the mobile DR system to power-assisted mode when the current position meets predetermined environmental conditions, and switching the mobile DR system to driving mode when the current position does not meet environmental conditions.

[0143] Figure 7 This is an exemplary structural diagram of the control device for a mobile DR system according to an embodiment of the present invention. The mobile DR system includes an X-ray imaging body, which includes pulleys. Figure 7 As shown, the control device 200 includes: a detection module 201, used to detect control parameters when the mobile DR system is in driving mode, wherein the carrier unit is arranged on the X-ray imaging body to provide a carrier position, such as the control parameters representing the control action triggered by the user being carried in the carrier position; a first generation module 202, used to generate a first motion control command based on the control parameters; a second generation module 203, used to generate a first drive command based on the first motion control command; and a drive module 204, used to drive the pulley based on the first drive command.

[0144] In one embodiment, the detection module 201 detects the pressure exerted by a user pushing the X-ray imaging body when the mobile DR system is in assisted mode, with a pressure sensor arranged on the X-ray imaging body; the first generation module 202 generates a second motion control command based on the pressure when the pressure is greater than or equal to a predetermined threshold; the second generation module 203 generates a second drive command based on the second motion control command; and the drive module 204 drives the pulley based on the second drive command.

[0145] In one embodiment, the control device 200 includes a mode switching module ( Figure 7 (Not shown in the image) is used to detect the current position of the mobile DR system; when the current position meets the predetermined environmental conditions, the mobile DR system is switched to power assist mode, and when the current position does not meet the environmental conditions, the mobile DR system is switched to driving mode.

[0146] The present invention also proposes a control host for a mobile DR system with a processor-memory architecture. Figure 8 This is an exemplary structural diagram of the control host of a mobile DR system according to an embodiment of the present invention. Figure 8 As shown, the control host 300 includes a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the computer program is executed by the processor 301, it implements the control method of any of the mobile DR systems described above. Specifically, the memory 302 can be implemented as various storage media such as electrically erasable programmable read-only memory (EEPROM), flash memory, and programmable programmable read-only memory (PROM). The processor 301 can be implemented as including one or more central processing units (CPUs) or one or more field-programmable gate arrays (FPGAs), wherein the FPGA integrates one or more CPU cores. Specifically, the CPU or CPU core can be implemented as a CPU, MCU, or DSP, etc.

[0147] It should be noted that not all steps and modules in the above processes and structural diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of the steps is not fixed and can be adjusted as required. The division of modules is merely for the convenience of description and functional division. In actual implementation, a module can be implemented by multiple modules, and the functions of multiple modules can also be implemented by the same module. These modules can be located in the same device or in different devices.

[0148] The hardware modules in each embodiment can be implemented mechanically or electronically. For example, a hardware module may include specially designed permanent circuitry or logic devices (such as dedicated processors, such as FPGAs or ASICs) to perform specific operations. A hardware module may also include programmable logic devices or circuitry (such as general-purpose processors or other programmable processors) temporarily configured by software to perform specific operations. The choice between mechanical implementation, dedicated permanent circuitry, or temporarily configured circuitry (such as software-configured circuitry) can be made based on cost and time considerations.

[0149] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mobile X-ray imaging system, characterized in that, The mobile X-ray imaging system includes an X-ray imaging body (10) comprising pulleys (16); the mobile X-ray imaging system further includes: A support unit (11) is arranged on the X-ray imaging body (10) to provide a support position; Control device (12), arranged on the X-ray imaging body (10), is used to detect control parameters when the mobile X-ray imaging system is in driving mode; A motion control module (13) is arranged on the X-ray imaging body (10) for generating a first motion control command based on the control parameters; A motor driver (14) is arranged on the X-ray imaging body (10) for generating a first drive command based on the first motion control command; A motor (15) is arranged on the X-ray imaging body (10) for driving the pulley (16) based on the first drive command.

2. The mobile X-ray imaging system according to claim 1, characterized in that, The control device (12) includes a handle (54); The handle (54) is used to detect the offset angle and offset amount of the handle (54) being manipulated; The motion control module (13) is used to determine the motion direction based on the offset angle, determine the motion speed based on the offset amount, and generate a first motion control command containing the motion direction and the motion speed.

3. The mobile X-ray imaging system according to claim 1, characterized in that, include: A mode switching switch (18) is arranged on the X-ray imaging body (10) for switching between the driving mode and the power assist mode; A pressure sensor is disposed on the X-ray imaging body (10) for detecting the pressure pushing the X-ray imaging body (10) when the mobile X-ray imaging system is in the assist mode; The motion control module (13) is used to generate a second motion control command based on the pressure when the pressure is greater than or equal to a predetermined threshold. The motor driver (14) is used to generate a second drive command based on the second motion control command; The motor (15) is used to drive the pulley (16) based on the second drive command.

4. The mobile X-ray imaging system according to claim 3, characterized in that, The pressure sensor includes a first pressure sensor (43) and a second pressure sensor (44) disposed on the push rod (40), which is on the X-ray imaging body (10); The motion control module (13) is used to determine the difference between the first pressure and the second pressure when the average value of the first pressure detected by the first pressure sensor (43) and the second pressure detected by the second pressure sensor (44) is greater than or equal to the predetermined threshold, determine the motion direction based on the difference, determine the motion speed based on the average value, and generate a second motion control command containing the motion direction and the motion speed.

5. The mobile X-ray imaging system according to claim 3, characterized in that, When the mobile X-ray imaging system is in the assisted mode, the support unit (11) is in a retracted state; when the mobile X-ray imaging system is in the driving mode, the support unit (11) is in an extended state.

6. The mobile X-ray imaging system according to claim 5, characterized in that, The support unit (11) includes a support plate (30), and the bottom of the X-ray imaging body (10) includes a receiving cavity (32) with a pull-out structure; When the mobile X-ray imaging system is in the assisted mode, the support plate (30) is housed in the receiving cavity (32); when the mobile X-ray imaging system is in the driving mode, the support plate (30) extends outward from the receiving cavity (32) via the pull-out structure.

7. The mobile X-ray imaging system according to claim 5, characterized in that, The support unit (11) includes a support plate (30), and the bottom of the X-ray imaging body (10) includes at least one joint (31), and the support plate (30) is coupled to the at least one joint (31); When the mobile X-ray imaging system is in the assisted mode, the support plate (30) is folded and close to the X-ray imaging body (10) via at least one joint (31); when the mobile X-ray imaging system is in the driving mode, the support plate (30) is flattened and away from the X-ray imaging body (10) via at least one joint (31).

8. The mobile X-ray imaging system according to any one of claims 3-7, characterized in that, include: A position detection module (19) is arranged on the X-ray imaging body (10) for detecting the current position of the mobile X-ray imaging system; The mode switching switch (18) is used to switch the mobile X-ray imaging system to the assist mode when the current position meets the predetermined environmental conditions, and to switch the mobile X-ray imaging system to the driving mode when the current position does not meet the environmental conditions.

9. A control method for a mobile X-ray imaging system, characterized in that, The mobile X-ray imaging system includes an X-ray imaging body, the X-ray imaging body comprising pulleys, and the method includes: When the mobile X-ray imaging system is in driving mode, control parameters (101) are detected, wherein the support unit is arranged on the X-ray imaging body to provide a support position; Based on the control parameters, generate (102) a first motion control command; Based on the first motion control command, generate (103) the first drive command; Based on the first driving command, drive (104) the pulley.

10. The control method for the mobile X-ray imaging system according to claim 9, characterized in that, include: When the mobile X-ray imaging system is in assisted mode, the pressure pushing the X-ray imaging body is detected, and the pressure sensor is arranged on the X-ray imaging body; When the pressure is greater than or equal to a predetermined threshold, a second motion control command is generated based on the pressure. Based on the second motion control command, a second drive command is generated; The pulley is driven based on the second driving command.

11. The control method for the mobile X-ray imaging system according to claim 9 or 10, characterized in that, include: Detect the current position of the mobile X-ray imaging system; When the current location meets the predetermined environmental conditions, the mobile X-ray imaging system is switched to the assist mode; when the current location does not meet the environmental conditions, the mobile X-ray imaging system is switched to the driving mode.

12. A control device for a mobile X-ray imaging system, characterized in that, The mobile X-ray imaging system includes an X-ray imaging body, the X-ray imaging body includes pulleys, and the device includes: The detection module (201) is used to detect control parameters when the mobile X-ray imaging system is in driving mode, wherein the support unit is arranged on the X-ray imaging body to provide a support position; The first generation module (202) is used to generate a first motion control command based on the control parameters; The second generation module (203) is used to generate a first drive instruction based on the first motion control instruction; The drive module (204) is used to drive the pulley based on the first drive command.

13. A control host for a mobile X-ray imaging system, characterized in that, Includes a processor (301) and a memory (302); The memory (302) stores an application program that can be executed by the processor (301) to cause the processor (301) to execute the control method of the mobile X-ray imaging system as described in any one of claims 9 to 11.

14. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed by the processor, they implement the control method of the mobile X-ray imaging system as described in any one of claims 9 to 11.

15. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the control method for the mobile X-ray imaging system as described in any one of claims 9 to 11.

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