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X-ray machine movement trajectory planning method and device

A motion trajectory, X-ray machine technology, used in computer tomography scanners, echo tomography and other directions, can solve the problems of complex changes in multi-target paths, and the motion paths are not smooth and safe, and achieve the effect of simple and fast related calculations.

Active Publication Date: 2016-04-06
SHANGHAI UNITED IMAGING HEALTHCARE
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AI Technical Summary

Problems solved by technology

[0006] What the present invention aims to solve is that the movement path of the prior art planning X-ray machine is not smooth and safe when the frame is positioned, and it cannot solve the problem of complex path changes when multiple targets move at the same time

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  • X-ray machine movement trajectory planning method and device

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Embodiment Construction

[0051] In the prior art, the path interpolation algorithm is usually used to plan the movement path of the X-ray machine when the rack is positioned, although this method can solve the anti-collision problem relatively simply and ensure that the relevant components of the X-ray machine are in place during the movement process with one key. However, because the motion path is divided into multiple straight lines, the trajectory is not smooth enough, and the existing static path planning algorithm is also difficult to solve the problem of complex path changes when multiple targets move at the same time.

[0052] In order to solve the above problems, the technical solution of the present invention introduces a motion trajectory planning method based on the artificial potential field method in the electric motion of the X-ray machine. Axis speed, and real-time speed control, so that when the X-ray machine is in place with one key, it can be planned simply and quickly, which is smooth...

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Abstract

The invention discloses an X-ray machine movement trajectory planning method and device. The method comprises the steps that the target positions which an X-ray generating device and an X-ray receiving device of an X-ray machine are controlled to move to reach during positioning of a machine frame are set; in the movement process of the X-ray generating device and the X-ray receiving device, the current positions of the X-ray generating device and the X-ray receiving device are obtained in real time; if the current positions are not consistent with the target positions, the movement axis speeds of the X-ray generating device and the X-ray receiving device are calculated through an artificial potential field method; based on the calculated movement axis speeds, the X-ray generating device and the X-ray receiving device are controlled to move. According to the technical scheme, a movement path which is smooth, safe and suitable for simultaneous movement of multiple targets is easily and rapidly planned during positioning of the machine frame of the X-ray machine.

Description

technical field [0001] The invention relates to the technical field of X-ray photography systems, in particular to a method and device for planning a movement track of an X-ray machine. Background technique [0002] At present, some medical digital radiography (DR, Digital Radiography) systems on the market adopt the electric one-button positioning function when the rack is positioned, and the path planning and anti-collision problems need to be solved during the electric process. [0003] In the prior art, the one-click path planning method adopted by the DR system is generally a path interpolation algorithm, which avoids obstacles by calculating an intermediate point between the current position and the target position, which can ensure a certain degree of safety, and the algorithm Simple and easy to operate, it has certain advantages for X-ray machines with relatively simple movements, but the movement path is divided into multiple straight lines, and the trajectory is no...

Claims

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Application Information

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IPC IPC(8): A61B6/03
Inventor 王炜王维
Owner SHANGHAI UNITED IMAGING HEALTHCARE
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