阅读说明：本技术 一种用于移动dr的运动控制装置和控制方法 (It is a kind of for moving the motion control device and control method of DR ) 是由 刘金虎 李伯洋 于 2019-08-30 设计创作，主要内容包括：本发明公开了一种用于移动DR的运动控制装置,具体涉及医疗器械领域,包括信号处理模块,所述信号处理模块输入端设有检测模块A和检测模块B,所述信号处理模块输出端设有执行模块,信号处理模块是对于检测模块A和检测模块B的反馈信息进行处理,并根据处理的信息向执行模块发出对应的动作指令,检测模块A和检测模块B均包括限位传感器和信号发射-接收芯片,用于对移动DR的运动状态进行测量、监控和反馈。本发明通过移动DR因其特殊性要求设备能够运动,将X线机与移动DR有效的结合,可将拍摄器械移动至病床旁进行拍摄,无需病患站立配合,可更加便利地辅助医疗人员对患者进行治疗前的扫描片的拍摄,且降低患者痛楚。(The invention discloses a kind of for moving the motion control device of DR, more particularly to medical instruments field, including signal processing module, the signal processing module input terminal is equipped with detection module A and detection module B, the signal processing module output end is equipped with execution module, signal processing module is that the feedback information of detection module A and detection module B are handled, and corresponding action command is issued to execution module according to the information of processing, detection module A and detection module B includes limit sensors and signal send-receive chip, it is measured for the motion state to mobile DR, monitoring and feedback.The present invention passes through mobile DR because its particularity requires equipment that can move, X-ray machine and mobile DR are effectively combined, shooting instrument can be moved to by hospital bed and be shot, it stands and cooperates without sufferer, can slices scanned before more advantageously medical assistance personnel treat patient shooting, and reduce patient's pain.)

1. a kind of for moving the motion control device of DR, it is characterised in that: including signal processing module (10), at the signal It manages module (10) input terminal and is equipped with detection module A (20) and detection module B (30), signal processing module (10) output end is set There are execution module (40)；

Signal processing module (10) is that the feedback information of detection module A (20) and detection module B (30) are handled, and root Corresponding action command is issued to execution module (40) according to the information of processing；

Detection module A (20) and detection module B (30) includes limit sensors (201) and signal send-receive chip (202), it measures, monitor and feeds back for the motion state to mobile DR；

Limit sensors (201) are for detecting whether mobile DR is more than defined position；

Signal send-receive chip (202) is also used to for receiving setting signal by the detection of limit sensors (201) Signal is transmitted to signal processing module (10)；

Execution module (40) includes signal conversion unit (401) and mechanical transmission unit (402)；

Signal conversion unit (401) is used to receive the control signal of signal processing module (10) importing, the control signal that will be obtained It is converted to control force and acts on mechanical transmission unit (402)；

Mechanical transmission unit (402) includes two one-dimensional digital control mechanical devices, for completing mobile DR in a plane two Maintenance and operation is dynamic.

2. according to claim 1 a kind of for moving the motion control device of DR, it is characterised in that: the detection module A (20) and detection module B (30) is two independent detection modules, and the detection module A (20) moves forward and backward for detecting, The detection module B (30) is for detecting and turn right.

3. according to claim 1 a kind of for moving the motion control device of DR, it is characterised in that: the signal processing Module (10) includes main control chip and information transmit-receive chip, and the main control chip is used for detection module A (20) and detection module B (30) feedback information is handled and is converted, and the command information that the information transmit-receive chip is used to convert main control chip is sent To execution module (40).

4. according to claim 3 a kind of for moving the motion control device of DR, it is characterised in that: the signal hair It penetrates-receives chip (202) to connect with information transmit-receive chip signal, the output end setting of the signal send-receive chip (202) For information transmit-receive chip signal.

5. according to claim 3 a kind of for moving the motion control device of DR, it is characterised in that: the machine driving Unit (402) includes two groups of servo motors and encoder, and the servo motor and encoder are electrically connected with main control chip.

6. according to claim 5 a kind of for moving the motion control device of DR, it is characterised in that: servo described in two groups One group of motor for controlling the back-and-forth motion of mobile DR, another group for controlling moving left and right for mobile DR.

7. according to claim 5 a kind of for moving the motion control device of DR, it is characterised in that: the encoder is set It is set to 17 absolute type encoders, the encoder and servo motor axis connection.

8. it is a kind of for moving the control method of the motion control device of DR described in -7 any one according to claim 1, It is characterized in that, specifically includes the following steps:

Step 1: initialization: clearing up the data of mobile DR, empty the something lost of internal residual charge and last time operation input Residual evidence；

Step 2: importing data: adjusting the shooting height of mobile DR according to patient, and shooting control data are imported mobile DR It is interior；

Step 3: signal transduction: being worked according to the data inputted in step 2, during which detection module A (20) and detection mould The signal that block B (30) will test is sent to signal processing module (10), and signal processing module (10) is according to the detection knot received Fruit, comprehensive descision motion state send a signal to execution module (40)；

Step 4: adjusting control: execution module (40) executes movement according to the signal received, and two servo-systems sets during execution It is as follows to count precision:

1. front-rear direction

Encoder resolution=2¹⁷=131072 pulses/circle

"/the pulse of motor running accuracy=9.89

Total resolution=amplifier frequency multiplication * control card frequency multiplication * encoder resolution

=25*4*18000=1.8*10⁶Pulse/circle

Feedback accuracy=0.72 "/pulse

2. left and right directions

Encoder resolution=2500 pulses/circle

Motor running accuracy=8.64 '/pulse

Go up and down precision=0.0012mm.

Technical field

The present invention relates to the field of medical instrument technology, it is more particularly related to a kind of for moving the movement of DR Control device and control method.

Background technique

Mobile DR quick obtaining photographs and can confirm after exposure several seconds, eliminate tradition and develop a film and IP plate letter Breath read etc. many and diverse program, image can in-situ processing, realize network transmission, printing, efficient quick, more directly.Nowadays digital The perfect combination of technology and X-ray photographic technology realizes the extensive use of Digital X-ray Radiotive.The mobile digitized photography of bedside Technology is come into being.Mobile DR has started the digitlization new era of bedside photography, is high frequency Combined type digitized X-ray doctor Treat diagnostic device.Suitable for dept. of radiology, orthopaedics, ward, emergency ward, operating room, ICU etc., meet the head of human body, four limbs, The work requirements of the digitized photography at each position of the whole bodies such as thoracic cavity, backbone, lumbar vertebrae, abdomen.

X-ray machine is medically one of six big imaging equipment, is the common tool to diagnose the illness.Penetration: penetration Refer to non-absorbent ability when X-ray passes through substance.X-ray energy penetrates the impervious substance of general visible light institute.It can be seen that Light is because its wavelength is longer, its energy very little for having of photon, when being mapped on object, a part is reflected, and most of is substance institute It absorbs, object cannot be penetrated；And X-ray is quite different, because its wavelength is short, energy is big, and when impinging upon on substance, only a part is by substance It is absorbed, it is most of to be penetrated via atom gap, show very strong penetration capacity.The ability of X-ray penetrating material is penetrated with X The energy of linear light is related, and the wavelength of X-ray is shorter, and the energy of photon is bigger, and penetration power is stronger.The penetration power of X-ray also with Material density is related, the big substance of density, more to the absorption of X-ray, through few；The small person of density absorbs less, through more.It utilizes This property of differential absorption can separate the soft tissue areas such as the different bone of density, muscle, fat.This is exactly that X-ray is saturating Depending on and photography physical basis.When substance is by x-ray bombardment, electron outside nucleus is made to be detached from atomic orbital, this effect makes ionization make With.In photoelectric effect and scattering process, there is photoelectron and recoil electron is detached from the process of its atom primary ionization, these Photoelectron or recoil electron again and other atomic collisions, make struck atom runaway electron double ionization in traveling.In solid In liquid.Positive and negative ion after ionization will be compound quickly, not easily collecting.But forgetting in gas is easy to receive from charge Collection gets up, using ionization charge number can measure the exposure of X-ray；X-ray measurement instrument is exactly made around this principle At.Due to ionization, enough conductions are allowed gas to；Cucumber can chemically react；It can be induced in organism Various biological effects.Ionization is the basis of X-ray damage and treatment.

And existing X-ray machine is only to be mounted on metope, and be equipped with jack up unit mostly, and patient is needed to enter individually scanning Room is scanned film making, but some postoperative or pre-operative patients independent can not carry out standing matching and be in step with because uncomfortable Piece thus needs medical staff to assist in, not only will affect shooting effect, but also will increase the sense of discomfort of patient.

Summary of the invention

In order to overcome the drawbacks described above of the prior art, the embodiment of the present invention provides a kind of for moving the motion control of DR Device and control method effectively tie X-ray machine and mobile DR by mobile DR because its particularity requires equipment that can move It closes, can shooting instrument is moved to by hospital bed and be shot, stand cooperation without sufferer, it can more advantageously medical assistance personnel The shooting of slices scanned before being treated to patient, and reduce patient's pain.

To achieve the above object, the invention provides the following technical scheme: it is a kind of for moving the motion control device of DR, it wraps Signal processing module is included, the signal processing module input terminal is equipped with detection module A and detection module B, the signal processing mould Block output end is equipped with execution module；

Signal processing module is that the feedback information of detection module A and detection module B are handled, and according to processing Information issues corresponding action command to execution module；

Detection module A and detection module B includes limit sensors and signal send-receive chip, for mobile DR Motion state measure, monitor and feed back；

Limit sensors are for detecting whether mobile DR is more than defined position；

Signal send-receive chip is also used to pass the detection signal of limit sensors for receiving setting signal Transport to signal processing module；

Execution module includes signal conversion unit and mechanical transmission unit；

Signal conversion unit is used to receive the control signal of signal processing module importing, and obtained control signal is converted to Control force acts on mechanical transmission unit；

Mechanical transmission unit includes two one-dimensional digital control mechanical devices, for completing the mobile two dimension of DR in a plane Movement.

In a preferred embodiment, the detection module A and detection module B is two independent detection modules, The detection module A moves forward and backward for detecting, and the detection module B is for detecting and turn right.

In a preferred embodiment, the signal processing module includes main control chip and information transmit-receive chip, institute It states main control chip to be used to that the feedback information of detection module A and detection module B to be handled and converted, the information transmit-receive chip Command information for converting main control chip is sent to execution module.

In a preferred embodiment, the signal send-receive chip is connect with information transmit-receive chip signal, institute The output end for stating signal send-receive chip is set as information transmit-receive chip signal.

In a preferred embodiment, the mechanical transmission unit includes two groups of servo motors and encoder, described Servo motor and encoder are electrically connected with main control chip.

In a preferred embodiment, described in two groups one group of servo motor for controlling the back-and-forth motion of mobile DR, Another group for controlling moving left and right for mobile DR.

In a preferred embodiment, the encoder is set as 17 absolute type encoders, the encoder with Servo motor axis connection.

The present invention also provides a kind of for moving the control method of the motion control device of DR, which is characterized in that specific packet Include following steps:

Step 1: initialization: clearing up the data of mobile DR, empty internal residual charge and last time operation input Legacy Data；

Step 2: importing data: adjusting the shooting height of mobile DR according to patient, and shooting control data are imported movement In DR；

Step 3: signal transduction: being worked according to the data inputted in step 2, during which detection module A and detection mould The signal that block B will test is sent to signal processing module, and signal processing module is according to the testing result received, comprehensive descision fortune Dynamic state, sends a signal to execution module；

Step 4: adjusting control: execution module executes movement according to the signal received, and two servo-systems sets during execution It is as follows to count precision:

1. front-rear direction

Encoder resolution=2¹⁷=131072 pulses/circle

"/the pulse of motor running accuracy=9.89

Total resolution=amplifier frequency multiplication * control card frequency multiplication * encoder resolution

=25*4*18000=1.8*10⁶Pulse/circle

Feedback accuracy=0.72 "/pulse

2. left and right directions

Encoder resolution=2500 pulses/circle

Motor running accuracy=8.64 '/pulse

Go up and down precision=0.0012mm.

Technical effect and advantage of the invention:

1, the present invention effectively ties X-ray machine and mobile DR by mobile DR because its particularity requires equipment that can move It closes, can shooting instrument is moved to by hospital bed and be shot, stand cooperation without sufferer, it can more advantageously medical assistance personnel The shooting of slices scanned before being treated to patient, and reduce patient's pain；

2, the present invention is by the detection of detection module A and detection module B, and by signal processing module it is detected signal into Row processing converts thereof into control signal and is transmitted to execution module, and encoder and matching for servo motor cooperate in execution module Under, it can effectively ensure that the precision to control system, sensitivity and reliability have higher requirement, using signal processing module Mechanical transmission unit under control realizes the reduction of servo motor revolving speed, motion positions error, to guarantee to be installed to mobile DR On X-ray machine shooting stability, guarantee slices scanned quality stablize, improve entire kinematic system detection performance established it is good Good basis.

Detailed description of the invention

Fig. 1 is modular structure schematic diagram of the invention.

Fig. 2 is workflow schematic diagram of the invention.

Fig. 3 is detection module A structural schematic diagram of the invention.

Fig. 4 is execution module structural schematic diagram of the invention.

Appended drawing reference are as follows: 10 signal processing modules, 20 detection module A, 201 limit sensors, 202 signal send-receives Chip, 30 detection module B, 40 execution modules, 401 signal conversion units, 402 mechanical transmission units.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.