CN110779442B - ISO precision testing method and system for multi-axis medical interventional therapy equipment - Google Patents
ISO precision testing method and system for multi-axis medical interventional therapy equipment Download PDFInfo
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- CN110779442B CN110779442B CN201910993126.6A CN201910993126A CN110779442B CN 110779442 B CN110779442 B CN 110779442B CN 201910993126 A CN201910993126 A CN 201910993126A CN 110779442 B CN110779442 B CN 110779442B
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- 238000002560 therapeutic procedure Methods 0.000 title claims abstract description 75
- 238000012360 testing method Methods 0.000 title claims abstract description 29
- 239000008188 pellet Substances 0.000 claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims description 14
- 239000011324 bead Substances 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 16
- 210000004204 blood vessel Anatomy 0.000 description 10
- 238000013461 design Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 4
- 239000000523 sample Substances 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 230000002792 vascular Effects 0.000 description 4
- 230000004075 alteration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002601 radiography Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The application discloses an ISO precision testing method and system for multi-axis medical interventional therapy equipment. According to the method, a first light-emitting device and a second light-emitting device are arranged on the multi-axis medical interventional therapy equipment, paths of light beams emitted by the first light-emitting device and the second light-emitting device are overlapped with paths of rays emitted by the interventional therapy equipment, ISO pellets are placed on the paths of the light beams emitted by the first light-emitting device and the second light-emitting device respectively, the diameter of each ISO pellet is equal to a required ISO area, and whether the movement precision of the rack meets requirements or not is judged according to the position relation between a visible light beam and the ISO pellets.
Description
Technical Field
The application relates to the technical field of testing of medical equipment, in particular to an ISO precision testing method and an ISO precision testing system of multi-axis medical interventional therapy equipment.
Background
During the radiography process of the blood vessel machine, 3-dimensional imaging of the radiography part or movement along the blood vessel is required. In order to obtain a clear image, the ISO center position (lesion exposure center) of the gantry is guaranteed to be within a certain range, so that the ISO center position of the gantry needs to be measured and checked to confirm whether the gantry meets the requirement.
The prior art measures the ISO centre position as follows: the target is arranged on a rack detector, a bulb tube and the like, the movement track of the target is obtained through laser tracking and collecting equipment, and the ISO center position is fitted through calculation. The method has the advantages of high measurement precision and the disadvantages of high cost and complex operation.
Disclosure of Invention
In order to overcome part or all of the problems in the related art, the application provides an ISO precision testing method of a multi-axis medical interventional therapy device. The method comprises the following steps: a first light-emitting device and a second light-emitting device are arranged on the multi-axis medical interventional therapy equipment, and the path of a light beam emitted by each of the first light-emitting device and the second light-emitting device is superposed with the path of a ray emitted by the interventional therapy equipment; placing an ISO pellet on paths of light beams respectively emitted by the first light-emitting device and the second light-emitting device, wherein the diameter of the ISO pellet is equal to the required ISO area; after light beams respectively emitted by a first light-emitting device and a second light-emitting device irradiate the central position of the ISO small ball, respectively rotating each rotating shaft of the multi-shaft medical interventional therapy equipment to obtain the position relation between the light beams respectively emitted by the first light-emitting device and the second light-emitting device and the ISO small ball under each rotating angle; and judging whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement or not according to the position relation between the light beam and the ISO small ball.
The application also discloses an ISO precision testing method of the multi-axis medical interventional therapy equipment. The method comprises the following steps: in the multi-axis medical interventional therapy equipment transmitting device and the receiving device, a transmission path of a signal transmitted by the transmitting device is superposed with a path of a ray of the interventional therapy equipment; placing an ISO pellet on a transmission path of a signal transmitted by the transmitting device, wherein the diameter of the ISO pellet is equal to a required ISO area; after the receiving device cannot receive the signal transmitted by the transmitting device, the rotating shafts of the multi-shaft medical interventional treatment equipment are respectively rotated, and whether the motion precision of the multi-shaft medical interventional treatment equipment meets the requirement or not is judged according to whether the receiving device can receive the signal transmitted by the transmitting device or not under each rotating angle.
The application further discloses an ISO precision testing system of the multi-axis medical interventional therapy equipment, which comprises a transmitting device, a receiving device, an ISO small ball tool and a processing device. After the transmitting device and the receiving device are installed on the medical interventional therapy equipment, the transmission path of the signal sent by the transmitting device is overlapped with the path of the ray of the multi-axis interventional therapy equipment. The ISO small ball is placed in the ISO small ball tool, the diameter of the ISO small ball is equal to the required ISO area, and when the ISO small ball is used, the ISO small ball is located on a transmission path of a signal transmitted by the transmitting device. And the processing device judges whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement according to whether the receiving device can receive the signal sent by the transmitting device.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
because the multi-axis medical interventional therapy equipment is provided with the first light-emitting device and the second light-emitting device, the path of the light beam emitted by the first light-emitting device and the path of the light beam emitted by the second light-emitting device are superposed with the path of the ray emitted by the interventional therapy equipment, the paths of the light beams emitted by the first light-emitting device and the second light-emitting device are respectively provided with the ISO pellets, the diameter of each ISO pellet is equal to the required ISO area, whether the movement precision of the stand meets the requirement is judged according to the position relation between the visible light beam and the ISO pellets, or the transmission path of the signal emitted by the emitting device is superposed with the path of the ray of the interventional therapy equipment in the emitting device and the receiving device of the multi-axis medical interventional therapy equipment, whether the operation precision of the stand meets the design requirement is judged according to whether the receiving device can receive the signal emitted by the emitting, the two schemes can quickly obtain a test result, the measurement result is visual, the operation is simple and convenient, in addition, laser acquisition equipment is not needed any more, only an ISO small ball, a first light-emitting device and a second light-emitting device are needed to be arranged, or the ISO small ball, the transmitting device and the receiving device are arranged, so the cost is low, and in addition, the first light-emitting device and the second light-emitting device or the transmitting device and the receiving device are respectively arranged on the rack (particularly on a ray transmitting end and a bulb tube of a detector of a blood vessel machine), so the suspension type rack test device can also be suitable for the test of the suspension type rack.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic diagram of relative position relationships of an ISO pellet fixture, a first light-emitting device and a second light-emitting device to a rack;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic structural diagram of an ISO pellet fixture with an ISO pellet mounted thereon;
fig. 4 is a top view of the ISO pellet tooling shown in fig. 3.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the terms "first," "second," and the like as used in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Similarly, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one; "plurality" means two or more than two. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items.
Exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following embodiments, features of the embodiments can be supplemented with each other or combined with each other without conflict.
During the process of developing the test method of the blood vessel machine ISO precision, the inventor finds that: the target is arranged on a rack detector, a bulb tube and the like, the movement track of the target is obtained through the laser tracking and collecting equipment, and the ISO center position is obtained through calculation and fitting, so that the method is high in precision, high in cost and complex in operation. In addition, there is a way to test ISO accuracy. This approach uses a rack with a small ball placed at the front end of the rack. A laser lamp is arranged at the position of the bulb tube of the machine frame. Shine on the bobble through the laser lamp to when the frame motion, observe whether the laser that the laser lamp sent can shine on the bobble, under the condition that can shine on the bobble, judge that the ISO precision satisfies the demand, otherwise, unsatisfied the requirement. The method has the advantages that the tool is simple and convenient, the operation is easy, and whether the ISO meets the requirements or not can be detected rapidly; the disadvantage is that the tool adjustment mechanism is not flexible enough and is not suitable for ISO testing of multi-axis medical interventional devices with suspended racks. To this end, the first aspect of the present application provides a method for testing ISO precision, the method includes that a first light-emitting device and a second light-emitting device are arranged on a rack of a blood vessel machine, paths of light beams respectively emitted by the first light-emitting device and the second light-emitting device are coincident with a path of a ray emitted by the blood vessel machine, ISO beads are further placed on paths of the light beams of the first light-emitting device and the second light-emitting device, diameters of the ISO beads are equal to a required ISO area (namely, an allowable error range), then, the rack is rotated, and whether the motion precision of the rack meets requirements is judged according to a position relation between a visible light beam and the ISO beads during rotation of the rack. If the visible light beams emitted by the first light-emitting device and the second light-emitting device respectively irradiate the ISO small balls, the operation precision of the rack can be judged to meet the design requirement, otherwise, the operation precision of the rack does not meet the design requirement. The method has the advantages that the judgment result can be obtained by judging whether the visible light irradiates on the ISO pellet, so that the test result can be quickly obtained, the measurement result is visual, the operation is simple and convenient, in addition, laser acquisition equipment is not needed any more, only the ISO pellet, the first light-emitting device and the second light-emitting device need to be arranged, the cost is low, and in addition, the first light-emitting device and the second light-emitting device are respectively arranged on the rack (particularly on the ray emitting end and the bulb tube of the detector of the blood vessel machine), so that the method can also be suitable for testing the suspension type rack. In addition, based on the first aspect, the inventor also thinks of arranging the transmitting device and the receiving device in the multi-axis medical interventional therapy device, so that the transmission path of the signal transmitted by the transmitting device is overlapped with the path of the ray of the interventional therapy device, and then whether the receiving device can receive the signal transmitted by the transmitting device to judge whether the ISO precision meets the requirement or not, and the scheme still has the advantages of low cost, suitability for the test of the suspension type rack, simplicity and convenience in operation and intuitive measuring result. The application also discloses ISO pellet frock, and this frock can realize going up and down, the flexible and rotation of horizontal plane of horizontal direction, can realize the motion of pellet in X, Y and Z direction in other words, so, the adjustment is nimble, and the messenger ISO pellet that can be convenient fast takes one's place.
The technical solution of the present application is explained in detail as follows:
referring to fig. 1, a blood vessel machine is taken as an example to illustrate a scheme for determining whether the motion precision of the gantry meets the requirement through a visible light beam, and the method includes the following steps:
first, a first light emitting device 1 and a second light emitting device 2 are provided on the multi-axis medical interventional treatment device, and the path of the light beam emitted by each of the first light emitting device 1 and the second light emitting device 2 coincides with the path of the ray emitted by the interventional treatment device. In one embodiment, the vascular machine is an over-the-wire type vascular machine, and the frame of the vascular machine includes a cantilever 3, an L1 shaft 4, a bulb 5, and the like. The first light-emitting device is arranged at the center of the rotating shaft of the L1 shaft 4 of the frame, so that the emitted light beam can be emitted downwards along the axial direction of the L1 shaft 4 (the path of the light beam is overlapped with the path of the X ray emitted to the detector), the first light-emitting device 1 is opened to simulate the axis of the L1 shaft 4, the second light-emitting device is arranged on the bulb tube 5 of the frame, so that the visible light beam can be emitted upwards along the extension line direction of the focal point of the bulb tube, and the second light-emitting device 2 is opened to simulate the X ray emitted by the bulb tube. In another embodiment, the vessel is a non-suspended vessel having a cantilever that is either C-shaped or G-shaped. The cantilever is provided with a detector and a bulb tube 5 which are opposite, the first light-emitting device is arranged on the detector, and the second light-emitting device is arranged on the bulb tube. The first light emitting device 1 may be a laser light, and the second light emitting device 2 may also be a laser light.
Next, an ISO pellet 6 is placed on the paths of the light beams respectively emitted by the first and second light emitting devices, and the diameter of the ISO pellet 6 is equal to the required ISO area. In one embodiment, referring to fig. 3 and 4 in combination with fig. 1 and 2, the ISO pellet 6 is placed on an ISO pellet fixture 7, which is placed on the left front side or the right front side of the zero center line L2 of the multi-axis medical interventional therapy device in the direction of 30 degrees to 50 degrees, and is placed on the right front side in fig. 2, and the angle of the ISO pellet is shown as α in fig. 2, for example, 31 degrees, 33 degrees, 35 degrees, 38 degrees, 43 degrees, 45 degrees, 47 degrees, 49 degrees or 50 degrees. In particular, at 45 degrees, the ISO ball 6 is not shielded or touched during the rotation of the L1 axis, the P axis and the C axis (C arm rotation axis) of the rack respectively, which is convenient for operation. The ISO area where the diameter of the ISO ball 6 is equal to the requirement can make the judgment of the measurement result more intuitive. In one embodiment, in order to flexibly adjust the position of the ISO small ball and quickly position the ISO small ball, the application also discloses an ISO small ball tool 7. The ISO pellet tooling 7 comprises a base 72, a bracket 73 mounted on the base, a lifting platform 74 mounted on the bracket 73, a horizontal moving device 75, a horizontal rotating device 76 and a pellet mounting platform 77. In one embodiment, the bracket 73 includes a vertical post 731 and a diagonal post 732 standing on the base 72 and serving as a stand support. The inclined column 732 is connected with the upright 731 and the base 72 to form an inclined support. The lifting platform 74 is located at the end of the upright 731 opposite the base 72 and is vertically raised and lowered relative to the base 72, as will be appreciated, in such a way as to achieve position adjustment of the ISO ball in the Z-direction. The horizontal telescopic device 75 includes a guide rail 751 installed on the lifting platform 74 and located in a horizontal direction, a slider 752 slidably connected to the guide rail 751, and a locking structure 753 connected to the slider 752 and locking the slider in a desired position. In the case where the ISO pellet is located at the designed ISO center position, the position of the slider 752 at this time is the required position. It will be appreciated that this way an adjustment of the position of the ISO pellet 6 in the X direction is achieved. The horizontal rotation device 76 includes a rotation platform 761 mounted to the slider 752 and a rotation lever 762 connected to the rotation platform 761. The ball mounting platform 77 is mounted on the end of the rotating rod 762 opposite to the rotating platform 761, and rotates around the rotating platform 761 in a horizontal plane, which can be understood as realizing the position adjustment of the ISO ball in the Y direction.
Referring to fig. 3 and 4, in one embodiment, in order to facilitate determining whether to place an ISO pellet 6 in an ISO-centered position of a design, the pellet mounting platform 77 includes a rotating shaft 771 and a pellet mounting block 772, wherein opposite ends of the rotating shaft 771 are respectively connected to the rotating bar 71 and the pellet mounting block 772, so that the pellet mounting block 772 can rotate around the rotating shaft 771. The pellet mounting block 772 is provided with a supporting rod 773 for mounting the ISO pellet 6 in a horizontal state. The surface of the ball mounting block 772 is provided with a first target 7721 for receiving the light beam emitted from the corresponding light emitting device, and the target center of the first target 7721 is symmetrical with the center of the ISO ball 6 with respect to the axis of the rotating shaft. In the present embodiment, the first target 7721 is disposed on the surface of the ball mounting block 772 facing the first light emitting device 1, but it will be understood by those skilled in the art that one first target 7721 may be disposed on the surface facing the second light emitting device 2, or the targets may be disposed on the surface facing the first light emitting device 1 and the surface facing the second light emitting device 2. By arranging the targets, the situation that the center position of the ISO pellet 6 is not easily found due to the reflection of light of the ISO pellet 6 and the like is avoided, after the light-emitting device irradiates the target center of the first target 7721, since the target center and the position of the center of the ISO pellet 6 are symmetrical relative to the axis of the rotating shaft 771, the position can be regarded as the ISO center position of the rack, in this case, the rotating shaft 771 is rotated to exchange the positions of the ISO pellet and the first target 7721, and then the locking structure 753, the lifting platform 74, the horizontal rotating device 76 and the rotating shaft 771 are locked to prevent the ISO pellet 6 from moving in Z, Y and Z directions.
Referring to fig. 3 and 4, in another embodiment, in order to ensure whether the rotating lever 71 is in a horizontal state. A second target 7722 is provided on the side of the ball mounting block 772 that connects to the surface on which the first target 7721 is provided. The ball mounting block 772 is provided with a third light emitting device 78 at one end opposite to the ISO ball 6, the third light emitting device 78 emits a light beam in a horizontal state, and whether the rotating rod is in a horizontal state is determined according to the position relationship between the light beam emitted by the third light emitting device 78 and the target center of the second target 7722. In a case where the light beam emitted from the third light-emitting device 8 is irradiated on the second target 7722 and coincides with the target center, it is determined that the light beam is located at a horizontal position, and otherwise, the light beam is not located at a horizontal position, in which case the base needs to be adjusted so as to be located at a horizontal position, and therefore, the base 72 is provided with a plurality of legs 79 with adjustable heights, and in a case where the light beam emitted from the third light-emitting device is irradiated on the second target and does not coincide with the target center of the second target, the heights of the respective legs 79 are adjusted so as to coincide with the target center of the second target.
Next, the C-arm 3 of the rack is turned to the horizontal position, the first light emitting device 1 mounted on the L1 shaft 4 and the second light emitting device 2 mounted on the bulb 5 are turned on, and then the height and the front-rear position of the ISO ball fixture 7 are adjusted so that the light beams emitted from the first light emitting device 1 and the second light emitting device 2 are both directed to the center position (i.e., the center position) of the ISO ball 6. At this time, the position of the ISO ball 6 is the ISO position of the rack, and the position of the ball is locked so that it is not changed.
Then, after the light beams emitted by the first light-emitting device 1 and the second light-emitting device 2 are irradiated on the center position of the ISO bead, the respective rotation shafts (P-axis, L1-axis, and C-axis) of the multi-axis medical interventional therapy device are respectively rotated to obtain the positional relationship between the light beams emitted by the first light-emitting device 1 and the second light-emitting device 2 and the ISO bead 6 at the respective rotation angles; and judging whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement or not according to the position relation between the light beam and the ISO small ball 6. Specifically, if the light beams emitted by the first light-emitting device 1 and the second light-emitting device 2 are always irradiated on the ISO bead 6, it is indicated that the movement precision of the rack meets the design requirement; if the light beam emitted by the first light-emitting device 1 and/or the second light-emitting device 2 at a certain position is irradiated outside the small ball, the position is beyond the design requirement and is not in accordance with the design requirement.
If, at a certain position, the light beams emitted by the first and second light-emitting devices 1, 2 impinge on the ISO bead 6, there is a possibility that the ISO bead 6 and the zero positions of the other axes are not correctly aligned, and therefore, in one embodiment, in the case that the motion precision of the multi-axis medical interventional treatment device is not satisfactory, recalibrating the zero position of the ISO small ball 6 and the zero position of each rotating shaft of the multi-shaft medical interventional therapy equipment so as to enable the zero positions to meet requirements, specifically, firstly recalibrating the zero positions of each rotating shaft of the multi-shaft medical interventional therapy equipment, after the calibration is finished, according to the previous steps, the height and the front and back positions of the ISO tool are adjusted so that light beams emitted by the first light-emitting device and the second light-emitting device can be irradiated to the center position of the ISO small ball, and therefore the zero position of the ISO small ball 6 is recalibrated. And after the zero position meets the requirement, respectively rotating the rotating shafts of the multi-axis medical interventional therapy equipment again to obtain the position relation between the light beams emitted by the first light-emitting device 1 and the light beams emitted by the second light-emitting device 2 and the ISO pellets under each rotating angle, and determining whether the motion precision of the medical interventional therapy equipment meets the requirement again according to the position relation between the light beams and the ISO pellets. If the light beam emitted by the first light-emitting device 1 and/or the second light-emitting device 2 is still at a certain position after calibration and does not irradiate the ISO pellet 7, the accuracy of the rack is out of standard and the requirement is not met.
The inventors also think of another ISO precision testing method based on the above technical idea of whether the light beams emitted by the first and second light emitting devices 1 and 2 are irradiated to the ISO pellet 6. According to the method, the ISO pellet 6 is used for shielding the signal sent by the sending device, so that the receiving device cannot receive the signal, and under the condition that the receiving device cannot receive the signal sent by the sending device, the movement precision of the rack is in accordance with the requirement, otherwise, the movement precision of the rack is not in accordance with the requirement. The method is described in detail as follows:
firstly, in the transmitting device and the receiving device of the multi-axis medical interventional therapy equipment, the transmission path of the signal transmitted by the transmitting device is superposed with the path of the ray of the interventional therapy equipment. In one embodiment, the emitting device is a light emitting device and the receiving device is a light receiving device. In another embodiment, the transmitting device is an infrared transmitting device and the receiving device is an infrared receiving device. In one embodiment, the multi-axial medical interventional therapy device is an over-the-counter angio device having a frame; the emitting device is arranged on an L1 shaft of the frame, the emitted light beam is also used for simulating the axis of the L1 shaft, and the receiving device is arranged on a bulb tube of the frame. In another embodiment, the multi-axial medical interventional therapy device is a non-suspended vascular machine having a cantilever; the cantilever is provided with a detector and a bulb tube which are opposite, the transmitting device is installed on the detector, and the receiving device is installed on the bulb tube.
Then, placing an ISO small ball on a transmission path of the signal transmitted by the transmitting device, wherein the diameter of the ISO small ball is equal to the required ISO area;
and finally, after the receiving device cannot receive the signal transmitted by the transmitting device, respectively rotating each rotating shaft of the multi-shaft medical interventional treatment equipment, and under each rotating angle, judging whether the motion precision of the multi-shaft medical interventional treatment equipment meets the requirement according to whether the receiving device can receive the signal transmitted by the transmitting device. More specifically, the receiving device judges that the motion precision of the multi-axis medical interventional therapy device meets the requirement under the condition that the signal transmitted by the transmitting device cannot be received, and otherwise, the motion precision of the multi-axis medical interventional therapy device does not meet the requirement. In one embodiment, the judging whether the motion precision of the multi-axis medical interventional therapy device meets the requirement according to whether the receiving device can receive the signal sent by the transmitting device comprises the following steps: specifically, the zero positions of the rotating shafts of the multi-axis medical interventional therapy equipment are recalibrated, after calibration is completed, the height and the front and back positions of the ISO tool are adjusted so that the receiving device cannot receive signals transmitted by the transmitting device, and therefore the zero position of the ISO small ball 6 is recalibrated. And after the zero positions meet the requirements, rotating the rotating shafts of the multi-axis medical interventional therapy equipment again, and judging whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirements according to whether the receiving device can receive the signals sent by the transmitting device.
In one embodiment, the ISO small ball is placed on an ISO small ball tool, and the ISO small ball tool is placed in the direction of 30-50 degrees on the left front side or the right front side of a zero center line of the multi-axis medical interventional therapy equipment so as to prevent the ISO small ball tool from interfering with rotation of each axis of the multi-axis medical interventional therapy equipment. The structure of the ISO pellet tool is as described above and is not described in detail.
The application also discloses an ISO precision testing system of the multi-axis medical interventional therapy equipment. The system comprises a transmitting device, a receiving device, an ISO small ball tool and a processing device. After the transmitting device and the receiving device are installed on the medical interventional therapy equipment, the transmission path of the signal sent by the transmitting device is overlapped with the path of the ray of the multi-axis interventional therapy equipment. The ISO small ball is placed in the ISO small ball tool, the diameter of the ISO small ball is equal to the required ISO area, and when the ISO small ball is used, the ISO small ball is located on a transmission path of a signal transmitted by the transmitting device. And the processing device judges whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement according to whether the receiving device can receive the signal sent by the transmitting device. In one embodiment, the emitting device is a light emitting device and the receiving device is a light receiving device; alternatively, the transmitting device is an infrared transmitting device and the receiving device is an infrared receiving device. The structure of the ISO pellet tool is as described above and is not described in detail.
Although the above embodiments are described by taking a blood vessel machine as an example, the skilled person will understand that the solution can be applied to other multi-axial medical interventional treatment devices, such as an overhead device or a non-overhead device. In the case of an over-the-counter device, this type of device has a structure similar to the L1 shaft and cantilever of the over-the-counter angio machine; in the case of a non-suspended device, the device has a structure similar to that of a cantilever of the non-suspended blood vessel machine, and in this case, the cantilever is provided with a probe and a bulb which are opposed to each other, the first light-emitting device is attached to the probe, and the second light-emitting device is attached to the bulb, or the cantilever is provided with a probe and a bulb which are opposed to each other, the transmitter is attached to the probe, and the receiver is attached to the bulb.
Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application, and all changes, substitutions and alterations that fall within the spirit and scope of the application are to be understood as being covered by the following claims.
Claims (9)
1. An ISO precision testing method of a multi-axis medical interventional therapy device is characterized by comprising the following steps:
a first light-emitting device and a second light-emitting device are arranged on the multi-axis medical interventional therapy equipment, and the path of a light beam emitted by each of the first light-emitting device and the second light-emitting device is superposed with the path of a ray emitted by the multi-axis medical interventional therapy equipment;
placing an ISO pellet on paths of light beams respectively emitted by the first light-emitting device and the second light-emitting device, wherein the diameter of the ISO pellet is equal to the required ISO area;
after light beams respectively emitted by a first light-emitting device and a second light-emitting device irradiate the central position of the ISO small ball, respectively rotating each rotating shaft of the multi-shaft medical interventional therapy equipment to obtain the position relation between the light beams respectively emitted by the first light-emitting device and the second light-emitting device and the ISO small ball under each rotating angle;
judging whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement or not according to the position relation between the light beam and the ISO small ball;
or the multi-axis medical interventional therapy equipment is provided with a transmitting device and a receiving device, and a transmission path of a signal transmitted by the transmitting device is superposed with a path of a ray of the multi-axis medical interventional therapy equipment;
placing an ISO pellet on a transmission path of a signal transmitted by the transmitting device, wherein the diameter of the ISO pellet is equal to a required ISO area;
after the receiving device cannot receive the signal transmitted by the transmitting device, rotating each rotating shaft of the multi-shaft medical interventional treatment equipment respectively, and judging whether the motion precision of the multi-shaft medical interventional treatment equipment meets the requirement according to whether the receiving device can receive the signal transmitted by the transmitting device or not under each rotating angle;
wherein the placing of the ISO pellet comprises: placing the ISO small ball on an ISO small ball tool, wherein the ISO small ball tool is placed in the direction of 30-50 degrees on the left front side or the right front side of a zero position center line of the multi-axis medical interventional treatment equipment so as to prevent the ISO small ball tool from interfering with the rotation of each axis of the multi-axis medical interventional treatment equipment;
the ISO pellet fixture comprises a base, a bracket standing on the base, a lifting platform arranged on the bracket, a horizontal telescopic device, a horizontal rotating device and a pellet mounting platform used for mounting the ISO pellet, wherein,
the lifting platform is lifted relative to the base in the vertical direction;
the horizontal telescopic device comprises a guide rail which is arranged on the lifting platform and is positioned in the horizontal direction, a sliding block which is in sliding connection with the guide rail, and a locking structure which is connected with the sliding block and locks the sliding block at a required position;
the horizontal rotating device comprises a rotating platform arranged on the sliding block and a rotating rod connected with the rotating platform; the end part of the rotating rod, which is opposite to the rotating platform, is provided with the small ball mounting platform and rotates around the rotating platform in a horizontal plane;
the ball mounting platform comprises a rotating shaft mounted at the end of the rotating rod and a ball mounting block connected with the rotating shaft, wherein the ball mounting block can rotate around the rotating shaft and is provided with a support rod which is positioned in a horizontal state and used for mounting the ISO ball, a first target used for receiving a corresponding light beam emitted by the first light-emitting device or a signal emitted by the emitting device is arranged on the surface of the ball mounting block, and the center of the first target is symmetrical to the center of the ISO ball relative to the axis of the rotating shaft.
2. The ISO accuracy testing method of a multi-axis medical interventional therapy device according to claim 1, wherein the multi-axis medical interventional therapy device is an overhead angio machine having a frame; the first light-emitting device is arranged on an L1 shaft of the frame, the emitted light beam is also used for simulating the axis of the L1 shaft, and the second light-emitting device is arranged on a bulb tube of the frame;
alternatively, the multi-axis medical interventional therapy device has a cantilever; the cantilever is provided with a detector and a bulb tube which are opposite, the first light-emitting device is arranged on the detector, and the second light-emitting device is arranged on the bulb tube;
alternatively, the multi-axial medical interventional therapy device is an over-the-counter stent having a frame; the emitting device is arranged on an L1 shaft of the frame, and the emitted light beam is also used for simulating the axis of the L1 shaft; the receiving device is arranged on a bulb tube of the frame;
alternatively, the multi-axis medical interventional therapy device has a cantilever; the cantilever is provided with a detector and a bulb tube which are opposite, the transmitting device is installed on the detector, and the receiving device is installed on the bulb tube.
3. The ISO precision testing method for multi-axis medical interventional therapy equipment according to claim 1 or 2, wherein the judging whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement according to the position relation between the light beam and the ISO pellet comprises:
when the motion precision of the multi-axis medical interventional therapy equipment does not meet the requirement, recalibrating the zero position of the ISO bead and the zero position of each rotating shaft of the multi-axis medical interventional therapy equipment so that the zero positions meet the requirement, after the zero positions meet the requirement, rotating each rotating shaft of the multi-axis medical interventional therapy equipment again to obtain the position relation between the light beams emitted by the first light-emitting device and the light beams emitted by the second light-emitting device under each rotating angle and the ISO bead, and determining whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement again according to the position relation between the light beams and the ISO bead;
judging whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement according to whether the receiving device can receive the signal sent by the transmitting device comprises the following steps:
and when the zero positions meet the requirements, rotating the rotating shafts of the multi-axis medical interventional therapy equipment again, and judging whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirements according to whether the receiving device can receive the signals sent by the transmitting device.
4. The ISO precision testing method of a multi-axis medical interventional therapy device according to claim 1, wherein a second target is provided on a side of the ball mounting block that is connected to a surface on which the first target is provided; and a third light-emitting device is arranged at one end of the small ball mounting block relative to the ISO small ball, emits a horizontal light beam, and determines whether the rotating rod is in a horizontal state according to whether the irradiation point of the light beam emitted by the third light-emitting device on the second target is superposed with the target center of the second target.
5. The ISO precision testing method for multi-axis medical interventional therapy devices according to claim 4, wherein a plurality of height-adjustable legs are disposed on the base, and in case that the irradiation point of the light beam emitted by the third light emitting device on the second target is not coincident with the target center of the second target, the height of the corresponding leg is adjusted so that the irradiation point is coincident with the target center of the second target.
6. An ISO precision testing system of multi-axis medical interventional therapy equipment is characterized by comprising a transmitting device or a first light-emitting device, a receiving device or a second light-emitting device, an ISO pellet tool and a processing device, wherein,
after the transmitting device and the receiving device are installed on the multi-axis medical interventional treatment equipment, a transmission path of a signal sent by the transmitting device is overlapped with a path of a ray of the multi-axis medical interventional treatment equipment, or a first light-emitting device and a second light-emitting device are arranged on the multi-axis medical interventional treatment equipment, and paths of light beams sent by the first light-emitting device and the second light-emitting device are overlapped with the path of the ray sent by the multi-axis medical interventional treatment equipment;
the ISO pellet is placed in the ISO pellet tool, the diameter of the ISO pellet is equal to the required ISO area, and when the ISO pellet is used, the ISO pellet is located on a transmission path of a signal transmitted by the transmitting device;
the ISO pellet fixture comprises a base, a bracket standing on the base, a lifting platform arranged on the bracket, a horizontal telescopic device, a horizontal rotating device and a pellet mounting platform used for mounting the ISO pellet, wherein,
the lifting platform is lifted relative to the base in the vertical direction;
the horizontal telescopic device comprises a guide rail which is arranged on the lifting platform and is positioned in the horizontal direction, a sliding block which is in sliding connection with the guide rail, and a locking structure which is connected with the sliding block and locks the sliding block at a required position;
the horizontal rotating device comprises a rotating platform arranged on the sliding block and a rotating rod connected with the rotating platform; the end part of the rotating rod, which is opposite to the rotating platform, is provided with the small ball mounting platform and rotates around the rotating platform in a horizontal plane;
the ball mounting platform comprises a rotating shaft mounted at the end part of the rotating rod and a ball mounting block connected with the rotating shaft, wherein the ball mounting block can rotate around the rotating shaft and is provided with a support rod which is positioned in a horizontal state and used for mounting the ISO ball, a first target used for receiving a light beam emitted by the corresponding first light-emitting device or a signal emitted by the emitting device is arranged on the surface of the ball mounting block, and the center of the first target and the center of the ISO ball are symmetrical relative to the axis of the rotating shaft;
and the processing device judges whether the motion precision of the multi-axis medical interventional therapy equipment meets the requirement according to whether the receiving device can receive the signal sent by the transmitting device.
7. The ISO precision testing system of multi-axis medical interventional therapy device according to claim 6, wherein the transmitting means is a light emitting means and the receiving means is a photo-electric receiving means; alternatively, the transmitting device is an infrared transmitting device and the receiving device is an infrared receiving device.
8. The ISO precision testing system of multi-axis medical interventional therapy device of claim 6, wherein a second target is disposed on a side of the ball mounting block that is connected to a surface on which the first target is disposed; and a third light-emitting device is arranged at one end of the small ball mounting block relative to the ISO small ball, emits a horizontal light beam, and determines whether the rotating rod is in a horizontal state according to whether the irradiation point of the light beam emitted by the third light-emitting device on the second target is superposed with the target center of the second target.
9. The ISO precision testing system of multi-axis medical interventional therapy device according to claim 8, wherein a plurality of height-adjustable legs are provided on the base, and in case that an irradiation point of the light beam emitted by the third light emitting device on the second target is not coincident with a target center of the second target, the height of the respective legs is adjusted so that the irradiation point is coincident with the target center of the second target.
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| CN110779442A (en) | 2020-02-11 |
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