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CN113367707A - Medical X-ray image system based on double robots and control method - Google Patents

Medical X-ray image system based on double robots and control method Download PDF

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CN113367707A
CN113367707A CN202010114413.8A CN202010114413A CN113367707A CN 113367707 A CN113367707 A CN 113367707A CN 202010114413 A CN202010114413 A CN 202010114413A CN 113367707 A CN113367707 A CN 113367707A
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robot
ray
slave
master
coordinate system
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李宁
李劲生
陈圣国
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Nanjing Institute of Technology
Nanjing Perlove Medical Equipment Co Ltd
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Nanjing Institute of Technology
Nanjing Perlove Medical Equipment Co Ltd
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44Constructional features of apparatus for radiation diagnosis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
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Abstract

The invention provides a medical X-ray imaging system based on double robots and a control method thereof, wherein the double robots refer to a master robot and a slave robot with 6-degree-of-freedom joints, the master robot clamps an X-ray bulb tube and a beam light device, the slave robot clamps a flat X-ray detector, the master robot and the slave robot are both directly controlled by respective independent controllers, a central control module is arranged on the master robot and the slave robot, the central control module integrates two independent coordinate systems of the master robot and the slave robot into a unified coordinate system, and in the unified coordinate system, the central control module plans respective poses of the master robot and the slave robot and sends commands to respective controllers of the master robot and the slave robot to coordinate the motion of the master robot and the slave robot. The central control module also controls a high-voltage generator, and the high-voltage generator drives a cathode filament of the X-ray bulb tube. The flat panel X-ray detector converts the detected image into an electric signal and transmits the electric signal to the image workstation.

Description

Medical X-ray image system based on double robots and control method
Technical Field
The invention relates to an X-ray imaging system, in particular to a medical X-ray imaging system based on double robots and a control method.
Background
The traditional X-ray machine is applied clinically for nearly one hundred years, plays an important role in the development and progress of human health and medical industry, but exposes some defects, image overlapping is the most important defect, and the fundamental reason for the defect is that X-ray imaging displays a three-dimensional real scene into a two-dimensional image, and information in the depth direction is overlapped to cause confusion.
The basis for solving the problem is CT, wherein the CT device utilizes an X-ray tube to carry out multidirectional scanning on the periphery of a section of an object, and calculates the content in the section in the object according to the absorption condition of X-rays in each scanning direction, the current CT device is generally multi-layer scanning, namely, the scanning of a plurality of sections can be finished at one time, but even if the scanning is finished, the CT device can be finished only by moving a certain distance in the longitudinal direction, and the radiation dose of CT detection is more than that of digital X-ray radiography detection, and the CT device is not suitable for moving use and is not suitable for use in an operation; in recent years, C-arm X-ray machines can be used in surgery, and X-ray bulbs, beam splitters and flat panel X-ray detectors (or image intensifiers) in the C-arm X-ray machines can move at spatially different positions and can capture X-ray images at different angles and positions, thereby overcoming the problem of image information overlapping caused by three-dimensional real-scene two-dimensional display of X-rays to a certain extent.
Because the C-arm machine has a C-shaped guide rail, the X-ray bulb tube, the beam splitter and the flat panel X-ray detector (or the image intensifier) move along the C-shaped guide rail, the C-shaped guide rail can translate and rotate, the structure part has larger volume and occupies the operation space, and the complicated mechanical structure and longer transmission chain have adverse effects on the repeated positioning precision and the image precision of the X-ray bulb tube, the beam splitter and the flat panel X-ray detector (or the image intensifier).
The X-ray image system based on the double robots, which is provided by the invention, can realize the real-time shooting of X-ray images at different positions and different angles, and has the characteristics of simple structure, high repeated positioning precision and high image precision.
Disclosure of Invention
Aiming at one of the defects or shortcomings in the prior art, the invention provides and designs a medical X-ray imaging system based on a double robot, which comprises two 6-degree-of-freedom joint robots, wherein one robot clamps an X-ray bulb tube and a light-splitting device, the other robot clamps a flat-panel X-ray detector, the robot clamping an X-ray tube and a light-splitting device is called a master robot, the robot clamping the flat-panel X-ray detector is called a slave robot, the master robot and the slave robot are directly controlled by respective controllers, a central control module is arranged on the master robot and the slave robot, the central control module integrates two independent coordinate systems of the master robot and the slave robot into a unified coordinate, in the unified coordinate system, the central control module plans the respective poses of the master robot and the slave robot according to the requirements of X-ray photographing angles and positions and coordinates the movement of the master robot and the slave robot, the central control module controls the high-voltage generator, the high-voltage generator drives a cathode filament of the X-ray bulb tube, and the flat-panel X-ray detector converts a detected image into an electric signal and transmits the electric signal to the image workstation.
A medical X-ray imaging system based on dual robots, comprising: the main robot and its controller, from robot and its controller, X ray bulb and beam light ware, high voltage generator, flat panel X ray detector, image processing workstation, central control module and man-machine operation interface, wherein:
the main robot is a 6-degree-of-freedom joint robot, multi-joint movement is realized under the control of a controller of the main robot, and an X-ray bulb tube and a beam splitter are clamped at the tail end of the main robot;
the slave robot is a 6-degree-of-freedom joint robot, is controlled by a controller thereof to realize multi-joint movement, and clamps the flat panel X-ray detector from the tail end of the slave robot;
the X-ray bulb tube and the beam light device are connected with a high-voltage generator, and the high-voltage generator drives a cathode filament of the X-ray bulb tube and controls voltage and current;
the flat panel X-ray detector receives X-rays which are emitted by the X-ray bulb tube and penetrate through the part to be detected of the patient, converts the X-rays into digital electric signals, processes the digital electric signals and then transmits the digital electric signals to the image workstation;
the image workstation is a personal computer, receives image information transmitted by the flat panel X-ray detector through the USB port, and stores, displays and edits the image information;
the central control module is an embedded controller, receives instructions of an operator through a man-machine operation panel, controls the actions of a master robot and a slave robot, and also sends parameters such as filament voltage, filament current and the like to the high-voltage generator to control the exposure of the X-ray tube.
A control method of a medical X-ray imaging system based on double robots comprises the following steps:
the method comprises the following steps: before the medical operation is started, the main robot for clamping the X-ray bulb tube and the slave robot for clamping the flat panel X-ray detector are moved to proper positions, the initial relative position measurement process of the double robots is started, and the transformation matrix between the base coordinate systems of the main robot and the slave robot is measured
Figure BDA0002391016320000021
Wherein
Figure BDA0002391016320000031
Rx,Ry,RzAre respectively coordinate vectors, V, of three coordinate axes of the slave robot base coordinate system in the master robot base coordinate system0=(vxo vyo vzo) Is the coordinate vector in the master robot base coordinate system from the origin of the slave robot base coordinate system.
Step two: guiding the movement of the main robot to change the pose thereof so as to enable the X-ray bulb tube and the beam splitter to be in proper positions to facilitate X-ray irradiation inspection, clamping the X-ray bulb tube and the beam splitter at the tail end of the main robot, determining the X-axis and the y-axis of a tool coordinate system according to the right-hand rule by taking the center of a focus in the X-ray bulb tube as the origin of a tool coordinate system at the tail end of the main robot and the direction of the X-ray as the direction of the z-axis of the tool coordinate system, and determining the pose position matrix of the tool coordinate system at the tail end of the main robot in a base coordinate system of the main robot, wherein the pose position matrix is
Figure BDA0002391016320000032
Wherein
Figure BDA0002391016320000033
rx,ry,rzCoordinate vectors, p, of the three coordinate axes of the end tool coordinate system in the base coordinate system, respectively0=(pxo pyo pzo) Is the coordinate vector of the origin of the end tool coordinate system (the center of the focal point of the X-ray tube and the beam-forming optics) in the main robot base coordinate system.
Step three: an end tool coordinate system of a slave robot holding a flat panel X-ray detector is determined, and an X-axis and a y-axis are determined according to a right-hand rule with a center point of the flat panel X-ray detector as an origin of the tool coordinate system and a normal direction (direction of X-rays) of the flat panel X-ray detector as a z-axis direction.
Step four: the main robot controller transmits the coordinate position of the end tool (i.e. the position of the X-ray bulb tube and the beam light device) to the central control module, the central control module calculates the position of the end of the slave robot (i.e. the position of the flat panel X-ray detector) according to the coordinate position, and the position matrix of the flat panel X-ray detector in the main robot base coordinate system is
Figure BDA0002391016320000034
Wherein p is1=p0+h0For the general case there are: h is0=(0 0 h),p1=(pxo pyo pzo+ h), h is the distance of the X-ray tube to the imaging medium, extending the pose matrix to
Figure BDA0002391016320000035
The central control module is used for obtaining a transformation matrix of the master-slave robot base coordinate system according to the pose matrix T and the pose matrix T
Figure BDA0002391016320000041
The pose of its end tool coordinate system (i.e. the pose of the flat panel X-ray detector) in the slave robot base coordinate system can be calculated and communicated to the slave robot controller.
Step five: and the slave robot controller controls the slave robot controller to move according to the pose information of the end tool coordinate system sent by the central control module in the fourth step, and the flat panel X-ray detector is adjusted to a proper position corresponding to the X-ray bulb tube and the beam splitter clamped by the master robot, wherein the space distance between the focal points of the X-ray bulb tube and the beam splitter and the flat panel X-ray detector is h.
Effects of the implementation
Compared with a common C-arm X-ray machine, the medical X-ray imaging system based on the double robots, which is provided by the invention, can realize the purpose of taking X-ray images of the detected part at different angles in real time, and has the characteristics of simple structure, high repeated positioning precision and high image precision.
Drawings
FIG. 1 is a schematic diagram of a medical X-ray imaging system and control method based on a dual robot.
Fig. 2 is a control schematic diagram of a medical X-ray imaging system and a control method based on a double robot.
Fig. 3 is a flow chart of the medical X-ray imaging system and control method based on the dual robot.
In the attached figure 1: 1. a detector; 2. a slave robot; 3. a slave trolley; 4. a light bundling device; 5. a bulb tube; 6. a main robot; 7. a main trolley.
Detailed Description
The technical solutions in the present invention are clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a technical solution: a medical X-ray image system based on double robots comprises two vehicle-mounted 6-freedom-degree joint robots, wherein a main robot clamps an X-ray bulb tube and a beam splitter and is mounted on a main trolley; the slave robot clamps the flat panel X-ray detector and carries the flat panel X-ray detector on the slave trolley; the master and slave robots are directly controlled by respective controllers, and a central control module is arranged on the master and slave robots and integrates two independent coordinate systems of the master and slave robots into a unified coordinate system. In the unified coordinate system, the central control module plans the respective poses of the master robot and the slave robot according to the requirements of the angle and the position of X-ray photography, and coordinates the motion of the master robot and the slave robot. The central control module controls the high-voltage generator, and the high-voltage generator drives the cathode filament of the X-ray bulb tube. The double robots are provided with intelligent obstacle avoidance and anti-collision devices, and the safety of doctors and patients can be ensured in the moving process of the robots.
As shown in fig. 2, a block diagram of a control structure of a medical X-ray imaging system based on a dual robot according to an embodiment of the present invention is characterized by comprising: the main robot and its controller, from robot and its controller, X ray bulb and beam light ware, high voltage generator, flat panel X ray detector, image processing workstation, central control module and man-machine operation interface, wherein: the main robot is a 6-freedom joint robot, and is controlled by a controller thereof to realize multi-joint movement; the slave robot is a 6-degree-of-freedom joint robot, and is controlled by a controller thereof to realize multi-joint movement; the X-ray bulb tube and the beam light device are connected with a high-voltage generator, and the high-voltage generator generates high voltage through inversion to drive a cathode filament of the X-ray bulb tube and control voltage and current; the flat panel X-ray detector receives X-rays which are emitted by the X-ray bulb tube and penetrate through the part to be detected of the patient, converts the X-rays into digital electric signals and transmits the digital electric signals to the image workstation; the image workstation is a personal computer, receives image information transmitted by the flat panel X-ray detector through a USB port, stores, displays and edits the image information, and is connected with the cloud database through a remote data interface; the central control module is an embedded controller, sends commands to controllers of the master robot and the slave robot, coordinates and controls the actions of the master robot and the slave robot, and sends parameters such as filament voltage, filament current and the like to the high-voltage generator, the high-voltage generator drives a cathode filament of the X-ray tube, the central control module is connected with the human-computer operation interface, the central control module supports the field bus interface, and the double-robot X-ray image system can be accessed into the total full-automatic diagnosis and treatment environment through the field bus interface in future.
Reference throughout this specification to the description of "one embodiment," "an example," "a specific example," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and exemplary descriptions of the terms above do not necessarily refer to the same embodiment or example; furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the present invention have been disclosed merely to aid in the explanation of the invention, and it is not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (5)

1.基于双机器人的医用X射线影像系统,包括两个6自由度关节机器人及各自的控制器,X射线球管及束光器,中央控制模块,人机操作界面,平板X射线检测器,影像服务器,其特征在于:上述两个6自由度机器人可分为主机器人和从机器人,主机器人夹持X射线球管及束光器,主机器人由主机器人的控制器控制;从机器人夹持平板X射线检测器,从机器人由从机器人控制器控制,中央控制模块分别与主从机器人控制器连接;中央控制器与高压发生器连接;高压发生器与X射线球管的阴极灯丝连接;平板X射线检测器通过接口与影像服务器连接。1. Medical X-ray imaging system based on dual robots, including two 6-DOF joint robots and their respective controllers, X-ray tube and beamer, central control module, human-machine interface, flat-panel X-ray detector, The image server is characterized in that: the above two 6-DOF robots can be divided into a master robot and a slave robot, the master robot clamps the X-ray tube and the beamer, the master robot is controlled by the controller of the master robot; the slave robot clamps Flat-panel X-ray detector, the slave robot is controlled by the slave robot controller, and the central control module is connected with the master-slave robot controller respectively; the central controller is connected with the high-voltage generator; the high-voltage generator is connected with the cathode filament of the X-ray tube; the flat plate The X-ray detector is connected to the image server through an interface. 2.根据权利要求1所述的基于双机器人的医用X射线影像系统,其特征在于:所述主机器人控制器直接控制主机器人,所述从机器人控制器直接控制从机器人,所述中央控制模块向主机器人控制器和从机器人控制器发出命令,控制主从机器人之间的配合运动。2 . The dual-robot-based medical X-ray imaging system according to claim 1 , wherein the master robot controller directly controls the master robot, the slave robot controller directly controls the slave robot, and the central control module directly controls the slave robot. 3 . Send commands to the master robot controller and the slave robot controller to control the coordinated movement between the master and slave robots. 3.根据权利要求1所述的基于双机器人的医用X射线影像系统,其特征在于:所述中央控制模块控制高压发生器,高压发生器驱动X射线球管阴极灯丝的曝光,中央控制模块接收人机操作界面发来的操作指令,中央控制模块有现场总线接口,通过现场总线接口可以与其它的医疗设备实现互联。3. The dual-robot-based medical X-ray imaging system according to claim 1, wherein the central control module controls the high-voltage generator, the high-voltage generator drives the exposure of the cathode filament of the X-ray tube, and the central control module receives the The operation instructions sent by the man-machine operation interface, the central control module has a field bus interface, and can be interconnected with other medical equipment through the field bus interface. 4.基于双机器人的医用X射线影像系统的控制方法,其特征是包括如下步骤:4. The control method of the medical X-ray imaging system based on the double robot is characterized by comprising the following steps: 步骤一:在医疗手术开始前,将夹持X射线影灯和束光器的主机器人和夹持平板X射线检测器的从机器人移动到合适的位置,启动双机器人的初始相对位置测量流程,测出主从两个机器人的基坐标系的变换矩阵
Figure RE-544386DEST_PATH_IMAGE001
,其中
Figure RE-974230DEST_PATH_IMAGE002
Figure RE-950276DEST_PATH_IMAGE003
Figure RE-553296DEST_PATH_IMAGE004
Figure RE-196767DEST_PATH_IMAGE005
分别是从机器人基坐标系的三个坐标轴在主机器人基坐标系中的坐标矢量,
Figure RE-531933DEST_PATH_IMAGE006
是从机器人基坐标系的原点(在主机器人基坐标系中的坐标矢量;
Step 1: Before the medical operation starts, move the master robot holding the X-ray shadow lamp and the beamer and the slave robot holding the flat-panel X-ray detector to a suitable position, start the initial relative position measurement process of the two robots, and measure the relative position of the two robots. The transformation matrix of the base coordinate system of the master and slave robots
Figure RE-544386DEST_PATH_IMAGE001
,in
Figure RE-974230DEST_PATH_IMAGE002
,
Figure RE-950276DEST_PATH_IMAGE003
,
Figure RE-553296DEST_PATH_IMAGE004
,
Figure RE-196767DEST_PATH_IMAGE005
are the coordinate vectors of the three coordinate axes of the slave robot base coordinate system in the master robot base coordinate system,
Figure RE-531933DEST_PATH_IMAGE006
is the origin of the slave robot base coordinate system (the coordinate vector in the master robot base coordinate system;
步骤二:引导主机器人的运动以改变其位姿,以使得X射线球管及束光器处于合适的位置以利于X射线照射检查,在主机器人的末端夹持X射线球管及束光器,以X射线球管中的焦点的中心为主机器人末端的工具坐标系的原点,以X射线的方向为工具坐标系的z轴的方向,按右手定则确定工具坐标系的x轴和y轴,工具坐标系在主机器人基坐标系中的位姿位置矩阵是
Figure RE-326102DEST_PATH_IMAGE007
,其中
Figure RE-404916DEST_PATH_IMAGE008
Figure RE-902893DEST_PATH_IMAGE009
Figure RE-471278DEST_PATH_IMAGE010
Figure RE-687496DEST_PATH_IMAGE011
分别是末端工具坐标系的三个坐标轴在基坐标系中的坐标矢量,
Figure RE-570001DEST_PATH_IMAGE012
是末端工具坐标系的原点(X射线球管及束光器的焦点中心)在主机器人基坐标系中的坐标矢量;
Step 2: Guide the movement of the main robot to change its posture, so that the X-ray tube and the beamer are in a suitable position for X-ray irradiation inspection, and the X-ray tube and beamer are clamped at the end of the main robot. , take the center of the focal point in the X-ray tube as the origin of the tool coordinate system at the end of the robot, take the direction of the X-ray as the direction of the z-axis of the tool coordinate system, and determine the x-axis and y-axis of the tool coordinate system according to the right-hand rule axis, the pose position matrix of the tool coordinate system in the main robot base coordinate system is
Figure RE-326102DEST_PATH_IMAGE007
,in
Figure RE-404916DEST_PATH_IMAGE008
,
Figure RE-902893DEST_PATH_IMAGE009
,
Figure RE-471278DEST_PATH_IMAGE010
,
Figure RE-687496DEST_PATH_IMAGE011
are the coordinate vectors of the three coordinate axes of the end tool coordinate system in the base coordinate system,
Figure RE-570001DEST_PATH_IMAGE012
is the coordinate vector of the origin of the end tool coordinate system (the focal center of the X-ray tube and the beamer) in the base coordinate system of the main robot;
步骤三:确定夹持平板X射线检测器的从机器人的末端工具坐标系,以平板X射线检测器的中心点位工具坐标原点,以平板X射线检测器的法线方向(X射线的方向)为z轴方向,依据右手定则确定x轴和y轴;Step 3: Determine the coordinate system of the end tool of the slave robot holding the flat-panel X-ray detector, the center point of the flat-panel X-ray detector is the origin of the tool coordinates, and the normal direction of the flat-panel X-ray detector (X-ray direction) is the z-axis direction, and the x-axis and y-axis are determined according to the right-hand rule; 步骤四:主机器人控制器将末端工具坐标位姿(即X射线球管及束光器的位姿)传送给中央控制模块,中央控制模块据此计算出从机器人末端的位姿(即平板X射线检测器的位姿),在主机器人基坐标系中平板X射线检测器的位姿矩阵是
Figure RE-984802DEST_PATH_IMAGE013
,其中
Figure RE-927350DEST_PATH_IMAGE014
,对于一般情况有
Figure RE-365285DEST_PATH_IMAGE015
Figure RE-848219DEST_PATH_IMAGE016
,h是X射线管到成像介质的距离,将位姿矩阵扩展成
Figure RE-320788DEST_PATH_IMAGE017
,中央控制模块根据此位姿矩阵T以及步骤二中得到的主从机器人基坐标系的变换矩阵,可以计算出在从机器人基坐标系中其末端工具坐标系的位姿(即平板X射线检测器的位姿),并将其传送到从机器人控制器中;
Step 4: The main robot controller transmits the coordinate pose of the end tool (that is, the pose of the X-ray tube and the beamer) to the central control module, and the central control module calculates the pose of the slave end of the robot (that is, the flat X-ray beam). The pose of the ray detector), the pose matrix of the flat panel X-ray detector in the base coordinate system of the main robot is
Figure RE-984802DEST_PATH_IMAGE013
,in
Figure RE-927350DEST_PATH_IMAGE014
, for the general case
Figure RE-365285DEST_PATH_IMAGE015
,
Figure RE-848219DEST_PATH_IMAGE016
, h is the distance from the X-ray tube to the imaging medium, and the pose matrix is expanded into
Figure RE-320788DEST_PATH_IMAGE017
, the central control module can calculate the pose of the end tool coordinate system in the base coordinate system of the slave robot according to the pose matrix T and the transformation matrix of the master-slave robot base coordinate system obtained in step 2 (that is, flat panel X-ray detection pose of the robot) and transmit it to the slave robot controller;
步骤五:从机器人控制器根据步骤四中由中央控制模块发送来的末端工具坐标系的位姿信息,控制自身运动,将平板平板X射线检测器调整到与与主机器人夹持的X射线球管及束光器相对应的合适位置,在此位置上X射线球管及束光器的焦点与平板X射线检测器的空间距离是hStep 5: The slave robot controller controls its own motion according to the pose information of the end tool coordinate system sent by the central control module in step 4, and adjusts the flat-panel X-ray detector to the X-ray ball clamped with the main robot. The appropriate position corresponding to the tube and the beamer, at this position, the spatial distance between the focal point of the X-ray tube and the beamer and the flat-panel X-ray detector is h .
5.根据权利要求4所述的基于双机器人的医用X射线影像系统的控制方法,其特征是主机器人控制器基于主机器人的基坐标系对其进行控制,所述从机器人控制器基于从机器人的基坐标系对其进行控制,所述央控制模块将主从机器人各自的基坐标系整合为统一的坐标系,在这个统一的坐标系中,中央控制模块规划主从机器人各自的位姿,向主从机器人各自的控制器发出命令,协调主从机器人的运动。5. The control method of a dual-robot-based medical X-ray imaging system according to claim 4, wherein the master robot controller controls it based on the base coordinate system of the master robot, and the slave robot controller is based on the slave robot The central control module integrates the respective base coordinate systems of the master and slave robots into a unified coordinate system. In this unified coordinate system, the central control module plans the respective poses of the master and slave robots. Send commands to the respective controllers of the master and slave robots to coordinate the movements of the master and slave robots.
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