The Research Of Medical Digital X Ray Photography Robot System

The general trend of medical products is more automated,more intelligent and easier to use.The position and posture of the traditional DR equipment requires doctors to operate and debug multiple components repeatedly one by one in China.Experienced doctors are required to observe the cross cursor of the collimator to complete alignment operation.This kind of operation mode is inefficient and low precision.It is even more inconvenient for doctors to cooperate with patients,especially those with inconvenient mobility.So,it's a problem in the DR industry.At present,there are no breakthrough technical solutions to this problem in China.And only one company abroad has proposed a new multi axis scheme.But the operation is still complicated.In order to seize this development opportunity and solve the problems effectively,this dissertation has designed a robot DR system with multi axis linkage automatic alignment and space trajectory scanning function.In view of the above problems,this dissertation has carried out the modeling analysis and simulation experimental research of robot system.This dissertation proposes a robot solution to solve the problem of alignment and placement,and has completed the demand analysis and the system overall design.This dissertation has completed the functions of linkage positioning,automatic alignment,space scanning and so on.The whole system includes mechanical subsystem,vision subsystem,motion control system and so on.According to the application scenario of vision subsystem,a fast calibration method based on bedplate detection is proposed,and the camera calibration is completed.Static localization of human parts is realized by background subtraction,projection and ergonomics template.The method of face detection and ergonomics template is used to realize the dynamic positioning of human body parts.The experiment in this dissertation proved the feasibility of this two schemes.According to the design results of the mechanical subsystem and the control subsystem,The kinematics modeling,forward and inverse solution of the 8 sub functional corresponding mechanisms,including the vertical position linkage switching and the multi angle circumference scanning of the ray beam are carried out.Furthermore,the terminal trajectories of various functions are planned,and the joint trajectories are planned according to the end trajectory.Finally,the joint Matlab-Adams simulation is carried out according to the joint trajectory corresponding to the functions of each movement.The simulation results show that the motion functions of the designed robot system meet the requirements,and the overall scheme is feasible.