Research And Development For Mobile C-arm’s Control System

China’s medical equipment industry has made great progress during the past ten years.With the accelerated process of population aging, continuous guides from governmentpolicies and people’s deeper awareness on health care, China’s medical equipment industryhas a great potential. However, there have been worries behind the booming market, a listof foreign multinational corporations has taken the lead in the industry especially in thehigh-end side, presently there is still a wide gap between our China’s enterprises and theirforeign counterparts.Being important intraoperative imaging device, mobile C-arm machine with X-raygenerator has been widely used in a number of applications over the years. This project iscommitted to the mobile C-arm’s independent research and development, including itsmotion control system and image processing system module, etc. This paper mainlycovers the research and development for the machine’s motion control system, as follows:1.Based on the DH(Denavit-Hartenberg) convention in the robot theory, onecoordinate system for the mobile C-arm is established followed by its kinematics analysisand two methods for its inverse kinematics problem.2.Following the review of the servo system’s development trends, the second partmainly focuses on two types of AC servo system based on permanent magnet synchronousmotor(PMSM) and three phase AC induction motor, simulation models are set up to verifytheir accuracy and feasibility. At last, the servo system for the mobile C-arm is selectedaccording to these two types of servo systems’ practical applications and their simulationresults, laying a foundation for the dynamic co-simulation in the next chapter.3.When it comes to motion control for the mobile C-arm, independent joint controlmethod is chosen. In Adams, by adding constraints, forces/torques, dampings, input andoutput variables, etc, to the mobile C-arm’s mechanical model, its virtual prototype model is set up. Dynamic co-simulation based on the control system model in Matlab/Simulinkand virtual prototype model in Adams is completed at last. Simulation results show thatthe machine’s end pose and position errors are below one millimeter, especially the poseerrors lie at the micron level, indicating that the motion control system designed in thispaper can meet the machine’s application requirements, which will provide a goodreference for physical machine design, components selection, etc and a good basis forprobable system modification in the future.4.In addition, the control panel is designed and developed for the X-ray source,collimator and electromagnetic lock’s control.