Method for contactless motion control and mobile medical device

Abstract

In order to enable an operator to keep the hands sterile, a method is provided for contactless movement control of a part of a medical device that can be moved and / or driven by a motor, using a handle element, in particular a handle element in the form of a handle bar, arranged on the device, the method comprises the following steps: recording measured values by means of a sensor, in particular a distance and / or position sensor, arranged on or near the handle element when the device is in a first operating mode excluding a contactless motion control; the measurement value is evaluated with respect to the approach of at least one hand of the operator, and if the evaluation result satisfies a predetermined first condition, the device is switched to a second operating mode, the second operating mode comprising a contactless motion control, the first condition is that the distance from the handle element is lower than the first distance when the hand of the operator approaches from the first approach direction.

Description

Technical Field

[0001] The present invention relates to a method for contactless motion control of motor-movable and / or drivable components of a medical device, and a mobile medical device for performing this method. Background Technology

[0002] Mobile X-ray equipment, such as C-arm X-ray machines, is mounted on a vehicle and equipped with wheels, allowing it to move freely across hospital floors. It offers exceptional flexibility for use in different areas or rooms. In operating rooms, mobile X-ray equipment is used for surgical procedures (e.g., spinal surgery), for minimally invasive procedures in interventional radiology (e.g., embolization), and for minimally invasive cardiac procedures in cardiology. Other applications include trauma and emergency care, orthopedic surgery, and pain management.

[0003] For mobile X-ray equipment, it is essential to provide practically easy-to-operate manual mobility, particularly the ability for the operator to steer, control, and brake the equipment. Newer manually controlled mobile X-ray equipment features motor-supported mobility to facilitate operator handling or transport of the equipment.

[0004] To enable such motor-driven mobile devices to move or travel during surgery, handle elements and / or operating elements with contact control are used, equipped with sterile covers to maintain the sterility of the operator's hands. However, operation and control via such sterile-covered handle elements and / or operating elements are often error-prone, the sterile covers are bulky and impractical, and must be replaced after each use.

[0005] In all cases requiring imaging during interventions in the operating room, mobile X-ray equipment is controlled in a sterile environment. Interaction with the imaging system is often necessary but cumbersome because the physician / surgeon / operator, dressed in sterile gowns, cannot touch the display screen. Even when the operator needs to move or reposition the imaging system, such as when changing the image plane or moving the C-arm to another location, this must be done by someone other than the physician / surgeon / operator. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a method that enables personnel performing interventional surgery to drive and / or operate mobile medical devices while adhering to the aseptic requirements of the operating room; furthermore, the technical problem to be solved by the present invention is to provide a medical device suitable for performing the method.

[0007] This technical problem is solved by the method for contactless motion control of motor-driven movable and / or drivable components of a medical device according to the invention, and by the mobile medical device according to the invention. Advantageous designs of the invention are derived from the description.

[0008] The method for contactless motion control of motor-movable and / or drivable components of a medical device according to the present invention uses a handle element, particularly a handle strip, arranged on the device. The method includes the following steps: when the device is in a first operating mode, recording measurement values ​​by sensors, particularly distance sensors and / or position sensors, arranged on or at the handle element, wherein the first operating mode excludes contactless motion control; evaluating the measurement values ​​in relation to the approach of at least one of the operator's hands; and if the evaluation result meets a preset first condition, switching the device to a second operating mode, wherein the second operating mode includes contactless motion control, wherein the first condition is that the distance of the operator's hand relative to the handle element when approaching from a first approach direction is less than a first distance.

[0009] The method according to the invention enables operators (e.g., cardiologists, interventional radiologists, or surgeons) to easily and safely move formable medical devices during surgery or interventional procedures without touching non-sterile surfaces, thus maintaining hand sterility at all times. Operators can "log in" to the operation via a simple hand gesture, switching the mobile medical device from a first operating mode (non-formable / non-movable) to a second operating mode (formable / movable) without contacting the handle element or handle bar. If the operator logs in in this manner, the mobile medical device can be moved without contact, particularly by translating hand gestures into control signals for motor actuation. Switching from the first operating mode to the second operating mode can be achieved through a simple approach from a predetermined first approach direction. This requires only a sensor capable of recording or detecting hand proximity, such as a conventional distance or proximity sensor, or possibly a position or image sensor. The method is intuitive and simple for the operator, can be performed very quickly, and meets safety standards. This allows for rapid and gentle medical procedures on patients because, without contact with non-sterile surfaces (handle elements), the operator's hands do not need to be cumbersomely re-sterilized between device movements.

[0010] According to one embodiment of the invention, contactless motion control is designed to, for example, evaluate measurements recorded by distance or proximity sensors in relation to the movement of at least one of an operator's hands and convert these measurements into control commands for automatic motion control of the device. The control commands then trigger movement caused by the device's motors. In this way, for example, the operator's hand movements can be used for motor-driven movement of a medical device without contact with the operating module.

[0011] Advantageously, the mobile medical device has a motor-driven device cart and, in a motion control second operating mode, controls the device cart to perform two-dimensional driving motion on a substantially flat surface. Therefore, for example, the device cart can be controlled to move forward, backward, and laterally (and / or in combination) on the ground.

[0012] According to another design of the invention, the motion control is designed such that movement of the hand in a direction parallel to the ground causes a corresponding automatic movement of the equipment cart. This can be particularly designed such that approaching the handle element in a direction parallel to the ground causes a backward movement of the equipment cart in the same direction, and / or moving the hand away from the handle element in a direction parallel to the ground causes a following movement in the same direction. Lateral (i.e., along the handle bar) movement parallel to the ground causes a lateral following movement of the equipment cart. Combined hand movements cause combined movements of the equipment cart. In this way, the operator can easily and intuitively control the movement of the equipment cart on the ground.

[0013] Advantageously, the first approach direction is parallel to the normal to the ground plane. This means, for example, that approach can be made "from above," i.e., when the mobile device is to be driven on a flat surface, the hand approaches the handle element from above. Since this approach direction essentially has no directional component that could cause the device to move, hand movements for logging and hand movements for controlling movement can be clearly distinguished. Therefore, operators can more easily avoid misoperation or accidental device movement.

[0014] According to another design of the invention, if the result of another evaluation of another measurement value satisfies a preset second condition different from the first condition, the device is switched back to the first operating mode. In this way, for example, when operation is completed, it is possible to simply and safely "cancel" the device operation. Specifically, the second condition is beyond a second distance and in the opposite direction to the first approach direction. Therefore, cancellation can be achieved by the operator removing their hand upwards from the handle element. Alternatively, it can be specified that the medical device is switched back to the first operating mode as long as the distance between the hand and the handle bar substantially exceeds the second distance (regardless of direction), to substantially avoid accidental misoperation.

[0015] According to another design of the invention, the currently active operating mode is indicated by an optical or acoustic display. This allows operators and other personnel to quickly and reliably identify the operating mode of the device. For example, lighting colors corresponding to the operating mode can be specified, or symbols or text can be displayed, or characteristic tones or sequences can be output.

[0016] According to another embodiment of the invention, measurements of the hand gesture control are additionally recorded and evaluated. Gesture control can also control functions other than device movement, such as display functions, input and output, or setting and triggering measurements.

[0017] The present invention also includes a mobile medical device having a motor-assisted motor-driven device cart, the mobile medical device being designed to perform the methods described above, the mobile medical device comprising: at least one handle element in the form of a handle bar, wherein at least one distance sensor and / or position sensor is disposed on or directly adjacent to the handle bar, wherein the sensor is designed to record measurements relating to the proximity of an operator's hand; an evaluation unit designed to evaluate the sensor measurement data in terms of the distance and direction of proximity of the operator's hand; and a control unit for controlling the mobile medical device to switch from a first operating mode to a second operating mode and from the second operating mode back to the first operating mode based on the evaluation results, and further designed to automatically control the movement of the device cart on the ground based on the movement of the operator's hand.

[0018] According to one design of the present invention, the device comprises a mobile C-arm X-ray device. In addition to the device cart, this device may also have a movable C-arm, which can also be controlled by the method described above. According to another embodiment of the present invention, the medical device has at least one distance sensor selected from the group consisting of: an infrared sensor, a light sensor, an ultrasonic sensor, a capacitive or inductive sensor, and a radio frequency sensor. Attached Figure Description

[0019] The invention and other advantageous designs are described in detail below with the aid of embodiments schematically illustrated in the accompanying drawings, but the invention is not limited to these embodiments. In the drawings:

[0020] Figure 1 The steps of a contactless motion control method are shown in the flowchart.

[0021] Figure 2 A top view of the handle element with the sensor is shown;

[0022] Figure 3 A side view of the handle components, including sensors, a touchpad, and a proximity handle, is shown; and

[0023] Figure 4A view of a mobile medical device used to perform this method is shown. Detailed Implementation

[0024] exist Figure 1 The diagram illustrates the steps of a contactless motion control method for motor-driven and / or drivable components of a mobile medical device. Such components are particularly motor-driven drivable devices, which are integral parts of the medical device, enabling the device to travel, for example, on substantially flat ground. Figure 4 An exemplary medical device is shown, namely a mobile C-arm X-ray device 24, which has a device cart 23 and is motorized by motor-driven wheels in the form of Mecanum wheels or omnidirectional wheels 28. Handle bars 20 are arranged on the C-arm X-ray device 24 or device cart 23 for manual, semi-automatic, or automatic movement of the device cart by one or more hands (see also...). Figure 2 The C-arm X-ray device 24 also has a C-arm 25, which has an X-ray source 26 and an X-ray detector 27 for taking X-ray images of the object being examined.

[0025] This method can be performed, for example, during medical interventions or surgeries using medical devices, i.e., when the operator's hands should remain sterile for the procedure and they do not wish to come into contact with non-sterile handle elements.

[0026] In the first step 11, measurements are recorded by sensors 21 arranged on the handle bar 20 of the medical device. These sensors are, for example, distance or proximity sensors, particularly multiple distance or proximity sensors or sensor arrays 32, arranged on or around the handle bar to detect or monitor the approach of, for example, one or more hands 22 of an operator. Position sensors or other types of sensors, such as cameras, may also be present to determine the position of the hands 22. Initially, the medical device is in a first operating mode in which sensors 21 can record measurements, but contactless motion control is excluded and neither supported nor actively prevented. During device operation, measurements are continuously and / or “in real-time” recorded by sensors 21 on the handle bar 20 to monitor all hand movements or to immediately identify hand approaches. The measurements may directly or indirectly represent the approach and / or position of one or more hands.

[0027] In the second step 12, the recorded measurements are evaluated in terms of the proximity of at least one of the operator's hands. This is also performed continuously and "in real time" so that action can be taken immediately based on the evaluation results. The corresponding evaluation results may, for example, show whether an operator's hand is approaching, its current distance, and from which direction it is approaching relative to the handle bar 20. The approach direction can be any direction. The evaluation can be performed, for example, by an evaluation unit that is part of the system control device of the medical device.

[0028] If the evaluation result in step 12 meets the preset first condition 13, the device automatically switches to the second operating mode in step 13. The second operating mode includes activating contactless motion control, which is specifically achieved through hand movements close to the hand.

[0029] Here, the preset first condition is established by the operator's hand approaching from a first approach direction at a distance less than a first distance relative to the handle bar (or sensor or sensor array). This can be manifested, for example, especially when the mobile device is to travel on a flat surface, by the hand approaching the handle bar from above (z-coordinate), such as... Figure 3 As shown. Since the first approach direction in this example has no directional component that could cause the equipment vehicle to move, the hand movements used for logging in and those used for controlling motion can be clearly distinguished. If the hand approaches the handle bar from "above" below a specific preset first distance, the second operating mode is activated. This can also be described as the operator "logging in" to the second operating mode (with contactless motion control). As long as the second operating mode is active, contactless motion control can be performed by the operator's hand. Examples of the first distance could be, for example, 3cm, 5cm, or 7cm.

[0030] Furthermore, it can be stipulated that a preset second condition must be met in order to return from the second operating mode to the first operating mode. If the hand moves away from the handle bar in the opposite direction of the first approach direction, i.e., upwards, and exceeds a second distance relative to the handle bar, the medical device is switched back to the first operating mode. It can also be stipulated that any removal of the hand, regardless of direction, will cause a switch to the first operating mode, for example, as a safety precaution.

[0031] Within the realm of contactless motion control, the operator's hand movements are used to drive the motors of medical devices without requiring contact with the operating modules.

[0032] For motor-driven equipment vehicles, the contactless motion control in the second operating mode enables, for example, two-dimensional movement of the equipment vehicle on a substantially flat surface. Therefore, it is possible to control the equipment vehicle to move forward, backward, and laterally (and in combination).

[0033] Motion control can be designed, for example, so that hand movements in a direction parallel to the ground (i.e., x-axis or y-axis: forward, backward, lateral) cause corresponding motor-driven movements of the equipment cart. This can be particularly designed so that a hand approaching a handle element in a direction parallel to the ground causes the equipment cart to move backward in the same direction, and / or a hand moving away from the handle element in a direction parallel to the ground causes a following movement in the same direction; i.e., the system control device activates the corresponding motion control signal based on sensor measurements. Lateral hand movements (i.e., along the handle bar) parallel to the ground cause lateral following movements of the equipment cart. Combined hand movements cause combined movements of the equipment cart, which, for example, combined with the Mecanum wheels of a mobile C-arm X-ray equipment cart, enables better mobility on the ground. For example, rotation of the equipment cart can also be triggered by the parallel, opposite movements of two hands. In these cases, the approaching or moving movements detected by sensors are recorded and converted into control signals for controlling the motor-driven movements.

[0034] Other components of the mobile medical device, such as the C-arm, can also be controlled. In this case, the described contactless motion control can be used to adjust the C-arm in space, i.e., translation or rotation, for example. After activating the second operating mode as described above, the operator's hand can also cause the component, i.e., the C-arm, to move backward or follow, in this case not only in one plane, but also upward and downward.

[0035] The medical device can, for example, display the current operating mode on display unit 33. For instance, the screen or a portion of the screen can be set to a color corresponding to the operating mode, or symbols or text symbolizing the corresponding operating mode can be displayed. Alternatively, characteristic tones or sequence numbers can be output. Optical or acoustic displays can also be made via simple light-emitting elements, microphones, or devices connected to the device for communication, such as buzzers or wristbands, worn by the operator. Tactile cues (e.g., vibrations) can also be given to the operator, for example, via a wristband worn by the operator. The tactile cues can be encoded accordingly. Such wristbands can have wireless, optical, or mechanical communication connections with the device.

[0036] It can also be stipulated that operators register on the device by inputting information before starting the method, so that only the correspondingly registered operator can execute the method. This can be done, for example, in conjunction with a wristband, special gloves, or other devices that have a communication connection with the device, in addition to inputting through a user interface. For example, the gloves can be designed to be recognized by sensors (e.g., through special optical markers, reflectors, ID chips, etc.). Only operators wearing special gloves can operate the device, and other personnel wearing "ordinary" gloves cannot log in to the device.

[0037] exist Figure 2In addition to the handle bar 20 and sensor 21, a touch element 31 arranged on the handle bar is also shown for additional operation via contact. However, this is only for non-aseptic operation settings.

[0038] To evaluate the measurement and initiate the method, a digital processing unit (DPU) can be used, for example, installed in the system control unit of the C-arm X-ray equipment. The DPU processes the sensor measurements and ensures that the corresponding control signals are transmitted to the equipment carriage or the motors of the C-arm.

[0039] Furthermore, additional gesture control is possible, such as recording gestures via a camera, then evaluating and converting them into other control signals for controlling the device. Additional voice control is also possible.

[0040] The sensor can be a time-of-flight sensor, such as one capable of measuring the precise absolute distance between the hand and the handle bar. Alternatively, other distance or proximity sensors can be used, such as infrared sensors, light sensors, ultrasonic sensors, capacitive or inductive sensors, or radio frequency sensors. Furthermore, a position sensor capable of determining the absolute position of the hand in space, such as a camera, can also be used.

[0041] The present invention can be briefly summarized as follows: To enable operators to maintain sterile hands, a method for contactless motion control of motor-movable and / or drivable components of a medical device is provided. This method utilizes a handle element, particularly a handle strip, arranged on the device. The method includes the following steps: when the device is in a first operating mode, recording measurements using sensors, particularly distance and / or position sensors, arranged on or near the handle element, wherein the first operating mode excludes contactless motion control; evaluating the measurements in relation to the proximity of at least one of the operator's hands; and if the evaluation results meet a preset first condition, switching the device to a second operating mode, wherein the second operating mode includes contactless motion control, and wherein the first condition is that the distance between the operator's hand and the handle element when approaching from a first approach direction is less than a first distance.

Claims

1. A method for contactless movement control of a component of a medical device that is movable and / or drivable by a motor, using a handle element, in particular in the form of a handle bar, arranged on the device, the method comprising the following steps: • recording a measurement value by a sensor, in particular a distance sensor and / or a position sensor, arranged on or at the handle element, while the device is in a first operating mode, wherein the first operating mode excludes contactless movement control; • evaluating the measurement value with respect to the approach of at least one hand of an operator; • switching the device into a second operating mode, if the evaluation result meets a preset first condition, wherein the second operating mode comprises contactless movement control; wherein the first condition is that the distance of the hand of the operator from the handle element is below a first distance when approaching from a first approach direction.

2. The method of claim 1, wherein, The contactless movement control is designed to evaluate the measurement value recorded by the sensor with respect to the movement of at least one hand of an operator and to convert the measurement value into a control command for an automatic movement control of the device.

3. The method according to claim 1 or 2, characterized in that, The device is switched back into the first operating mode, if the result of a further evaluation of a further measurement value meets a preset second condition, which is different from the first condition.

4. The method of claim 3, wherein, The second condition is that a second distance is exceeded or a second distance is exceeded in a reverse direction of the first approach direction.

5. The method according to any of the preceding claims, characterized in that, The current operating mode is indicated by an optical or acoustic display.

6. The method according to any of the preceding claims, characterized in that, The device has a device cart that is drivable by a motor, and the movement control controls in the second operating mode a two-dimensional driving movement of the device cart on a substantially flat ground.

7. The method of claim 6, wherein, The movement control is designed such that a movement of the hand in a direction parallel to the ground plane causes a corresponding automatic movement of the device cart.

8. The method of claim 7, wherein, An approach of the hand in a direction parallel to the ground plane causes a backward movement of the device cart in the same direction, and / or a movement away of the hand in a direction parallel to the ground plane causes a following movement in the same direction.

9. The method according to any of the preceding claims, characterized in that, The first approach direction is parallel to the normal of the ground plane.

10. The method according to any of the preceding claims, characterized in that, In addition, measurement values are recorded and evaluated, which enable a gesture control by the hand.

11. A mobile medical device (24) having a device cart (23) that is drivable with motor support, the mobile medical device being designed to carry out the method according to any one of claims 1 to 10, the mobile medical device having: • at least one handle element in the form of a handle strip (20), wherein at least one sensor (21), in particular a distance sensor and / or a position sensor, arranged on a handle bar (20) or directly adjacent thereto, wherein the sensor (21) is designed to record measurement values with respect to the approach of a hand (22) of an operator; • an evaluation unit designed to evaluate the measurement data of the sensor (21) with respect to the distance and the approach direction of the hand (22) of the operator; and • a control unit for controlling the mobile medical device from the first operating mode into the second operating mode and from the second operating mode back into the first operating mode depending on the evaluation result and further designed to automatically control the movement of the device cart on the ground depending on the movement of the hand (22) of the operator.

12. The mobile medical device of claim 11, wherein, The mobile medical device consists of a mobile C-arm X-ray device (24).

13. The mobile medical device of claim 12, wherein, The mobile medical device has a movable C-arm (25), which can also be controlled by the method.

14. The mobile medical device of any one of claims 11 to 13, wherein, The mobile medical device has at least one distance sensor selected from the group of infrared sensors, light sensors, ultrasonic sensors, capacitive or inductive sensors, radio frequency sensors.

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