Anti-collision method and device for angiography machine
By installing capacitive sensors on the angiography housing and using the controller to control the movement of the equipment, the problem of mechanical anti-collision device contacting the human body is solved, and a safer and lower-cost anti-collision effect is achieved, simplifying the installation process and reducing the Structural complexity.
Patent Information
- Application Number
- CN202411437581.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-15
- Publication Date
- 2025-01-17
AI Technical Summary
The mechanical design of existing angiography anti-collision device causes contact with human or object during collision, causing psychological pressure and pain, and complex structure, high cost, and complex installation.
The capacitance sensor is used to install on the angiography housing, and the controller controls the device to stop or reverse motion when the capacitance value exceeds the preset threshold to avoid collision.
Effectively avoid angiography collision with human or object, reduce costs, simplify installation, reduce structural complexity, relieve patient psychological pressure, and protect equipment and personnel.
Smart Images
Figure CN119318498A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of angiography machines, and in particular relates to an anti-collision method and device for angiography machines. Background Art
[0002] Angiography machine is a large medical device with multiple degrees of freedom of movement. It can realize the imaging of blood vessels in all parts of the human body. When performing angiography, the angiography machine needs to move frequently, and the angiography machine will inevitably touch the patient or the bed during movement. Therefore, the angiography machine generally has an anti-collision device. When a collision occurs, the anti-collision device buffers the impact force and sends a signal, and the equipment immediately stops moving or moves in the opposite direction, thereby protecting the human body and the equipment.
[0003] However, the anti-collision devices in the prior art are all mechanical, and they will only be triggered after colliding with the human body or other objects and receiving force. This collision will cause psychological pressure such as tension and panic in the patient, and will also cause pain in sensitive parts of the patient. In addition, the anti-collision devices in the prior art are limited by the design of the mechanical structure, the source direction of the sensing collision is limited, and there are problems such as complex structure, large size, complex installation and high cost.
[0004] Therefore, how to avoid the collision between the angiography machine and the human body and other objects, and reduce the cost and accuracy of anti-collision, is a technical problem to be solved by those skilled in the art. Summary of the invention
[0005] The purpose of the present invention is to solve the technical problems in the prior art that the angiography machine must contact the human body or other objects for collision prevention, and has high cost and complex installation.
[0006] To achieve the above technical objectives, on the one hand, the present invention provides a method for preventing collision of an angiography machine, the method comprising:
[0007] Obtain the moving direction of the angiography machine;
[0008] Mounting a capacitive sensor on the inner surface of the angiography machine housing in the moving direction;
[0009] When the capacitance value of any capacitance sensor exceeds a preset threshold, the controller controls the angiography machine to stop moving.
[0010] Furthermore, the capacitive sensor includes a first electrode, an insulating layer and a second electrode, wherein one side of the first electrode is fixed on the inner surface of the angiography machine housing, one side of the insulating layer is fixed on the other side of the first electrode, and the second electrode is fixed on the other side of the insulating layer, and the size of the second electrode and the insulating layer is larger than that of the first electrode.
[0011] Furthermore, the method further comprises: connecting the capacitive sensor to a controller via a wire, and the controller is also connected to a braking device of an angiography machine.
[0012] Furthermore, the method also includes providing a noise capacitance sensor on the inner surface of the housing of the angiography machine in the non-moving direction, so as to eliminate noise in the capacitance value of the capacitance sensor.
[0013] Further, the eliminating noise in the capacitance value of the capacitance sensor specifically includes: subtracting the capacitance value of the noise capacitance sensor from the capacitance value of the capacitance sensor, and comparing the capacitance value with the preset threshold.
[0014] Furthermore, when the capacitance value of any capacitance sensor exceeds a preset threshold, the angiography machine is controlled by a controller to move in the reverse direction.
[0015] On the other hand, the present invention also provides an angiography machine anti-collision device, the device comprising:
[0016] A plurality of capacitive sensors are evenly arranged on the inner surface of the housing in the moving direction of the angiography machine;
[0017] The controller is connected to the capacitive sensors through wires, and is used to control the angiography machine to stop moving when the capacitance value of any capacitive sensor exceeds a preset threshold.
[0018] The present invention provides an angiography machine anti-collision method and device. Compared with the prior art, the method obtains the moving direction of the angiography machine; then installs a capacitive sensor on the inner surface of the angiography machine housing in the moving direction; finally, when the capacitance value of any capacitive sensor exceeds a preset threshold, the angiography machine is controlled by a controller to stop moving, which can effectively prevent the angiography machine from colliding with the human body or other objects, thereby preventing the patient from feeling uncomfortable and preventing the angiography machine from being damaged. At the same time, the cost is low, and the problems of complex installation, large size and complex structure of the existing anti-collision device are avoided. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0020] Figure 1 The figure shows a flow chart of the anti-collision method of angiography machine provided in the embodiment of the present specification;
[0021] Figure 2 The figure shows a schematic diagram of the structure of the anti-collision device for angiography machine provided in the embodiment of this specification;
[0022] Figure 3 The figure shows a schematic diagram of the installation of a capacitive sensor provided in an embodiment of this specification;
[0023] Figure 4 The figure shows a schematic diagram of the structure of a capacitive sensor provided in an embodiment of this specification. DETAILED DESCRIPTION
[0024] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.
[0025] like Figure 1 The flowchart of the anti-collision method of the angiography machine provided by the embodiment of this specification is shown. Although this specification provides the method operation steps or device structures shown in the following embodiments or drawings, the method or device may include more or fewer operation steps or module units after partial merger based on routine or no creative labor. In the steps or structures where there is no necessary causal relationship logically, the execution order of these steps or the module structure of the device is not limited to the execution order or module structure shown in the embodiments or drawings of this specification. When the method or module structure is applied in actual devices, servers or terminal products, it can be executed sequentially or in parallel according to the method or module structure shown in the embodiments or drawings (for example, in the environment of parallel processors or multi-threaded processing, or even in the implementation environment of distributed processing and server clusters).
[0026] The flowchart of the angiography machine anti-collision method provided in the present embodiment is as follows: Figure 1 As shown, the method specifically comprises the following steps:
[0027] Step S101, obtaining the moving direction of the angiography machine.
[0028] Specifically, the moving direction of the angiography device is the main direction of the collision, so the moving direction of the device is obtained first.
[0029] Step S102: installing a capacitive sensor on the inner surface of the angiography machine housing in the moving direction.
[0030] In an embodiment of the present application, the capacitive sensor comprises a first electrode, an insulating layer, and a second electrode, wherein one side of the first electrode is fixed to the inner surface of the angiography machine housing, one side of the insulating layer is fixed to the other side of the first electrode, the second electrode is fixed to the other side of the insulating layer, and the size of the second electrode and the insulating layer is larger than the first electrode. The capacitive sensor is connected to a controller through a wire, and the controller is also connected to a brake device of the angiography machine.
[0031] Specifically, the capacitive sensor in the present application includes a first electrode, an insulating layer, and a second electrode, such as Figure 4 The figure shows a schematic diagram of the structure of the capacitive sensor. The device housing is also the housing of the angiography device. The first electrode, the insulating layer and the second electrode can be fixed by adhesive. The first electrode and the obstacle generate capacitive coupling. When the distance between the first electrode and the obstacle changes, the capacitance value between the first electrode and the obstacle changes accordingly. When the capacitance value is transmitted to the controller, the controller compares the capacitance value with the preset threshold value to determine the operating state of the device. The second electrode has a larger area than the first electrode and is located between the first electrode and the angiography device. It is separated from the first electrode by an insulating layer and is used to shield the capacitance interference between the first electrode and the angiography device, thereby improving the sensing accuracy of the first electrode.
[0032] In specific application scenarios, the controller has multiple channels and can support connection with multiple capacitive sensors at the same time, such as Figure 3 The figure shows a schematic diagram of the installation of a capacitive sensor. Meanwhile, one angiography machine may also support multiple controllers, and each controller is connected to the braking system or motion system of the angiography machine.
[0033] Step S103: When the capacitance value of any capacitance sensor exceeds a preset threshold, the controller controls the angiography machine to stop moving.
[0034] In an embodiment of the present application, the method further includes providing a noise capacitance sensor on the inner surface of the housing of the angiography machine in the non-moving direction, for eliminating noise in the capacitance value of the capacitance sensor. The eliminating noise in the capacitance value of the capacitance sensor specifically includes: subtracting the capacitance value of the noise capacitance sensor from the capacitance value of the capacitance sensor, and comparing the capacitance value with the preset threshold.
[0035] By correcting the noise capacitance sensor, the capacitance value change of the capacitance sensor can be made more accurate and not affected by the ambient temperature and humidity.
[0036] Finally, when the capacitance value of the capacitance sensor or the capacitance value after correction mentioned above exceeds the preset threshold, the controller controls the braking system of the angiography machine to brake, and the controller can also control the motion system of the angiography machine to make the angiography machine move in the reverse direction.
[0037] Through this solution, the angiography machine can be triggered and the device can be stopped or reversed before contacting the human body. The device does not need to contact the human body and generate contact force, which can relieve the patient's psychological pressure such as nervousness and panic, and eliminate the pain when touching sensitive parts of the human body. At the same time, it has the advantages of simple structure, low cost, and small size. It only has circuits and electrodes, and does not require complex movable mechanisms. The sensing position and direction are flexible and can be installed in any part of the device that may collide. The sensing direction can face any direction of the device. The protection range of the anti-collision device is expanded, and the protection of patients, doctors, and operators is strengthened.
[0038] Based on the above-mentioned angiography machine collision avoidance method, one or more embodiments of this specification also provide a platform and terminal for angiography machine collision avoidance. The platform or terminal may include a device, software, module, plug-in, server, client, etc. that uses the method described in the embodiments of this specification and is combined with a device for implementing necessary hardware. Based on the same innovative concept, the system in one or more embodiments provided in the embodiments of this specification is as described in the following embodiments. Since the implementation scheme and method for solving the problem of the system are similar, the implementation of the specific system in the embodiments of this specification can refer to the implementation of the aforementioned method, and the repetitions will not be repeated. The terms "unit" or "module" used below can be a combination of software and / or hardware that implements predetermined functions. Although the system described in the following embodiments is preferably implemented in software, hardware and a combination of software and hardware are also possible and conceived.
[0039] Specifically, Figure 2 FIG. 1 is a schematic diagram of a module structure of an embodiment of an anti-collision device for angiography machine provided in this specification. Figure 2 As shown, the angiography machine anti-collision device provided in this manual includes:
[0040] Capacitive sensor group 201, including a plurality of capacitive sensors, uniformly arranged on the inner surface of the housing in the moving direction of the angiography machine;
[0041] The controller 202 is connected to the capacitive sensors through wires, and is used to control the angiography machine to stop moving when the capacitance value of any capacitive sensor exceeds a preset threshold.
[0042] It should be noted that the above-mentioned system may also include other implementation modes according to the description of the corresponding method embodiment. The specific implementation modes may refer to the description of the above-mentioned corresponding method embodiment, which will not be described one by one here.
[0043] The present application also provides an electronic device, including:
[0044] processor;
[0045] a memory for storing instructions executable by the processor;
[0046] The processor is configured to execute the method provided in the above embodiment.
[0047] The electronic device provided in the embodiment of the present application stores executable instructions of the processor in a memory, and when the processor executes the executable instructions, it can obtain the moving direction of the angiography machine; then a capacitive sensor is installed on the inner surface of the angiography machine housing in the moving direction; finally, when the capacitance value of any capacitive sensor exceeds a preset threshold, the angiography machine is controlled to stop moving by a controller, which can effectively prevent the angiography machine from colliding with the human body or other objects, thereby preventing the patient from feeling uncomfortable and preventing the angiography machine from being damaged. At the same time, the cost is low, and the problems of complex installation, large size and complex structure of existing anti-collision devices are avoided.
[0048] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a computer-readable medium such as a microprocessor or processor and a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, ATMEL AT91SAM, MICROCHIP PIC18F26K20, and SILICONE LABS C8051F320. The memory controller can also be implemented as part of the control logic of the memory. It is also known to those skilled in the art that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.
[0049] The device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. There may be other divisions in actual implementation, such as multiple units or plug-ins may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interface, indirect coupling or communication connection of the device or unit, which may be electrical, mechanical or other forms.
[0050] These computer program instructions may also be loaded onto a computer or other programmable resource data updating device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions executed on the computer or other programmable device for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0051] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. In the description of this specification, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.
[0052] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.
Claims
1. A method for preventing collision of an angiography machine, characterized in that: The method comprises: Obtain the moving direction of the angiography machine; Mounting a capacitive sensor on the inner surface of the angiography machine housing in the moving direction; When the capacitance value of any capacitance sensor exceeds a preset threshold, the controller controls the angiography machine to stop moving.
2. The anti-collision method of angiography machine according to claim 1, characterized in that: The capacitive sensor includes a first electrode, an insulating layer and a second electrode, wherein one side of the first electrode is fixed on the inner surface of the angiography machine housing, one side of the insulating layer is fixed on the other side of the first electrode, and the second electrode is fixed on the other side of the insulating layer, and the size of the second electrode and the insulating layer is larger than that of the first electrode.
3. The anti-collision method of angiography machine according to claim 1, characterized in that: The method further comprises: connecting the capacitive sensor to a controller via a wire, and the controller is further connected to a braking device of the angiography machine.
4. The anti-collision method of angiography machine according to claim 1, characterized in that: The method further comprises arranging a noise capacitance sensor on the inner surface of the housing of the angiography machine in the non-moving direction, so as to eliminate noise in the capacitance value of the capacitance sensor.
5. The anti-collision method of angiography machine as claimed in claim 4, characterized in that: The eliminating noise in the capacitance value of the capacitance sensor specifically includes: subtracting the capacitance value of the noise capacitance sensor from the capacitance value of the capacitance sensor, and comparing the capacitance value with the preset threshold.
6. The anti-collision method of angiography machine as claimed in claim 3, characterized in that: When the capacitance value of any capacitance sensor exceeds a preset threshold, the angiography machine is controlled by a controller to move in the reverse direction.
7. An anti-collision device for angiography machine, characterized in that: The device comprises: A capacitive sensor group, including a plurality of capacitive sensors, is evenly arranged on the inner surface of the housing in the moving direction of the angiography machine; The controller is connected to the capacitive sensors through wires, and is used to control the angiography machine to stop moving when the capacitance value of any capacitive sensor exceeds a preset threshold.