Medical equipment and anti-collision method of medical equipment

Abstract

The invention relates to an anti-collision method for medical equipment and the medical equipment, and the method comprises the steps: receiving the signals of N pressure sensors, the N pressure sensors are disposed on the housing of the medical equipment, and N is greater than or equal to 2; processing signals of the N pressure sensors to obtain collision position information and force of the shell; a warning signal and / or a control signal is output at least according to the position information and the magnitude of the force, and the control signal controls the movement related to the collision. According to the anti-collision method of the medical equipment and the medical equipment provided by the invention, unacceptable collision can be effectively avoided.

Description

Technical Field

[0001] The present disclosure relates to the medical field, and in particular, to a medical device and an anti-collision method for the medical device. Background Art

[0002] Medical equipment is used on the patient's body and needs to be operated by medical staff. Whether it is medical equipment for examination or treatment, the equipment often moves during use, so there is a collision with the patient or doctor. Some collisions are unacceptable and may cause further harm to the patient or affect the doctor's operation. Timely measures need to be taken when unacceptable collisions occur. On the other hand, some collisions are acceptable, such as slight scratches between medical equipment and the patient's or medical staff's clothes. In these cases, the normal operation of the medical equipment should be maintained to ensure the efficiency of the examination or treatment. Summary of the invention

[0003] In view of this, the present disclosure provides a medical device and an anti-collision method for the medical device.

[0004] According to an exemplary embodiment of the present disclosure, a collision prevention method for a medical device includes: receiving signals from N pressure sensors, wherein the N pressure sensors are arranged on a housing of the medical device, wherein N is greater than or equal to 2; processing the signals from the N pressure sensors to obtain collision position information and force magnitude of the housing; and outputting a warning signal and / or a control signal based at least on the position information and force magnitude, wherein the control signal controls movement related to the collision.

[0005] According to an exemplary embodiment of the present disclosure, the medical device is a CT or magnetic resonance device, and the N pressure sensors are evenly arranged on a rack housing of the CT or magnetic resonance device, wherein N is greater than or equal to 8.

[0006] According to an exemplary embodiment of the present disclosure, the medical device is a C-arm X-ray machine, the N pressure sensors are evenly arranged on the outer shell of the C-arm, and the control signal controls the movement of the C-arm and / or the bed.

[0007] According to an exemplary embodiment of the present disclosure, the N pressure sensors are evenly arranged on the front inner side of the rack housing, and the control signal controls the movement of the hospital bed.

[0008] According to an exemplary embodiment of the present disclosure, the outputting of a warning signal and / or a control signal at least based on the position information and the magnitude of the force includes: in response to the magnitude of the force at the same position being greater than a first threshold value and increasing at a specific time, outputting the warning signal and / or the control signal, wherein the control signal controls the collision-related movement to stop; in response to the magnitude of the force at the same position exceeding a second threshold value, outputting the warning signal and / or the control signal, wherein the control signal controls the collision-related movement to move in the opposite direction; in response to the magnitude of the force at the same position being less than a third threshold value, outputting the control signal, wherein the control signal controls the speed of the collision-related movement to slow down; and in response to the magnitude of the force decreasing at a specific time, controlling the speed of recovery of the collision-related movement; wherein the first threshold value is less than the second threshold value, and the third threshold value is less than the second threshold value.

[0009] According to an exemplary embodiment of the present disclosure, it also includes: receiving an image signal from an image acquisition device, wherein the image acquisition device captures an image of the collision area; outputting the warning signal and / or the control signal based at least on the position information, the magnitude of the force and the image signal, wherein the control signal controls the movement related to the collision.

[0010] According to an exemplary embodiment of the present disclosure, the outputting of a warning signal or a control signal at least based on the position information, the magnitude of the force and the image signal includes: processing the image signal, identifying the collision object, and outputting the warning signal and / or the control signal based on the identification result and the position information and the magnitude of the force, and the control signal includes: controlling the movement related to the collision to stop the movement, reduce the movement speed and move in the opposite direction.

[0011] According to an exemplary embodiment of the present disclosure, the identifying the collision object at least includes identifying that the collision object is a human body, clothing worn by the human body, and / or a bed sheet.

[0012] According to an exemplary embodiment of the present disclosure, the outputting of the warning signal and / or the control signal based on the recognition result, the position information and the magnitude of the force includes: in response to recognizing that the collision object is a human body, and the magnitude of the force at the collision position of the human body is greater than 0 and less than a first specific value, outputting the warning signal and / or the control signal, and the control signal controls the collision-related movement to slow down; in response to recognizing that the collision object is a human body, and the magnitude of the force at the collision position of the human body is greater than a second specific value at a specific time and increases, outputting the warning signal and / or the control signal, and the control signal controls the collision-related movement to stop; in response to recognizing that the collision object is a human body, and the magnitude of the force at the collision position of the human body exceeds a third specific value, outputting the warning signal and / or the control signal, and the control signal controls the collision-related movement to move in the opposite direction; wherein the second specific value is greater than the first specific value, and the third specific value is greater than the second specific value.

[0013] According to an exemplary embodiment of the present disclosure, a medical device includes a medical device housing on which N pressure sensors are arranged, and also includes a processing device, wherein the processing device executes any of the aforementioned methods.

[0014] The medical device and the anti-collision method for medical device provided by the present disclosure can effectively avoid unacceptable collisions of the medical device, thereby protecting not only the medical device itself but also the patients and doctors. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, so that those skilled in the art will be more aware of the above and other features and advantages of the present disclosure. In the accompanying drawings:

[0016] Figure 1 is a force diagram of a collision area of ​​an exemplary embodiment of the present disclosure;

[0017] Figure 2 It is a schematic diagram of arrangement of sensors on a rack according to an exemplary embodiment of the present disclosure;

[0018] Figure 3 A table of detection values ​​of various sensors in an exemplary embodiment of the present disclosure;

[0019] Figure 4 The following is a table of detection values ​​of various sensors according to another exemplary embodiment of the present disclosure.

[0020] The reference numerals are as follows:

[0021]

[0022] DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present disclosure more clear, the present disclosure is further described in detail with reference to the following examples. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0024] In an exemplary embodiment, a method for preventing collision of medical equipment is provided, the method comprising: receiving signals from N pressure sensors, the N pressure sensors being arranged on the housing of the medical equipment, wherein N is greater than or equal to 2; processing the signals from the N pressure sensors to obtain collision position information and force magnitude of the housing; outputting a warning signal and / or a control signal at least according to the position information and force magnitude, wherein the control signal controls the movement related to the collision. Here, the type of medical equipment is not limited, and exemplarily, the medical equipment may be a CT, a magnetic resonance device or a C-arm X-ray machine. The CT and magnetic resonance devices are provided with an inspection accommodation cavity arranged in the center of the frame, and the patient lies on the bed and enters the accommodation cavity for inspection through the movement of the bed. During the inspection process, due to the patient's body position or movement, there is a possibility that the patient's body will collide with the medical equipment, which may cause injury in severe cases. However, not all collisions are intolerable, for example, if the bed sheet or the clothes worn by the patient slightly scratches and collides with the housing of the equipment, the inspection can continue. Similarly, C-arm X-ray machines are often used in operating rooms, and their C-arms need to move constantly, which can easily cause collisions with patients and medical staff, and may also collide with other objects, such as collisions between C-arms and hospital beds, and between C-arms and surgical equipment. Similar to the situation with CT and MRI equipment, this type of collision also needs to be judged whether it is acceptable, so as to avoid unacceptable collisions while ensuring the normal and efficient operation. In these scenarios, intelligent anti-collision methods are needed to judge the type of collision and take corresponding measures based on the type of collision. Here, the type of collision refers to acceptable collisions and unacceptable collisions.

[0025] In this embodiment, multiple pressure sensors are arranged on the housing of the device, and the number of N sensors is greater than 2. These sensors can be arranged outside the housing, but for aesthetics, they can also be arranged inside the housing. The purpose of arranging multiple sensors is that, in order to judge the type of collision, not only the magnitude of the collision force is important, but also the position of the collision is important. For example, for CT or magnetic resonance equipment, if the top of the accommodating cavity is hit, it is very likely that the patient changes from a lying state to a sitting state, and the head collides with the housing of the rack, which will bring more serious consequences than the patient's arms colliding with the housings on both sides of the accommodating cavity. Therefore, when the top of the rack is hit, safer measures need to be taken than when other positions are hit. Taking measures needs to consider the location where the collision occurs. It is often unreasonable to make judgments based solely on the magnitude of the force. In other words, the location of the collision is an important basis for judgment. Different positions will still make different judgments when the same magnitude of force is detected. N sensors are arranged at different positions to form a pressure sensor array, so that when the housing is hit, the forces transmitted to different positions are also different, which can simultaneously infer the location and magnitude of the collision. In practice, there are also situations where multiple points are hit at the same time, such as CT and magnetic resonance imaging. The patient's left and right arms may hit the equipment at the same time. For C-arm X-ray machines, the possibility of multiple point impacts is even greater. At this time, as long as the number of sensors is sufficient, the position and size of each impact can be accurately distinguished at the same time, and each impact can be judged separately, thereby outputting a warning signal and / or a control signal. In the case of multiple impacts occurring at the same time, the measures taken should be adapted to the most serious impact. At the same time, this warning signal can be a voice broadcast of the positions of multiple impacts to prompt the patient or medical staff. From the perspective of detection accuracy, the larger N is, the more favorable it is, but considering the cost, N should not be too large. N can be set to be greater than or equal to 8, and preferably, N can be set to be greater than or equal to 20. The setting position can be uniform, and of course it can also be set more densely at a position that is more susceptible to collision, and there is no special limitation here. For uniform arrangement, here it not only refers to that all N sensors are arranged roughly uniformly, but also refers to that part of the N sensors are arranged uniformly, and the other part is also arranged uniformly. For example, for a CT or magnetic resonance device, if there are 10 sensors in total, 5 of which are evenly arranged on the inner side of the rack shell near the left side of the bed, and the other 5 are evenly arranged on the inner side of the rack shell near the right side of the bed, although the 10 sensors are not evenly arranged as a whole, the 5 sensors on the left and right are evenly arranged, which conforms to the even arrangement described in the present disclosure. Exemplarily, for a CT or magnetic resonance device, the sensors can be arranged at the position of the rack shell near the bed, that is, the sensors are evenly arranged on both sides of the rack; for a C-arm X-ray machine, the sensors can be arranged at the positions near the two ends of the C-arm.

[0026] When it is determined that the collision is unacceptable based on the location and force of the collision, a warning signal can be output to prompt the patient or medical staff to avoid it, or the medical staff can operate the medical equipment to avoid further damage. The warning signal can be a warning light, a warning sound, or a voice broadcast, which is not particularly limited here. While outputting the warning signal, a control signal can also be output at the same time. The control signal is a signal that can control the movement related to the collision. For example, it is the movement of the bed in the CT, magnetic resonance equipment or C-arm X-ray machine. For a C-arm X-ray machine, this movement can also be the movement of the C-arm itself. The control signal is used to control the movement of the bed or C-arm to take corresponding measures for the unacceptable collision that occurs.

[0027] In an exemplary embodiment, outputting a warning signal and / or a control signal at least according to the position information and the magnitude of the force includes:

[0028] In response to the magnitude of the force at the same position being greater than the first threshold and increasing at a specific time, a warning signal and / or a control signal is output, and the control signal controls the collision-related movement to stop. The collision may be a scratch, and this scratch may be temporary, so there is no need to stop the related movement at the beginning of the scratch detection. However, the magnitude of the force at the same position tends to increase, which often means that the device continues to scratch a specific object, such as a human body or other objects. If the scratch becomes more and more serious, the corresponding detected force will generally become larger and larger. At this time, the collision-related movement, such as the movement of a hospital bed or a C-arm, should be controlled to stop to avoid personal injury or property loss. The value of the first threshold can be 0, but for minor scratches, such as contact between sheets and soft clothing and the device housing, no measures need to be taken even if detected, so generally speaking, the first threshold takes a smaller non-zero value. In this way, only after the detected force is greater than the first threshold can it be determined whether it is increasing.

[0029] In response to the magnitude of the force at the same position exceeding the second threshold, a warning signal and / or a control signal is output, and the control signal controls the collision-related movement to move in the opposite direction. When the collision force is large, it may be an unacceptable impact or extrusion. At this time, it may not be enough to simply control the movement to stop. It is also necessary to make the related movement move a short distance in the opposite direction, for example, to make the forward-moving bed move backward, or to make the C-arm that rotates clockwise rotate counterclockwise for a distance to completely eliminate the risk of collision. When controlling the movement in the opposite direction, the magnitude and position of the force should be monitored in real time. When the opposite movement occurs, the magnitude of the force at the same position does not decrease. The opposite movement should be stopped immediately, and a special alarm signal should be output to prompt medical staff to deal with it as soon as possible, or prompt the patient to respond as soon as possible.

[0030] In response to the magnitude of the force at the same position being less than the third threshold, a control signal is output, and the control signal controls the collision-related movement speed to slow down; and in response to the magnitude of the force decreasing at a specific time, the collision-related movement recovery speed is controlled. If it is a slight scratch on a bed sheet or clothing, a smaller force will be generated. At this time, there is no need to stop the movement, but to avoid risks, the speed of the movement can be reduced to facilitate a quick response if the situation worsens, or to give the patient or medical staff more time to take measures, such as removing the bed sheet or clothing. When the scratched object begins to leave the housing of the medical device, it is manifested as a decrease in force within a specific time. This decrease may be continuous or wave-like. In any case, it means that the danger is being eliminated. In order to ensure the efficiency and speed of the examination or treatment, the speed of the movement can be restored.

[0031] In the above three cases, the first threshold should be smaller than the second threshold, and the third threshold should also be smaller than the second threshold. The first threshold and the third threshold are not limited here, and can be set differently to meet the needs according to practice or experience.

[0032] In an exemplary embodiment, an image signal of an image acquisition device is received, and the image acquisition device captures an image of the collision area; at least according to the position information, the magnitude of the force and the image signal, a warning signal and / or a control signal is output, wherein the control signal controls the movement related to the collision. After the pressure sensor forms an array, the position and magnitude of the force can be obtained, but it is still difficult to know the type of object causing the collision. Image recognition can help obtain further information. In this embodiment, an image acquisition device is further provided, such as a camera, a video camera, a 3D camera, or a TOF sensor, which can be selected. According to the object recognition result obtained, it can help to obtain a more reasonable anti-collision strategy. For example, the type of the object is identified, and if the collision object is identified as a human body, the values ​​of the first threshold, the second threshold and the third threshold should be lowered to more effectively protect the human body. If the collision object is identified as clothing or bed sheets worn by the human body, the values ​​of the first threshold, the second threshold and the third threshold can be appropriately increased. In this embodiment, considering that the image acquisition device often has an obstructed area or a recognition error, the information collected by the image acquisition device is not used as the main basis for judgment, and its role is to assist the information of the pressure sensor to make a more accurate judgment.

[0033] In an exemplary embodiment, outputting a warning signal and / or a control signal according to the recognition result, the position information, and the magnitude of the force includes:

[0034] In response to identifying that the collision object is a human body, and the magnitude of the force at the collision position of the human body is greater than 0 and less than a first specific value, a warning signal and / or a control signal is output, and the control signal controls the collision-related motion to reduce the speed. With the help of the camera, the collision position and image information obtained by the sensor array can be combined to determine the collision position of the human body and the medical device. Specifically, if the collision position detected by the pressure sensor array is analyzed in the image and the human body and the device are in contact, then the position is the human body collision position. Collision with the human body is often unacceptable, so measures should generally be taken immediately. However, in practice, there are situations where people immediately dodge, such as a patient's arm being scratched by the rack shell of a CT device, or a C-arm in an operating room collides with a medical staff during rotation. The patient or the medical staff is very likely to immediately make an evasive action, so it is unnecessary to immediately stop the movement when the collision of the human body is detected, which may reduce the efficiency of the examination or treatment. Therefore, when it is detected that the force caused by the collision of the human body is not large, measures to reduce the movement speed are taken to give people reaction time to avoid the collision. Alternatively, the reduced speed may be related to the magnitude of the force of the collision, the greater the force of the collision, the lower the reduced speed.

[0035] In response to identifying that the collision object is a human body, and the magnitude of the force at the collision position of the human body is greater than a second specific value at a specific time and increases, a warning signal and / or a control signal is output, and the control signal controls the collision-related movement to stop. When the force of the collision with the human body exceeds a certain value and increases over a period of time, it means that the human body has not taken effective evasive action, for example, the patient is unconscious, or the medical equipment hits the medical staff who is temporarily unable to move due to misoperation, and the collision-related movement should be stopped immediately.

[0036] In response to identifying that the collision object is a human body, and the magnitude of the force at the collision position of the human body exceeds a third specific value, a warning signal and / or a control signal is output, and the control signal controls the collision-related movement to move in the opposite direction. When the force of the collision with the human body is large enough, it may not be enough to just stop the collision-related movement. At this time, the collision-related movement should be controlled to move in the opposite direction for a distance. The moving distance must at least cause the collision force to disappear, or move a distance after the collision force disappears, such as 1-5 cm. This distance is not specifically limited here. Similarly, when performing the opposite movement, it should also be detected whether the magnitude of the force is reduced. If the force is not reduced, the opposite movement should be stopped immediately and a special alarm should be issued.

[0037] In the above three cases, the third specific value is greater than the second specific value, and the second specific value is greater than the first specific value.

[0038] In this embodiment, the identification of the human body includes not only the exposed human body parts, but also the human body parts in the clothes, which can be achieved by using image recognition technology. At the same time, when the collision object is identified as clothing or bed sheets, the strategy adopted can be different from that of the human body, because clothing often does not cause unacceptable collisions, but it is also necessary to prevent clothing from being entangled with the equipment, or the human body under the clothing has collided with the medical equipment, but the image recognition has not found the situation. Therefore, when the collision object is identified as clothing or bed sheets, the strategy adopted can be: in response to the force at the collision position being less than the first force value, maintain the collision-related movement; in response to the force at the collision position being greater than the first force value and less than the second force value, reduce the movement speed of the collision-related movement; in response to the force at the collision position being greater than the second force value and less than the third force value, stop the collision-related movement; in response to the force at the collision position being greater than the third force value, control the collision-related movement to move in the opposite direction. When controlling the collision-related movement to move in the opposite direction, if the force at the collision position has not decreased, stop the movement in the opposite direction. This is because, if clothing or sheets become entangled, the opposite movement may not be able to untie the entanglement and may require manual undoing. If movement in the opposite direction does not reduce the force, it may be because the entanglement has increased and needs to be stopped immediately.

[0039] In an exemplary embodiment, taking CT medical equipment as an example, usually, before doing a CT scan, the patient will lie on the CT bed and be sent into the scanning frame under the operation of the doctor. In this process, if the position where the patient lies is offset, or the patient moves a part of the body, such as an arm or foot, during the movement of the bed, there is a possibility of collision between the patient's body part and the front cover of the frame, which may cause serious damage to the equipment or injury to the patient. Generally, only relying on the doctor's observation to prevent such incidents from happening. However, due to the presence of patient clothing, blankets and other objects or equipment, there are blind spots and misjudgments. In this way, the collision not only brings safety hazards, but also affects the experience of the entire scanning process. In this embodiment, see in particular Figure 2 , a number of pressure sensors 1-20 are installed on the front cover of the CT gantry to cover the entire 360° circular cover. The signals of all pressure sensors 1-20 are connected to the microcontroller 21 for sampling, and the force state distribution of the front cover is calculated based on the values ​​of each pressure sensor. When the patient touches a certain point of the outer cover, a certain pressure will be generated at that point, causing the pressure sensor near that point to react. The microcontroller 21 analyzes the location of the collision based on the changes in the values ​​of each sensor 1-20, and analyzes the collision type based on the force distribution: normal contact or abnormal collision. If it is judged to be an abnormal collision, braking measures are taken immediately.

[0040] For more details, see especially Figure 2 , Figure 2The front view of a CT gantry cover is shown, and the circular hole in the center is the inspection chamber. A number of pressure sensors 1-20 are installed on the CT gantry cover, evenly distributed on the inner side of the front cover of the CT gantry. All pressure sensor signals are connected to the microcontroller 21. The microcontroller 21 samples and calculates these pressure sensor nodes. Since the cover is made of hard material and is evenly distributed, collisions within a certain range of area around each sensor will affect the value of this sensor. Figure 1 , the collision area that can affect the sensor is divided into 7 areas 1-7 according to the distance to the sensor. The closer the distance, the higher the force conductivity, and the farther the distance, the lower the force conductivity. Under the same collision force, the sensor will get different values ​​at different collision points. Figure 1 As shown in the figure, for the sensor in area 1, if the collision force of 100 Newtons (N) occurs in area 1, the sensor can detect a force of 100N; if it occurs in area 3 (such as collision point a), the sensor can detect a force of 80N; if it occurs in area 6 (such as collision point b), the sensor can detect a force of 30N. Similarly, when the sensor detects a value, the collision force represented by this value is different at different collision points.

[0041] Continue to refer Figure 2 First, take the example of using sensors at three points A, B, and C to receive pressure signals. When a collision occurs at a certain point on the outside of the housing (for example, point X), the values ​​of one or more pressure sensors near the point (for example, points A, B, and C) will change. The microcontroller 21 determines the approximate position of the collision point (for example, point X) based on the distribution of the values ​​of the sensors at points A, B, and C, and determines the severity of the collision based on the value size. If the value is small and maintained, it may be normal contact. If the value is large or gradually increases, an abnormal collision may have occurred and emergency braking is required. The braking method may be to cut off the safety circuit.

[0042] The accuracy of the three-point sensor arrangement is often not satisfactory. Figure 2 In the example of deploying 20 sensors 1-20, when a collision occurs at point X, the sensors near point X will show different values ​​according to the distance from point X and the collision force at point X. Figure 3 The table shown gives the force values ​​detected by the sensors 1-20 when point X is hit. From the table, it can be seen that when point X is hit by 0N, 10N, 50N and 100N, the force values ​​detected by each sensor 1-20 are. Figure 4 The table shown gives the force values ​​detected by each sensor 1-20 when the collision occurs at point Y and the collision force is 0N, 10N, 50N and 100N.

[0043] Of course, it is also possible to select enough sample points on the housing, such as 50, or even 100, 200, 500 or more, and calculate and record the values ​​of each sensor when different degrees of collision occur at each point, so as to form a relationship table of "point-collision force-sensor value combination". When a collision occurs, the microcontroller 21 finds the corresponding collision point and collision force value based on the sampled sensor value combination, and can continue to determine the corresponding action according to the position of the point and the magnitude of the force.

[0044] The data obtained at each point is the data measured when the force point is transmitted to the sensor point. It is related to the material, shape, and installation method of the shell, and is not a simple linear relationship. Using a table lookup method, rather than force analysis, to calculate the target value using a certain formula will have greater accuracy. In the method of this embodiment, the distribution of a large amount of experimental data is used to predict the value of the force point and the force in a statistical manner. For example, there are experimental data of 100 force points on the shell, and each force point will have a detection data based on these 20 sensor points. When a new force point appears, the data it generates is most similar to which point among the 100, then it is near that point. In this method, the more points of experimental data, the better. Furthermore, several similar data can be used for fitting, rather than just selecting the closest point. This method can also be selected. For example, 3-8 close data are selected and fitted using these data to obtain more accurate position and force data.

[0045] As for the location of the pressure sensor, in order to ensure aesthetics and external surface cleanliness, it can be set in the inner layer of the cover. As long as it is set close to the cover, it will not affect the pressure measurement.

[0046] This embodiment has at least the following characteristics:

[0047] 1. Appropriate measures are only taken when an unacceptable collision actually occurs, and multi-sensor numerical mixed calculations are not prone to misjudgment.

[0048] 2. High feedback accuracy, fast response speed, and easy to implement.

[0049] 3. Low cost.

[0050] According to another aspect of an embodiment of the present disclosure, a medical device is provided. The medical device includes a housing of the device, on which N pressure sensors are arranged. The medical device also includes a processing device for executing the anti-collision method of any of the above embodiments of the present disclosure.

[0051] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0052] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0053] In the context of the present disclosure, a computer-readable storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. More specific examples of readable storage media include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0054] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0055] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but only by the claims after authorization and their equivalent scope. Various elements in the embodiments or examples can be omitted or replaced by their equivalent elements. In addition, each step can be performed in an order different from that described in the present disclosure. It is important that with the evolution of technology, many elements described herein can be replaced by equivalent elements that appear after the present disclosure.

[0056] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

Claims

1. A method for preventing collision of medical equipment, characterized in that: The method comprises: Receiving signals from N pressure sensors, where the N pressure sensors are disposed on a housing of the medical device, wherein N is greater than or equal to 2; Processing the signals of the N pressure sensors to obtain the collision position information and the magnitude of the force of the housing; At least according to the position information and the magnitude of the force, a warning signal and / or a control signal is output, wherein the control signal controls the movement associated with the collision.

2. The anti-collision method for medical equipment according to claim 1, characterized in that: The medical device is a CT or magnetic resonance device, and the N pressure sensors are evenly arranged on a rack housing of the CT or magnetic resonance device, wherein N is greater than or equal to 8.

3. The anti-collision method for medical equipment according to claim 1, characterized in that: The medical device is a C-arm X-ray machine, the N pressure sensors are evenly arranged on the outer shell of the C-arm, and the control signal controls the movement of the C-arm and / or the bed.

4. The anti-collision method for medical equipment according to claim 2, characterized in that: The N pressure sensors are evenly arranged on the front inner side of the frame shell, and the control signal controls the movement of the hospital bed.

5. The anti-collision method for medical equipment according to claim 1, characterized in that: Outputting a warning signal and / or a control signal at least according to the position information and the magnitude of the force comprises: In response to the magnitude of the force at the same position being greater than a first threshold and increasing at a specific time, outputting the warning signal and / or the control signal, wherein the control signal controls the collision-related movement to stop; In response to the magnitude of the force at the same position exceeding a second threshold, outputting the warning signal and / or the control signal, wherein the control signal controls the collision-related movement to move in an opposite direction; In response to the magnitude of the force at the same position being less than a third threshold, outputting the control signal, wherein the control signal controls the speed of the collision-related movement to slow down; and in response to the magnitude of the force becoming smaller at a specific time, controlling the speed of recovery of the collision-related movement; The first threshold is smaller than the second threshold, and the third threshold is smaller than the second threshold.

6. The anti-collision method for medical equipment according to claim 1, characterized in that: Also includes: receiving an image signal from an image acquisition device, the image acquisition device capturing an image of the collision area; The warning signal and / or the control signal are outputted at least according to the position information, the magnitude of the force and the image signal, wherein the control signal controls the movement related to the collision.

7. The anti-collision method for medical equipment according to claim 6, characterized in that: Outputting a warning signal or a control signal at least according to the position information, the magnitude of the force and the image signal comprises: Process the image signal, identify the collision object, and output the warning signal and / or the control signal based on the identification result, the position information, and the magnitude of the force. The control signal includes: controlling the movement related to the collision to stop, reduce the movement speed, and move in the opposite direction.

8. The anti-collision method for medical equipment according to claim 7, characterized in that: The identifying the collision object at least includes identifying that the collision object is a human body, clothing and / or a bed sheet worn by the human body.

9. The anti-collision method for medical equipment according to claim 8, characterized in that: The outputting of the warning signal and / or the control signal according to the recognition result, the position information, and the magnitude of the force comprises: In response to recognizing that the collision object is a human body, and the magnitude of the force at the collision position of the human body is greater than 0 and less than a first specific value, outputting the warning signal and / or the control signal, wherein the control signal controls the collision-related movement to reduce speed; In response to recognizing that the collision object is a human body, and the magnitude of the force at the collision position of the human body is greater than a second specific value and increases at a specific time, outputting the warning signal and / or the control signal, wherein the control signal controls the collision-related movement to stop; In response to recognizing that the collision object is a human body, and the magnitude of the force at the collision position of the human body exceeds a third specific value, outputting the warning signal and / or the control signal, wherein the control signal controls the collision-related movement to move in the opposite direction; The second specific value is greater than the first specific value, and the third specific value is greater than the second specific value.

10. A medical device, comprising a medical device housing, wherein N pressure sensors are arranged on the medical device housing, wherein: It also includes a processing device, which executes the method according to any one of claims 1 to 9.

Images