Medical equipment and anti-collision method for medical equipment

Abstract

The present disclosure relates to a method for preventing collisions of medical devices and the medical device. The method comprises: receiving signals from N pressure sensors, the N pressure sensors being disposed on a housing of the medical device, where 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 associated with the collision. According to the present disclosure, a method for preventing collisions of medical devices and the medical device are provided, which can effectively avoid unacceptable collisions.

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 devices are placed on the patient's body and require medical staff to operate. Whether used for examination or treatment, medical equipment often moves during use, potentially causing collisions with patients or doctors. Some collisions are unacceptable, potentially causing further harm to the patient or hindering the doctor's operation. Prompt action is required in the event of unacceptable collisions. On the other hand, some collisions are acceptable, such as minor scrapes between medical equipment and the patient's or medical staff's clothing. 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 the 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 gantry housing of the CT or magnetic resonance device, where 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 housing 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, and the control signal controlling 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, and the control signal controlling 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, and the control signal controlling 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, which captures an image of the collision area; outputting the warning signal and / or the control signal based on at least 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 disposed, 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 have a better understanding 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 This is a schematic diagram of the 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 accompanying drawings are numerals as follows:

[0021]

[0022] DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions 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 embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0024] In one exemplary embodiment, a method for preventing collisions of medical devices is provided. The method comprises: receiving signals from N pressure sensors, the N pressure sensors being disposed on the housing of the medical device, where 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 associated with the collision. The type of medical device is not limited herein; illustratively, the medical device may be a CT scan, an MRI scan, or a C-arm X-ray machine. CT scans and MRI scans have an examination chamber located in the center of the gantry. A patient lies on a bed and enters the chamber through movement of the bed for examination. During the examination, there is a possibility that the patient's body may collide with the medical device due to their position or movement, potentially causing injury. However, not all collisions are unacceptable. For example, if the device housing is slightly scratched by bed sheets or clothing worn by the patient, the examination can continue. Similarly, C-arm X-ray machines are often used in operating rooms. Their C-arms are constantly in motion, which can easily cause collisions not only with patients and medical staff, but also with other objects, such as between the C-arm and the bed, or between the C-arm and surgical equipment. Similar to CT and MRI equipment, these collisions must be determined to be acceptable, ensuring that unacceptable collisions are avoided while ensuring the efficient and normal operation of the surgery. In these scenarios, intelligent collision avoidance methods are required to determine the type of collision and take appropriate measures accordingly. Here, the types of collisions refer to acceptable and unacceptable collisions.

[0025] In this embodiment, multiple pressure sensors are installed on the device housing, with the number N of sensors being greater than two. These sensors can be installed on the exterior of the housing, but for aesthetic reasons, they can also be installed inside. The purpose of installing multiple sensors is that, when determining the type of collision, not only the magnitude of the collision force is important, but also the location of the collision. For example, in a CT or MRI device, if the top of the housing is impacted, this is most likely caused by the patient transitioning from a recumbent to a sitting position, with their head colliding with the housing. This can have more serious consequences than if the patient's arms collided with the housing on either side of the housing. Therefore, collisions on the top of the housing require more stringent safety measures than those on other locations. These measures must take into account the location of the collision; relying solely on force magnitude is often inappropriate. In other words, the location of the collision is crucial for determining the impact; the same force magnitude detected at different locations will still result in different judgments. By installing N sensors at different locations, forming a pressure sensor array, when the housing is impacted, the forces transmitted to different locations will also differ, allowing both the location and magnitude of the impact to be determined. In practice, multiple impacts can occur simultaneously. For example, in CT and MRI equipment, both arms of a patient might collide with the equipment simultaneously. For C-arm X-ray machines, the likelihood of multiple impacts is even greater. In these situations, as long as there are a sufficient number of sensors, the location and magnitude of each impact can be accurately determined simultaneously, allowing for separate assessments of each impact and outputting warning and / or control signals. In the event of multiple impacts, the measures taken should be tailored to the most severe impact. Furthermore, this warning signal can include a voice announcement of the locations of the multiple impacts to alert the patient or medical staff. For detection accuracy, a larger N is generally beneficial, but considering cost, N should not be too large. N can be set to be greater than or equal to 8, and more preferably, greater than or equal to 20. The placement of the sensors can be uniform, or they can be more densely distributed in locations more susceptible to impact, without specific limitations. The term "uniform placement" here refers not only to a roughly uniform placement of all N sensors, but also to a uniform placement of some and a uniform placement of others. For example, if a CT or MRI device has 10 sensors, 5 of which are evenly arranged on the inside of the gantry housing near the left side of the bed, and the other 5 are evenly arranged on the inside of the gantry housing near the right side of the bed, although the 10 sensors are not evenly arranged overall, the 5 sensors on the left and right are evenly arranged, which conforms to the uniform arrangement described in this disclosure. For example, for a CT or MRI device, the sensors can be evenly arranged on both sides of the gantry, where the gantry housing is near the bed. For a C-arm X-ray machine, the sensors can be evenly arranged near both 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 to 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 a 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 based at least on 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 a 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 when the scratch is detected. 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 object. If the scratch becomes more and more serious, the corresponding detected force will generally also become larger. At this time, the collision-related movement, such as the movement of a hospital bed or C-arm, should be controlled to stop to avoid personal injury or property damage. 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 action is required even if it is detected. Therefore, generally speaking, the first threshold takes a smaller non-zero value. In this way, it is only after the detected force is greater than the first threshold that it is determined whether it is increasing.

[0029] In response to the magnitude of the force at the same position exceeding a 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 squeezing. At this time, simply controlling the movement to stop may not be enough, and 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 clockwise rotating C-arm rotate counterclockwise for a distance, so as 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 to 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 a third threshold, a control signal is output, and 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, the speed of the collision-related movement recovery 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 the force decreasing 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. There is no limitation on the first and third thresholds, and they can be set differently based on practice or experience.

[0032] In one exemplary embodiment, an image signal is received from an image acquisition device that captures an image of the collision area; based at least on the position information, the magnitude of the force, and the image signal, a warning signal and / or a control signal are output, wherein the control signal controls movement associated with the collision. While an array of pressure sensors can detect the location and magnitude of the force, it is still difficult to determine 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 time-of-flight sensor. The object recognition results obtained can help develop a more effective collision avoidance strategy. For example, if the object type is identified as a human body, the first, second, and third thresholds should be lowered to more effectively protect the person. If the object is identified as clothing or bed linen, the first, second, and third thresholds can be appropriately increased. In this embodiment, given that image acquisition devices often have obstructed areas or may experience recognition errors, the information captured by the image acquisition device is not the primary basis for judgment; it serves to supplement the pressure sensor information for more accurate judgment.

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

[0034] In response to identifying the collision object as a human body and the magnitude of the force at the collision location is greater than zero and less than a first specified value, a warning signal and / or a control signal is output, the control signal controlling the collision-related motion to reduce speed. With the aid of a camera, the collision location and image information obtained by the sensor array can be combined to determine the collision location between the human body and the medical device. Specifically, if image analysis indicates that the collision location detected by the pressure sensor array shows contact between the human body and the device, then that location is the human body collision location. Collisions with the human body are often unacceptable, so immediate action is generally required. However, in practice, there are situations where a person may immediately evade, such as a patient's arm being scraped by the gantry housing of a CT machine, or a rotating C-arm colliding with a medical staff member in an operating room. The patient or medical staff member is likely to immediately evade, so immediately stopping the movement upon detecting a collision with a human body may reduce the efficiency of the examination or treatment and is unnecessary. Therefore, if the force caused by the detected collision with the human body is not significant, measures to reduce the movement speed are taken to allow the person time to react and avoid the collision. Alternatively, the reduced speed may be related to the magnitude of the collision force; the greater the collision force, the lower the reduced speed.

[0035] In response to identifying the collision object as a human body, and the magnitude of the force at the collision location of the human body exceeding a second specified value and increasing over a specified period of time, a warning signal and / or a control signal is output, and the control signal controls the cessation of collision-related movement. When the force of the collision with the human body exceeds a specified value and increases over a period of time, indicating that the human body has not taken effective evasive action, such as an unconscious patient or a medical device striking a temporarily immobilized medical worker due to misoperation, the collision-related movement should be immediately stopped.

[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. In this case, the collision-related movement should be controlled to move in the opposite direction for a certain distance. The distance of movement must at least cause the collision force to disappear, or move a certain distance after the collision force disappears, for example 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 has not decreased, 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, human body identification includes not only exposed body parts but also those within clothing, which can be achieved using image recognition technology. Furthermore, when the collision object is identified as clothing or a bed sheet, the strategy employed can differ from that employed for the human body, as clothing often does not cause unacceptable collisions. However, it is also important to prevent clothing from becoming entangled with the equipment, or for the human body beneath the clothing to collide with the medical equipment, which image recognition does not detect. Therefore, when the collision object is identified as clothing or a bed sheet, the strategy employed can include: maintaining the collision-related motion in response to the force at the collision location being less than a first force value; reducing the speed of the collision-related motion in response to the force at the collision location being greater than the first force value but less than a second force value; stopping the collision-related motion in response to the force at the collision location being greater than the second force value but less than a third force value; and controlling the collision-related motion in response to the force at the collision location being greater than the third force value. When controlling the collision-related motion in the opposite direction, if the force at the collision location does not decrease, the opposite direction motion is stopped. This is because if clothing or sheets become entangled, movement in the opposite direction may not be enough to untie them and they will need to be untangled manually. If movement in the opposite direction does not reduce the force, it may be because the entanglement has worsened and they need 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 if 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 the doctor's observation is relied upon 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 Several pressure sensors 1-20 are installed on the front cover of the CT gantry, covering the entire 360-degree circular cover. The signals from all pressure sensors 1-20 are sampled by a microcontroller 21, which calculates the force distribution of the front cover based on the values ​​of each pressure sensor. When a patient contacts a point on the outer cover, a certain amount of pressure is applied there, causing the pressure sensors 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, based on the force distribution, determines the type of collision: normal contact or abnormal collision. If the collision is determined to be abnormal, braking measures are immediately applied.

[0040] For more details, see especially Figure 2 , Figure 2The front view of a CT gantry cover is shown. The circular hole in the center serves as the inspection chamber. Several pressure sensors 1-20 are mounted on the CT gantry cover, evenly distributed inside the front of the gantry. All pressure sensor signals are connected to a microcontroller 21. The microcontroller 21 samples and calculates the pressure sensor nodes. Because the cover is made of a hard material and is evenly distributed, collisions within a certain area around each sensor will affect its value. 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 value obtained by the sensor will be different at different collision points. Figure 1 As shown in the figure, for a sensor in region 1, if a collision force of 100 Newtons (N) occurs within region 1, the sensor detects a force of 100 N; if it occurs in region 3 (e.g., collision point a), the sensor detects a force of 80 N; and if it occurs in region 6 (e.g., collision point b), the sensor detects a force of 30 N. Similarly, the sensor detects a value, and the collision force represented by this value varies depending on the collision point.

[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 point outside the housing (e.g., point X), the values ​​of one or more pressure sensors near that point (e.g., points A, B, and C) will change. The microcontroller 21 determines the approximate location of the collision point (e.g., 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 magnitude of the values. If the value is small and remains constant, it may be normal contact. If the value is large or gradually increases, an abnormal collision may have occurred, requiring emergency braking, which may be achieved by cutting off the safety circuit.

[0042] The accuracy of the three-point arrangement sensor is often not enough to meet the requirements. Figure 2 In the example, 20 sensors 1-20 are deployed. 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 shows the force values ​​detected by sensors 1-20 when point X is hit. From the table, we can see the force values ​​detected by sensors 1-20 when point X is hit by 0N, 10N, 50N and 100N. 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, a sufficient number of sample points can be selected on the housing, such as 50, or even 100, 200, 500, or more, and the sensor values ​​for each point at different collision levels can be calculated and recorded one by one, forming a "point-collision force-sensor value combination" relationship table. 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 then determine the corresponding action based on the location of the point and the magnitude of the force.

[0044] The data obtained at each point is the data measured when the force is transmitted to the sensor point. This data is related to the material, shape, and installation method of the housing and is not a simple linear relationship. Using a table lookup method, rather than force analysis and calculating the target value using a formula, can achieve greater accuracy. In the method of this embodiment, the force points and force values ​​are predicted in a statistical manner by distributing a large amount of experimental data. For example, if there is experimental data for 100 force points on the housing, each force point will have data detected based on these 20 sensor points. When a new force point appears, it is located near the point among the 100 points to which the data it generates is most similar. In this method, the more experimental data points, the better. Furthermore, it is also possible to use several similar data points for fitting, rather than just the closest point. For example, selecting 3-8 similar data points and fitting them can 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 mixed calculations of multi-sensor values ​​make it less likely to make misjudgments.

[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, which includes a device housing on which N pressure sensors are provided. 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 embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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 can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0053] In the context of the present disclosure, a computer-readable storage medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable medium can 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-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0054] It should be understood that the various forms of the 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 a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[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 is only limited by the claims after authorization and their equivalents. Various elements in the embodiments or examples can be omitted or replaced by their equivalents. In addition, the steps can be performed in an order different from that described in this disclosure. It is important to note that as technology evolves, many of the elements described herein can be replaced by equivalent elements that appear after this disclosure.

[0056] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate 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, the N pressure sensors being disposed on a housing of the medical device, wherein N is greater than or equal to 2; Processing signals from the N pressure sensors to obtain collision position information and force magnitude of the housing; outputting a control signal based at least on the position information and the magnitude of the force, wherein the control signal controls a motion associated with the collision; Outputting a control signal at least according to 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 and increasing at a specific time, outputting the control signal, wherein the control signal controls the collision-related motion to stop; In response to the magnitude of the force at the same position exceeding a second threshold, outputting 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.

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 housing of the CT or magnetic resonance device, where 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 housing of the C-arm, and the control signal controls the movement of the C-arm and / or the hospital 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: Also includes: receiving an image signal from an image acquisition device, wherein the image acquisition device captures an image of the collision area; The control signal is output based on at least the position information, the magnitude of the force, and the image signal, wherein the control signal controls the movement associated with the collision.

6. The anti-collision method for medical equipment according to claim 5, characterized in that: Outputting the 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 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.

7. The anti-collision method for medical equipment according to claim 6, characterized in that: The collision object at least includes a human body, clothing worn by the human body and / or a bed sheet.

8. The anti-collision method for medical equipment according to claim 7, characterized in that: Outputting the control signal according to 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 control signal, wherein the control signal controls the collision-related motion 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 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 control signal, wherein the control signal controls the collision-related motion 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.

9. A medical device comprising a medical device housing, wherein N pressure sensors are provided on the medical device housing, wherein: The invention further comprises a processing device, wherein the processing device executes the method according to any one of claims 1 to 8.

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