Supplementary collision detection and prevention system for medical imager

Abstract

The invention relates to a supplemental collision detection and prevention system for a medical imager. The present invention relates to a collision detection and prevention system for a medical X-ray apparatus, in particular a supplemental system that enhances the existing safety system, which is useful when the X-ray apparatus comprises an auxiliary device such as a radiation shield that may interfere with the existing collision detection and prevention system.

Description

[0001] This application is a divisional application of an application with an application date of December 31, 2019, application number 201980093453.4, and invention name “Supplementary collision detection and prevention system for medical imagers”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims priority to U.S. Provisional No. 62 / 787,644, filed on January 2, 2019, the entire contents of which are incorporated herein by reference. Field of the Invention

[0004] The present invention relates to a collision detection and prevention system for medical X-ray equipment, and in particular to a supplementary system that enhances existing safety systems. The supplementary system is useful when the X-ray equipment includes auxiliary devices such as radiation shielding, which may interfere with the existing collision detection and prevention system. Background Art

[0005] Medical equipment, particularly X-ray equipment and X-ray fluoroscopic systems that may move during operation may include anti-collision mechanisms. Anti-collision mechanisms typically include multiple proximity sensors for safe operation and positioning of movable radiation imaging components (e.g., X-ray sources and / or detectors of an X-ray "C-arm"), and may be important for protecting patients and protecting expensive medical equipment.

[0006] For safe positioning and movement of mobile radiation imaging medical equipment (e.g., X-ray equipment), proximity / collision detection mechanisms can be installed on or around portions of the imaging equipment to prevent collisions with patients and / or other objects such as X-ray tables or procedure tables.

[0007] However, in some cases, particularly when auxiliary devices such as radiation shields are installed, native collision detection devices may be blocked or partially blocked and thus rendered ineffective or limited.

[0008] Exemplary related disclosures include US 8,767,920 (Siemens); US 7,029,175 (GE Medical); US 7,837,385 (Siemens); US 6,830,375 (GE Medical); US 8,439,564 (Radguard); US 8,113,713 (Radguard); US 9,907,519 (Radiaction); and US2018 / 249972 (Radiaction), all of which are incorporated herein by reference in their entirety to the same extent as if fully set forth herein. Summary of the invention

[0009] The present disclosure relates to a system and method that allows safe and effective X-ray imaging, particularly in situations where the imaging device's native approach / collision mechanism is at least partially ineffective due to auxiliary devices (e.g., radiation shields). This is achieved by providing an approach and collision detection system that serves as a backup, supplements, and / or improves upon the existing (native) collision avoidance mechanism of the X-ray imaging device (e.g., a C-arm). The present supplemental collision detection and avoidance system provides collision avoidance between moving parts of a medical X-ray device and a patient or other object (hereinafter used interchangeably with the term "entity").

[0010] The supplementary system comprises one or more sensors configured to provide a protective layer, in particular one or more combinations of: (a) at least one proximity and / or contact sensor, which may include a distance measurement sensor for determining proximity; (b) at least one inertial and / or gyroscopic sensor to determine movement, movement rate towards an entity and / or movement direction; (c) at least one operator detection sensor, for example to determine whether an operator is actively operating or intending to operate a C-arm (e.g. in a way that may cause a collision with a patient or a patient table); and (d) at least one current sensor to measure the current consumption in one or more units of the X-ray system (e.g. a C-arm motor) and determine its operation that may cause a collision. The system is configured to be added to an existing medical X-ray device and mechanically and / or electronically engage with the X-ray device's own collision prevention device (e.g. with its C-arm). Alternatively or additionally, the sensor(s) are added to an additional system of the X-ray system (e.g. a radiation shielding system).

[0011] One aspect of the invention relates to a collision detection and prevention system that can be coupled to a piece of X-ray equipment and includes one or more collision sensors; and / or one or more inertial sensors; and / or one or more current sensors; and / or one or more operation detection sensors and a trigger or trigger mechanism that triggers or actuates the X-ray equipment's own collision prevention mechanism / device. The trigger / trigger mechanism can be mechanical or electrical (including wireless).

[0012] One aspect of the present invention relates to an additional system of X-ray devices (e.g., for use in radiation shielding devices) that includes at least one supplemental sensor, the at least one supplemental sensor comprising one or a combination of: one or more proximity and / or collision sensors; one or more inertial motion / gyroscopic sensors; one or more operator detection sensors; and one or more current sensors; and a triggering mechanism that triggers or activates the X-ray system's own anti-collision mechanism / mechanism or a part thereof (e.g., the X-ray system's own collision sensor).

[0013] One aspect of the invention relates to a supplementary system of additional collision sensors according to the disclosure herein above.

[0014] Avoiding collision can include stopping movement of a component (e.g., a radiation shield) and / or moving a component away from an entity (a patient, an object, etc.) based on proximity of a sensor to or contact with an entity within a predetermined distance of the entity; or dangerous movement of a component, for example, as determined by an inertial sensor; or operator action, as determined by an operator detection sensor.

[0015] The trigger mechanism may comprise a mechanical trigger configured to activate the X-ray device's own proximity or contact sensor.

[0016] The mechanical trigger may include a trigger motor or other actuator configured to contact or apply pressure to an own contact sensor, or to approach an own proximity sensor of an own anti-collision mechanism of the X-ray device.

[0017] The trigger mechanism may comprise an electrical trigger employing an electrical / electronic connection to the X-ray device's collision protection device and / or to a radiation shield to activate the X-ray device's own collision safety system.

[0018] The supplemental sensor may be a contact sensor. The supplemental sensor may be a proximity sensor. The supplemental sensor may be a pressure sensor. The supplemental sensor may be a strain sensor. The supplemental sensor may be an infrared sensor. The supplemental sensor may be an ultrasonic sensor. The supplemental sensor may be a laser sensor. The supplemental sensor may be a radio frequency sensor. The supplemental sensor may be a photoelectric sensor (e.g., a camera) that may be configured to identify operator activity, such as touching an operator handle. The supplemental sensor may be a heat or temperature sensor (e.g., including or consisting of a thermocouple). The supplemental sensor may be a current sensor that measures current flowing in an electrical wire.

[0019] In one or more embodiments, the trigger mechanism and / or sensor is coupled to the interface. In one or more embodiments, the interface is installed at one or more locations around and / or on the X-ray system. In one or more embodiments, the interface is installed at one or more locations around and / or on the X-ray radiation shielding system of the X-ray device. In one or more embodiments, the collision detection system activates its own X-ray anti-collision mechanism when a possible collision with an object or patient (entity) is detected. In one or more embodiments, the collision detection system stops activating the anti-collision mechanism of its own X-ray device when the proximity or contact of the sensor with the patient or object is no longer detected. In one or more embodiments, the collision detection system also includes an alarm unit that operates to warn medical personnel when a possible collision with an entity is detected.

[0020] One aspect of the invention relates to a supplementary collision detection and prevention system for use in combination with a medical imaging device comprising an own collision avoidance mechanism with its own sensors and an additional system to limit the functionality of the own collision avoidance mechanism, the supplementary collision detection and prevention system comprising:

[0021] a plurality of supplemental sensors, the plurality of supplemental sensors being any of proximity sensors and / or contact sensors, and / or inertial motion sensors, and / or operator detection sensors, and / or current sensors configured to facilitate preventing or protecting against collision with the entity; and

[0022] An interface configured to receive communications from at least one of the plurality of supplemental sensors and to send signals that actuate collision avoidance operations of the medical imaging device, and / or actuate the additional systems thereof, to avoid or mitigate collisions.

[0023] In one or more embodiments, the interface communicates with the own collision avoidance mechanism of the medical imaging device, and / or a triggering mechanism of the system that actuates at least one of the own sensors.

[0024] In one or more embodiments, the system further includes a command controller configured to actuate a collision avoidance operation of the additional system or the medical imaging device.

[0025] In one or more embodiments, the additional system is a radiation blocking shield, and wherein at least one of the supplemental sensors is associated with the radiation blocking shield.

[0026] In one or more embodiments, the radiation blocking shield extends from a radiation shielding support base, and wherein the support base includes one or more of the plurality of supplemental sensors.

[0027] In one or more embodiments, the radiation shield is a retractable shield configured to retract in response to the signal.

[0028] In one or more embodiments, at least one of the plurality of supplemental sensors is selected from: a pressure sensor; a strain sensor; an infrared sensor; an ultrasonic sensor; an ultrasonic sensor; a laser sensor; a radio frequency sensor; a photoelectric sensor; and a thermal sensor, or any combination thereof.

[0029] In one or more embodiments, the electric motor current sensor is configured to measure current consumption of one or more units of the medical imaging device and detect operation thereof that may result in a collision with the entity.

[0030] In one or more embodiments, the operator detection sensor is configured to detect activities of an operator that may result in a collision with the entity.

[0031] In one or more embodiments, the operator detection sensor is associated with a foot pedal or an operator control panel of the medical imaging device.

[0032] In one or more embodiments, the operator detection sensor is selected from a proximity sensor; a contact sensor; an infrared sensor; an optical sensor; and combinations thereof.

[0033] In one or more embodiments, the inertial motion sensor is an accelerometer or a gyroscopic sensor.

[0034] In one or more embodiments, the inertial motion sensor is configured to detect movement of a moving part of the medical imaging device.

[0035] In one or more embodiments, the entity is a patient, a patient table, an operator, or a piece of medical imaging equipment.

[0036] One aspect of the present invention relates to a radiation shielding device, comprising:

[0037] at least one radiation blocking shield positioned around an X-ray source or an X-ray detector of a medical imaging device; wherein the medical imaging device comprises an own anti-collision detection mechanism comprising at least one own sensor; and

[0038] A supplemental collision detection and prevention system, the supplemental collision detection and prevention system being configured to avoid collision of an entity with an X-ray source, an X-ray detector and / or an X-ray radiation shield, the supplemental collision detection and prevention system comprising:

[0039] a plurality of supplemental sensors, the plurality of supplemental sensors being any of proximity sensors and / or contact sensors, and / or inertial motion sensors, and / or operator detection sensors, and / or current sensors configured to facilitate preventing or protecting against collision with the entity; and

[0040] A command controller is configured to receive communications from the supplemental sensor and mechanically and / or electrically actuate collision avoidance operations of the medical imaging device and / or the radiation shielding apparatus to avoid or mitigate a collision.

[0041] In one or more embodiments, the apparatus further comprises a mechanical trigger configured to actuate at least one of the own sensors in response to the mechanical and / or electrical operation, thereby activating the own anti-collision mechanism of the medical imaging device.

[0042] In one or more embodiments, the electric anti-collision operation includes actuating an electric trigger of the own anti-collision mechanism.

[0043] In one or more embodiments, at least one of the supplemental sensors is associated with the radiation blocking shield.

[0044] In one or more embodiments, the radiation blocking shield extends from a radiation shielding support base, and wherein the support base includes one or more of the supplemental sensors.

[0045] In one or more embodiments, the radiation shield or portion thereof is configured to retract in response to the electric anti-collision operation.

[0046] In one or more embodiments, at least one of the supplemental sensors is a sensor selected from the group consisting of: a pressure sensor; a strain sensor; an infrared sensor; an ultrasonic sensor; an ultrasonic sensor; a laser sensor; a radio frequency sensor; a photoelectric sensor; and a thermal sensor, or any combination thereof.

[0047] In one or more embodiments, the current sensor is configured to measure current consumption of one or more units of the medical imaging device and detect operation thereof that may result in a collision with the entity.

[0048] In one or more embodiments, the operator detection sensor is configured to detect activities of an operator that may result in a collision with the entity.

[0049] In one or more embodiments, the operator detection sensor is associated with a foot pedal or an operator control panel of the medical imaging device.

[0050] In one or more embodiments, the operator detection sensor is selected from a proximity sensor; a contact sensor; an infrared sensor; an optical sensor; and combinations thereof.

[0051] In one or more embodiments, the inertial motion sensor is a gyroscopic sensor.

[0052] In one or more embodiments, the inertial motion sensor is mounted on the radiation blocking shield, and / or the X-ray source and / or the X-ray detector.

[0053] In one or more embodiments, the entity is a patient, a patient table, an operator, or a piece of C-arm equipment.

[0054] The invention also relates to a method of detecting and / or avoiding collisions of a movable part of a piece of medical imaging equipment, said piece of medical imaging equipment comprising an own anti-collision mechanism and a radiation blocking shield or auxiliary device limiting the functionality of an own anti-collision sensor of said own anti-collision mechanism, said method comprising:

[0055] sensing proximity and / or contact with an entity, and / or detecting operator action, and / or sensing current of the medical imaging device, and / or the radiation blocking shield, and / or the auxiliary device;

[0056] communicating the sensing to a command controller of the radiation blocking shield or the auxiliary device; and

[0057] Anti-collision operations of the medical imaging device, the radiation blocking shield, and / or the auxiliary device are mechanically and / or electrically actuated to avoid or mitigate collisions.

[0058] In one or more embodiments, the method further comprises mechanically triggering at least one of the own sensors in response to the mechanical and / or electrical operation.

[0059] In one or more embodiments, the method further comprises sending a signal to an electrical trigger that actuates the own collision avoidance mechanism.

[0060] In one or more embodiments, the step of actuating the anti-collision operation includes retracting the radiation blocking shield.

[0061] In one or more embodiments, the method further comprises stopping or slowing down the movable portion of the medical imaging device.

[0062] Unless otherwise defined, all technical and / or scientific terms used herein have the same meanings as those of ordinary skill in the art to which the invention belongs. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the present invention, exemplary methods and / or materials are described below. In the event of a conflict, the patent specification (including definitions) shall prevail. In addition, materials, methods and embodiments are illustrative only and are not intended to be necessarily restrictive. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Some embodiments of the present invention are described herein by way of example only with reference to the accompanying drawings. The details are shown by way of example and for the purpose of illustrative discussion of embodiments of the present invention. Figure 1The following description makes it easy for those skilled in the art to understand how embodiments of the present invention may be practiced.

[0064] In the attached picture:

[0065] Figure 1 is a schematic side view of a C-arm of a typical prior art X-ray device. Figure 2 is coupled to an auxiliary radiation shield Figure 1 Schematic perspective view of a prior art X-ray device.

[0066] Figure 3 is with Figure 2 Schematic illustration of an X-ray device and a radiation shielding device associated with it and a supplementary collision detection and prevention system associated with an operating control panel and elements of the X-ray device.

[0067] Figure 4 and Figure 5 is a perspective view of an exemplary supplemental sensor of the present system.

[0068] Fig. 6A and Figure 6B is with its own anti-collision sensor in a non-communicating / non-engaged position ( Fig. 6A ); and communication / engagement locations ( Figure 6B ), a schematic illustration of an exemplary mechanical trigger mechanism of the present system.

[0069] Fig. 7A is a perspective schematic illustration of another exemplary mechanical triggering mechanism of the present system. Figure 7B and Figure 7C is in the non-triggered position ( Figure 7B ) and trigger position ( Figure 7C )of Fig. 7A An enlarged schematic perspective view of a mechanical trigger mechanism.

[0070] Figure 8 is a schematic perspective view of an inertial motion sensor of the present system.

[0071] Fig. 9 is a perspective view of the operative connection of the present system to a C-arm and / or the C-arm's own anti-collision device.

[0072] Fig.10 is a flow chart depicting safety consequences associated with activation of an operator detection sensor.

[0073] Fig.11 is a flow chart depicting safety consequences associated with inertial motion sensors.

[0074] Fig.12is a flow chart depicting safety consequences associated with an impending collision or collision of an entity with a radiation shield of a C-arm detector.

[0075] Fig.13 is a flow chart depicting safety consequences associated with a collision or imminent collision of an entity with a radiation shield of an X-ray source of a C-arm.

[0076] Fig.14 is a flow chart depicting safety consequences associated with a collision or imminent collision of a physical body with a C-arm, or a radiation shielding device, or a portion thereof.

[0077] It should be understood that for simplicity and clarity of illustration, the elements shown in the figures are not necessarily drawn to scale. In addition, where considered appropriate, reference numerals have been repeated among the figures to indicate similar elements. DETAILED DESCRIPTION

[0078] It should be understood that the present invention is not limited to the specific methods, devices, articles or products described herein, etc., as these may vary as those skilled in the art will recognize. It should also be understood that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of the present invention. The following exemplary embodiments may be described in the context of exemplary proximity and / or collision detection systems for ease of description and understanding. However, the present invention is not limited to the specifically described products and methods, and may be suitable for various applications without departing from the overall scope of the present invention. All ranges disclosed herein include endpoints. The use of the term "or" should be interpreted as "and / or" unless otherwise indicated by the specific context.

[0079] The present supplemental collision detection and prevention system can be implemented as a multi-layer safety system, which includes multiple safety mechanisms that can work redundantly in parallel between the layers simultaneously. The purpose of these safety mechanisms is to ensure the safety of the patient and the smooth and safe operation of the C-arm, etc. when used with auxiliary devices such as (one or more) radiation protection shields.

[0080] One aspect of some embodiments of the present invention relates to additional or supplementary collision detection and prevention systems for medical X-ray equipment or associated devices. In some embodiments, sensors are added to existing medical X-ray devices or parts thereof, and / or sensors are integrated into X-ray collision prevention systems. In some embodiments, sensors are added to additional systems of X-ray systems. Exemplary additional systems include, but are not limited to, radiation shielding devices, the teachings of which are provided in the following disclosures: U.S. Patent Nos. 8,439,564 and 8,113,713, U.S. Patent Application No. 2018 / 0168525, International Patent Application No. WO 2017 / 083437, and U.S. Patent Application No. 2018 / 0249972, the foregoing being incorporated by reference as if fully set forth herein. In some embodiments, sensors are added to X-ray radiation shielding systems / devices of X-ray systems.

[0081] refer to Figure 1 (Prior art), angiography and fluoroscopy equipment (e.g., a full-size fixed C-arm or a mobile C-arm) typically has a mechanism to prevent the detector / image intensifier and / or collimator / X-ray source from colliding with a patient, table, or other object. The X-ray equipment typically employs proximity or contact sensors. When triggered, these sensors can activate a collision prevention or avoidance mechanism (hereinafter referred to as the "own collision safety mechanism" or "own collision safety mechanism" of the C-arm). For example, the collision prevention mechanism can stop the movement of the C-arm and provide a warning sound and / or visual effect (e.g., a warning light) to the operator of such a collision or its impending occurrence.

[0082] Some embodiments of additional or supplemental collision detection and prevention systems may provide additional safety and / or collision prevention. For example, additional collision detection may be used in situations where the C-arm's own collision safety mechanisms are inaccessible, ineffective, and / or not operating properly. Such situations may occur when the C-arm's collision prevention sensors are obscured by auxiliary and / or additional devices and / or other equipment or devices that may interfere. For example, additional collision detection may be used when additional systems protrude from the X-ray device or a portion thereof, thereby increasing the area / equipment that requires collision monitoring and protection.

[0083] Figure 1 1 is an example of a prior art C-arm 10, which is a typical element of an X-ray device such as angiography and fluoroscopy equipment. The device typically includes mechanisms to prevent collision of the detector 12 (image intensifier) ​​and / or collimator or X-ray source 14 with a patient, table or other equipment / object (hereinafter referred to as "entity"). These anti-collision mechanisms typically employ proximity and / or contact sensors, which for clarity will be referred to as native sensors 16 ( Figure 1 and Fig. 7A) to activate the collision prevention or avoidance system (in Fig. 7A For example, the inherent collision avoidance mechanism may stop the movement of the C-arm 10 and provide a warning sound and / or visual indication to the operator in the event of a collision or an imminent collision (approaching exceeding a predetermined threshold). In the event that a collision or a possible collision is detected at the level of the X-ray detector 12, the detector may be raised upwards to prevent a collision with an entity.

[0084] Figure 2 A C-arm 10 is shown with an exemplary auxiliary radiation shielding device 100, which includes an upper radiation shield 108a (interchangeable with a "detector radiation shield") and a lower radiation shield 108b (interchangeable with a "source radiation shield") attached to a shield support base 103, respectively, which covers / attaches to a radiation source detector 12 and a radiation source 14. The radiation shields 108a and 108b can be used to protect medical personnel or operators from radiation and / or scattered radiation emitted by the C-arm 10. Examples of radiation shields are disclosed in US2018 / 249972; US 8,113,713; and US 9,907,519. Such radiation shields and / or other auxiliary devices can interfere with (e.g., block) native anti-collision mechanisms, especially their sensors, such as native sensors 16 ( Figure 1 ). Radiation shields 108a and 108b include a plurality of sequentially positioned radiation shield stacks or segments 107 that may be independently controllable to extend or retract to a selected length relative to a patient or an object such as an x-ray table.

[0085] Figure 3 An exemplary supplemental collision detection and prevention system 110 of the present invention is illustrated. System 110 may constitute a portion of radiation shielding device 100, or may be a separate supplemental system having sensors that may be coupled to an X-ray system (e.g., C-arm 10), a portion thereof, and / or a radiation shielding device (e.g., device 100). System 110 includes one or more supplemental sensors that may cooperate with its command controller 112 (shown as being located in a radiation shielding operations control panel 111, but may be provided as a separate component, or may be coupled to an alternative location in radiation shielding device 100 or in C-arm 10).

[0086] System 110 may include various sensors. Non-limiting examples include proximity sensors, optical sensors (eg, infrared, laser optics, etc.), ultrasonic sensors, contact sensors, acceleration sensors, electromagnetic sensors, current sensors, and the like.

[0087] The system 110 may include one or more sensors working alone or in combination with other sensors or components of the X-ray system 10 or the radiation shielding device 100, monitoring various parts of the operating platform of the C-arm 10 or the shielding device 100 (e.g., table mounted control panel, foot pedal, buttons, etc.). The sensors may be fully or partially integrated in these operating platforms, such as placing a contact sensor 161 in the foot pedal 21 for sensing the operator pressing the pedal 21. Another sensing option is by using a current sensor 151, which is a sensor configured to measure the current in the wire and provide an output of the measured current. Such exemplary sensors may be coupled to the C-arm unit or part thereof (such as the motor of the C-arm, the electrical cabinet of the C-arm (not shown)), in a part of the C-arm itself where the wire is located, and also at one or more designated locations at the operating platform of the C-arm (e.g., control panel 11, foot pedal 21, operating handle 19, etc.). These current sensors detect the current flowing in the wires and / or electric motors, thereby inferring that the operator has activated these functions. In case activation of one or more units of the C-arm may result in a collision, a supplementary collision avoidance system may be activated to avoid the collision.In addition, a current sensor 151 may be coupled to one or more wires of the motor of the C-arm and monitor the current thereof.

[0088] The system 110 includes at least one supplemental sensor, which may be a proximity sensor 141 and / or a contact sensor 121, which may be disposed, without limitation, at one or more locations on the radiation shields 108a and 108b and / or on the shield support base 103. For example, the sensors may be located on or near the edges of the radiation shields 108a and 108b.

[0089] The system 110 may also include one or more current sensors 151 that may be operably connected to the C-arm motors to indicate current in the motors, thereby detecting C-arm motion or an impending collision with an entity. Various alternative locations for the current sensors 151 are contemplated, although not shown, such as in the foot pedal 21, in the handle 19, etc., to detect operation thereof and avoid or minimize collisions in situations where activation of those elements of the C-arm may result in a collision.

[0090] The system 110 may also include one or more inertial motion sensors 131 configured to detect movement of the C-arm, which are illustrated without limitation as being mounted on the support base 103, but may be mounted at one or more locations on the radiation shields 108a and 108b, and / or at one or more locations in the C-arm 10.

[0091] The system 110 may optionally include one or more operator detection sensors 161 configured to detect intended or actual operation (i.e., movement) of the C-arm 10. The operator detection sensors 161 are illustrated as being mounted on and / or at one or more operating elements of the control panel 11 of the C-arm 10 and / or the foot pedal 21 of the C-arm 10. Various types of operator detection sensors 161 are contemplated, such as proximity sensors, contact sensors, IR sensors, optical sensors.

[0092] The radiation shield operation control panel 111 that controls the operation of the system 100 (eg, extension and retraction of the shields 108a and 108b) may be further equipped with one or more supplementary sensors (eg, an operator detection sensor 161 and a current sensor 151).

[0093] As described above, the sensors 121, 131, 141, 151 and 161 can trigger the C-arm 10's own sensors 16 and / or its own anti-collision mechanism, and / or communicate with the command controller 112 of the supplementary radiation shielding device 110. The command controller 112 is configured to receive signals detected by the supplementary sensors, and can collaborate with / send signals to: i) one or more of the C-arm 10's own sensors 16; ii) the C-arm 10's own anti-collision mechanism; iii) the operation control unit of the C-arm 10 (e.g., controls the movement of the C-arm; the operation control unit of the C-arm 10 is not shown); and / or iv) the operation control unit of the radiation shielding device 100 (e.g., controls the movement of the radiation shield 108; the operation control unit of the device 100 is not shown). The supplementary sensors can alternatively communicate directly with the C-arm 10 or a portion thereof. For example, the supplementary sensors can activate the C-arm 10's own anti-collision mechanism (optionally via a trigger mechanism, such as in Figures 5 to 7C ), or communicates with an operation control unit of the C-arm 10 (eg, controlling the movement of the C-arm).

[0094] Since the radiation shields 108a and 108b and their supporting base 103 are assembled around the detector 12 and the X-ray source 14, at least some of the self-contained sensors 16 ( Figure 1 ) is partially or completely restricted or blocked or otherwise interfered with. To mitigate the risk of collision, both the upper and lower radiation shields 108a, 108b are preferably significantly covered with sensors. These sensors include proximity sensors 141 and / or contact sensors 121 (which may use capacitive sensing or any other type of proximity or contact sensor) and preferably face all possible collision directions (given by Figure 4). The inertial sensor 131 may be located almost anywhere on the radiation shield 100 (e.g., upper and lower shields 108a and 108b) or on the C-arm 10. In any case, it may be preferred to attach the inertial sensor 131 to the upper shield 108a because the upper shield 108a has two more degrees of motion than the lower shield 108b.

[0095] In some cases, potentially unsafe operation of the C-arm 10 may be indicated via the operator detection sensor 161, such as by the foot pedal 21 or other operator control mechanism on the operator control panel 11 (e.g., handle 19), which may ensure that the operation of the C-arm is stopped, or the inherent anti-collision mechanism of the C-arm 10 may be operated. Operator action (e.g., moving the C-arm via the handle 19 or operating the radiation emission of the C-arm via the foot pedal 21) may cause the operator detection sensor 161 to trigger the anti-collision device of the C-arm to stop its movement, which adds another arrangement for the protection of the operation of the C-arm 10.

[0096] Figure 4 A plurality of supplementary sensors 121, 141 are shown connected to one of the own sensors 16. Figure 4 As illustrated in the enlarged view of , the supplemental sensors 121, 141 may be positioned facing all directions of potential collision to provide comprehensive detection of inappropriate proximity or contact with an entity, such as a patient or an X-ray table.

[0097] Figure 5 A mechanical interface or trigger 120 is shown, which is configured to actuate the own anti-collision mechanism of the C-arm 10, in particular one of the own sensors 16. An exemplary configuration of the trigger 120 is shown, the trigger 120 is attached to or includes a trigger motor 124 (or other actuation mechanism). The trigger motor 124 can be actuated by the supplementary sensors 121, 141 to engage (usually mechanically) with one of the own sensors 16 when the radiation shield 108a, 108b or the support base 103 is in dangerous / inappropriate proximity or contact with an entity. The trigger 120 is exemplified as an L-shaped member with a distal end, such as a short portion of the L-shaped member, configured to contact the own sensor 16 when the trigger 120 is actuated. In this design, the trigger motor 124 is mounted at the proximal end of the L-shaped trigger 120 and is configured to receive a signal from the supplementary sensors 121, 141 or from the command controller 112 of the radiation shielding device 100, thereby pivoting the trigger to contact the own sensor 16. The trigger motor 124 may also be configured to move the trigger 120 away from the sensor 16 when the situation or threat of a collision has passed. It should be understood that any one of the sensors 121, 131, 141, 151 and 161 may activate the trigger 120 depending on the operating conditions.

[0098] In the event of a potential collision of the radiation shield 108a, 108b and / or the support base 103 with an entity, the proximity sensor 141 and / or the contact sensor 121 detects the potential collision (preferably before it occurs) and physically simulates the proximity or contact with the detector 12 and / or the X-ray source 14 of the C-arm 10 in order to activate the existing / own collision avoidance mechanisms, in particular the sensor 16. In some implementations, the supplementary collision detection and prevention system 110 interfaces with the software or electronics of the C-arm, thereby triggering the own safety mechanisms.

[0099] Supplementary sensors 121, 141, 131, 151, 161, such as those on the radiation shield 108a, 108b, or on the support base 103, or at the control panel 11, the handle 19 or the foot pedal 21, can actuate the trigger motor 124 to bring the trigger 120 into physical contact with the own sensor 16. Additionally or alternatively, the trigger 120 can be operably engaged with the own sensor 16 by other mechanisms, such as electrically or wirelessly, and thereby actuate the own sensor 16; or simulate an inappropriate approach, particularly an approach less than a threshold distance, and the speed of the supplementary sensor when it is close to the entity can also be taken into account. Thus, the trigger 120 actuates at least one C-arm's own sensor 16, thereby activating the own anti-collision mechanism. According to some features, the supplementary sensors 121, 141, 131, 151, 161 actuate one or more of the own sensors 16 (e.g., via the trigger 120) by moving to a proximal position, so that one of the own sensors 16 activates the own anti-collision mechanism.

[0100] Fig. 6A and Figure 6B Another exemplary configuration of the trigger 120 is shown, in which the trigger has an oval or rectangular trigger member 126 that can be rotated to engage with the own sensor 16. In other words, based on the signal from the supplemental sensor 121 and / or 141, the trigger 120 moves the trigger member 126 to contact the own sensor 16 or simulate an inappropriate approach to the own sensor 16 by approaching the own sensor.

[0101] Fig. 6A The trigger 120 is illustrated in a non-actuated state, whereby the trigger does not trigger the own sensor 16 , indicating safe operation of the C-arm 10 . Figure 6B The trigger 120 is illustrated in an actuated state, whereby the trigger engages the owning sensor 16 , indicating unsafe operation of the C-arm 10 (eg, excessive proximity of the radiation shield 108 to, and / or contact with, an entity).

[0102] Figure 7A-7CAnother exemplary configuration of the trigger 120 is depicted in which the trigger motor 124 rotates to move the trigger 120 back and forth in a generally linear motion. Fig. 7A In the embodiment of the present invention, the trigger 120 is rotated so that the trigger pin 128 translates downwardly into engagement with the own sensor 16 (ie, contacts or simulates improper proximity). Figure 7B and Figure 7C The trigger 120 is shown being operated, causing the trigger pin of the retaining element 130 to translate back and forth (upward and downward in the figure), causing the trigger pin 128 to be spaced apart from a portion of the own sensor 16 ( Figure 7B ) instead of actuating its own sensor; or contacting its own sensor 16 ( Figure 7C ) thereby actuating its own sensor. Figure 8 An exemplary arrangement of an inertial motion sensor 131 is shown, which is connected to the support base 103 of the radiation shielding device 100 and / or to one or both of the radiation shields 108a, 108b. The inertial motion sensor 131 is configured to sense inappropriate or dangerous movement of the radiation shields 108a, 108b and / or the C-arm 10. For example, the inertial motion sensor 131 can be coupled to one or more locations of the support base 103 or the radiation shields 108a, 108b of the detector 12 of the C-arm. The inertial motion sensor 131 can be particularly useful because it can assist in detecting movement / rotation of the C-arm 10. If the C-arm 10 moves; accelerates or decelerates; or changes course / direction, this information can be used in the algorithm of the command controller 112 of the radiation shielding device 100 to determine how quickly, if at all, to actuate the own sensor 16. The inertial sensor 131 (like all the supplementary sensors 121, 131, 141, 151, 161) may be operably coupled to the command controller 112 of the device 100 and, upon inappropriate and / or unauthorized movement, the inertial sensor 131 sends feedback to the command controller 112 to activate (optionally via the trigger 120) the C-arm 10's own anti-collision mechanism. Alternatively or additionally, upon detection of inappropriate and / or unauthorized movement, the inertial sensor 131 (like all the supplementary sensors 121, 131, 141, 151, 161) may communicate directly and send feedback to the C-arm 10's own anti-collision mechanism.

[0103] Fig. 9 The contact sensor 121 and the capacitive / proximity sensor 141 are illustrated electrically connected to the C-arm 10 via an interface, here a wire or cable 134. The sensors 121 and 141 can communicate directly with the C-arm's own anti-collision mechanism, i.e., without triggering the trigger 120. The sensors 121 and 141 can communicate with the C-arm's anti-collision mechanism via an electrical and / or software interface that transmits a signal to actuate the own anti-collision mechanism.

[0104] Figures 10 to 14 A flow chart illustrating possible unsafe scenarios that may occur during X-ray imaging using a C-arm is shown, and also illustrates exemplary safety results / steps when utilizing the present supplemental collision detection.

[0105] Fig.10 1 is a flow chart depicting a scenario in which the shields 108a, 108b are fully deployed or are being deployed and the operator intends to move the C-arm or X-ray table. In order to move the table / C-arm, the operator typically manipulates the operating control panel 11 of the C-arm and specifically the handle 19. By doing so, the operator detection sensor 161 (e.g., a proximity or contact sensor) coupled to the handle 19 will sense the hand and then actuate the anti-collision operation of the system 110. Optionally, the lower shield supplementary sensor is activated, thereby stopping or avoiding the movement of the C-arm. Optionally, a warning light is operated. The anti-collision safety mechanism of the own C-arm is activated, stimulating a warning sound that activates the C-arm. The C-arm 10 stops moving due to the activation of the C-arm's own anti-collision safety mechanism. Operation can continue when the sensor does not detect an entity that is in contact with it or close to it or exerts pressure on the sensor.

[0106] Fig.11 1 is a flowchart depicting a scenario in which the shield is partially or fully deployed and the operator moves the C-arm 10 or the table of the C-arm without fully retracting one or both shields 108a, 108b. When one or both shields 108a, 108b are in a partially extended position or a fully extended position, an inertial motion sensor 131 coupled to one of the shields 108a, 108b or the support base 103 of the radiation shielding device 100 detects the movement of the C-arm 10. This scenario illustrates a situation in which the operator detection sensor 161 is disabled. The anti-collision operation of the actuation system 110. For example, when the shield is deployed or partially deployed, data from the sensor 131 is sent to the command controller 112 (optionally, via the trigger 120) that operates the self-anti-collision mechanism of the C-arm 10 to stop the movement of the C-arm. The command controller 112 can also send a command to retract the shields 108a, 108b. Optionally, one or more sensors of the lower shield are activated to stop the movement of the C-arm. Optionally, operate a warning light. Activate an anti-collision safety mechanism of the own C-arm, and stimulate a warning sound of the activated C-arm. When the sensor does not detect an entity in contact with it or in proximity with it or exerting pressure on the sensor, the operation can continue.

[0107] Fig.121 is a flow chart depicting a typical X-ray imaging procedure in which a C-arm such as C-arm 10 and a shielding device such as device 100 are used. In a typical situation such as during an X-ray procedure, radiation shields 108a, 108b are deployed or at least partially deployed. The flow chart depicts a situation in which sensors 131 and 161 are disabled. An entity (e.g., a patient or an operator) touches or comes into proximity with upper radiation shield 108a, or a portion thereof (e.g., a segment of upper shield 108a, such as segment 107 ( Figure 2 ). As a result, one or more supplementary sensors of the upper shield 108a (e.g., sensors 121 or 141) are activated, triggering retraction of the upper shield 108a or a portion thereof (e.g., the section 107 associated with an impending or actual collision). Optionally, activation of the upper shield sensor includes operating a warning light (not shown). The anti-collision safety mechanism of the own C-arm is also optionally activated by the trigger 120 and / or by the command controller 112, thereby activating a warning sound of the C-arm and retraction of the detector 12 of the C-arm 10. When the sensor does not detect an entity in contact with the sensor, in close proximity to the sensor, or applying pressure on the sensor, operation of the C-arm 10 can continue.

[0108] Fig.13 1 is a flow chart depicting a typical imaging procedure in which the lower radiation shield 108b is deployed or at least partially deployed and an entity (e.g., a patient or operator) touches or comes into proximity with the lower radiation shield or a portion thereof (e.g., a segment of the lower shield 108b, such as segments 107- Figure 2 ). The flowchart depicts a situation in which sensors 131 and 161 are disabled. One or more supplemental sensors (e.g., sensors 121, 141) of the lower shield 108b are activated, triggering retraction of the lower shield or a portion thereof (e.g., a (one or more) sections associated with an impending or actual collision). Optionally, activation of the lower shield sensor includes operating a warning light. The anti-collision safety mechanism of the own C-arm is also optionally activated by the trigger 120 and / or by the command controller 112, activating a warning sound of the C-arm. When the sensor does not detect an entity in contact with the sensor, in close proximity to the sensor, or applying pressure on the sensor, operation of the C-arm 10 can continue.

[0109] Fig.141 is a flow chart depicting a scenario in which the radiation shield 108a and / or 108b is retracted and the operator moves the C-arm 10 or the table of the C-arm and touches or approaches (one or more) supplementary sensors, i.e., contacts or approaches. The lower and / or upper supplementary sensors are activated, i.e., depending on whether the sensors of the upper or lower shield 108a, 108b are activated. Optionally, a warning light is operated. The anti-collision safety mechanism of the own C-arm is also optionally activated by the trigger 120 and / or by the command controller 112, stimulating a warning sound of the activated C-arm. The C-arm 10 stops moving. Operation can continue when the sensor does not detect an entity in contact with it or in proximity with it or exerting pressure on the sensor.

[0110] Thus, as will be appreciated, when one of the supplementary sensors 121, 131, 141, 151 or 161 detects a possible collision or detects a relevant operator activity, the interface can trigger the C-arm 10's own collision avoidance mechanism or program to warn the operator and / or prevent a collision in order to stop the movement of the C-arm 10. The interface can be the command controller 112, or can be a direct communication between the supplementary sensors of the C-arm and the own collision avoidance mechanism (via a wire, such as wire 134, or wirelessly).

[0111] In some embodiments, one or more of the supplementary sensors 121, 131, 141, 151, and 161 surround certain portions of the C-arm 10, such as the detector 12, the collimator, or the X-ray source 14. Optionally, the supplementary sensors may be oriented to sense collisions of the C-arm 10 or portions thereof and / or collisions of the attached system to the C-arm. Thus, the supplementary sensors may be mounted on an X-ray device or an X-ray attachment system. For example, the additional sensors may be placed at one or more locations around and / or on the C-arm and / or portions thereof (e.g., around the detector / image intensifier, around the collimator / X-ray source), as well as other locations. Optionally, the additional sensors may be oriented to sense possible collisions within a range of at least about 90°, or at least about 180°, or greater, or less, or values ​​therebetween. In an exemplary embodiment, one or more contact sensors 121 may be placed / mounted to one or more locations in the support base 103 and / or the radiation shield 108. In an exemplary embodiment, one or more proximity sensors 141 may be placed / mounted to one or more locations in the support base 103 and / or the radiation shield 108. In an exemplary embodiment, one or more inertial motion sensors 131 may be placed / mounted to one or more locations in the support base 103 and / or the radiation shield 108. In an exemplary embodiment, one or more current sensors 151 may be placed / mounted to one or more locations in the motor or other locations in the C-arm to sense the operation of the motor of the C-arm. In an exemplary embodiment, one or more inertial motion sensors 131 may be placed / mounted to one or more locations in the support base 103 and / or the radiation shield 108. In an exemplary embodiment, one or more operator detection sensors 161 may be placed / mounted to one or more locations in the foot pedal 21 of the C-arm 10. In an exemplary embodiment, one or more operator detection sensors 161 may be placed / mounted to one or more locations in the operator control panel 11 of the C-arm 10.

[0112] The supplemental sensor can be connected to an interface that actuates / mediates the anti-collision operation. The interface can also include a trigger mechanism (such as trigger 120), which, when operated, activates the anti-collision safety mechanism of the X-ray device. The interface can be a mechanical support structure mounted on or near the X-ray device or its attachment. For example, the interface / mechanical support can be mounted on / near the detector or collimator of the C-arm. Alternatively or additionally, the interface can be a wire that communicates with the anti-collision safety mechanism or a portion thereof (e.g., trigger 120). Alternatively or additionally, the interface can be a command controller that communicates with the anti-collision safety mechanism (e.g., trigger 120).

[0113] Alternatively or additionally, the sensor and / or trigger mechanism may be mounted directly on the X-ray device without the need for any interface or mechanical support structure.The trigger mechanism may include a mechanical and / or electrical activation mechanism.

[0114] The actuation (e.g., trigger) may directly engage with an own sensor or position the element to trigger the X-ray device's own sensor. For example, the motor / actuator actuates an element detectable by the own sensor via applying pressure or contact or close proximity to the C-arm's own sensor.

[0115] Additionally or alternatively, the interface may interact directly with an own collision avoidance mechanism (i.e. bypassing the collision sensor 16 of the C-arm). For example, an electrical trigger uses an electrical connection to the C-arm 10 and / or parts thereof to activate the collision avoidance safety program of the C-arm. For example, the activation may be by a direct electrical signal to the control system and / or the electric system of the X-ray device.

[0116] The interface may include one or more triggers placed at one or more locations around and / or on the X-ray device. For example, multiple triggers may be used to provide redundant protection (e.g., if one of the sensors in the X-ray device connected to the mechanical trigger fails, a second trigger may trigger the collision protection).

[0117] The interface may include a wireless connection to the X-ray's own safety mechanism. For example, the remote sensor may be positioned on, near, and / or oriented toward a patient and / or a fragile part of the device that is not directly attached to a moving part (e.g., a C-arm, a detector, a collimator, etc.). Optionally, when the supplementary sensor detects that the moving part is close to the patient, an obstacle, and / or a fragile object, the supplementary sensor sends a wireless signal to the interface, which activates the collision prevention system of the X-ray system. For example, as noted above, the remote sensor may include a proximity sensor, and / or a contact and / or pressure sensor, and / or a strain sensor, and / or a thermal sensor, etc., for detecting the proximity and / or contact of the X-ray device with the patient, the obstacle, and / or the fragile object. Alternatively or additionally, the remote supplementary sensor may include a visual or optical mechanism (e.g., a camera and / or a laser and / or a radar and / or the like) oriented at a sensitive location to detect when the X-ray device enters and / or approaches a sensitive area. Alternatively or additionally, the remote sensor may be hardwired to the interface.

[0118] The present supplemental collision detection and prevention system 110 may stop activating the C-arm's own collision safety mechanism when there is an indication of a potential or actual collision cessation and the C-arm and / or its components and / or attachments, such as a radiation shield, may be safely manipulated. For example, the supplemental system may stop activating the C-arm's own collision safety mechanism when the supplemental system's sensors no longer detect a patient, table, or other object. Stopping activation of the C-arm's own collision safety mechanism and / or operation may include retracting a mechanical trigger so that the mechanical trigger no longer engages (contacts, applies pressure to, is positioned proximate to) the C-arm's own anti-collision safety sensor. Alternatively or additionally, stopping activation of the C-arm's own collision safety mechanism and / or operation may include sending a direct electrical signal to the C-arm and / or its control and / or electrical system.

[0119] Additionally or alternatively, the supplemental collision detection and prevention system 110 can be a stand-alone system, or can be integrated into the C-arm 10, or can be part of the radiation shielding device 100, or can be part of other systems that are either stand-alone or integrated with the C-arm. The supplemental collision detection and prevention system 110 can be used as an accessory or auxiliary system for the C-arm, and can be a stand-alone system, or can be partially or fully integrated with the C-arm system or with the radiation shielding device.

[0120] The supplementary sensors may duplicate the functions of the own sensors and / or they may be placed in addition to the own sensors, for example, to cover spaces not covered by the own sensors, and / or the supplementary sensors may use different technology than the own sensors. Optionally, the supplementary sensors may be used to augment the existing or own sensors. Optionally, the additional / supplementary sensors augment the existing or own sensors in the event that the collision safety mechanisms of the X-ray device are inaccessible, blocked, ineffective and / or not operating properly.

[0121] Various positions of the additional collision sensor(s), actuator and / or mechanical trigger on the X-ray device may be implemented. Optionally or additionally, the position of the supplementary collision sensor(s), actuator and / or mechanical trigger on the X-ray device determines the direction of collision prevention. For example, when the additional / supplementary sensor is located on the right side of the detection prevention mechanism / X-ray device, the actuator may actuate the own collision sensor on the right side, for example, to cause collision avoidance from the right side.

[0122] Each of the following terms: “comprises,” “includes,” “has,” “contains,” and “includes,” and language thereof, as used herein, means “including but not limited to,” and will be deemed to specify stated component(s), feature(s), properties(s), parameters, integer(s), or steps(s), and does not preclude the addition of one or more additional components, features, properties, parameters, integers, steps, or groups thereof.

[0123] As used herein, each of the phrases "consisting of" and "composed of" means "including but not limited to."

[0124] As used herein, the term "consisting essentially of" means that the scope of the claim is limited to the specified elements and those that do not materially affect the basic and novel characteristic(s) of the claimed device and material.

[0125] As used herein, the term "method" refers to steps, procedures, ways, means and / or techniques for completing a given task, including but not limited to those steps, procedures, ways, means and / or techniques known to practitioners in the relevant field of the disclosed invention or those that are easily developed from known steps, procedures, ways, means and / or techniques.

[0126] In the present disclosure, the numerical value of parameter, feature, characteristic, object or size can be illustrated or described according to the numerical format. As used herein, such numerical range format illustrates the realization of some exemplary embodiments of the present invention, and does not necessarily limit the scope of exemplary embodiments of the present invention. Therefore, the numerical range stated or described also refers to, and includes all possible sub-ranges and each numerical value (wherein numerical value can be expressed as integer or fraction) in the numerical range of the statement or description. For example, the numerical range stated or described "from 1 to 6" also refers to, and includes all possible sub-ranges in the numerical range of the statement or description of "from 1 to 6", such as "from 1 to 3", "from 1 to 4", "from 1 to 5", "from 2 to 4", "from 2 to 6", "from 3 to 6", etc., and single numerical values, such as "1", "1.3", "2", "2.8", "3", "3.5", "4", "4.6", "5", "5.2" and "6". This applies to the numerical range stated or described, regardless of numerical width, degree or size.

[0127] In addition, for stating or describing a numerical range, the phrase "in the range between about a first value and about a second value" is considered equivalent to, and means equivalent to, the phrase "in the range from about a first value to about a second value," and therefore, these two phrases of equivalent meanings can be used interchangeably.

[0128] In some embodiments, the term "about" refers to ±30% of the stated value. In further embodiments, the term refers to ±20% of the stated value. In yet further embodiments, the term refers to ±10% of the stated value.

[0129] It should be fully understood that certain aspects, features, and characteristics of the present invention, which are illustratively described and presented in the context or format of multiple separate embodiments for clarity, can also be illustratively described and presented in the context or format of a single embodiment in any suitable combination or subcombination. Conversely, various aspects, features, and characteristics of the present invention, which are illustratively described and presented in the context or format of a single embodiment in any suitable combination or subcombination, can also be illustratively described and presented in the context or format of multiple separate embodiments.

[0130] Although the present invention has been described in conjunction with its specific embodiments, it is obvious that many substitutions, modifications and variations are readily apparent to those skilled in the art. Therefore, it is intended to include all such substitutions, modifications and variations that fall within the spirit and broad scope of the appended claims.

[0131] All publications, patents and patent applications mentioned in this specification are incorporated by reference in their entirety into the specification, to the extent that each individual publication, patent or patent application is specifically and individually indicated to be incorporated by reference. In addition, the citation or confirmation of any reference in this application should not be construed as an agreement that such reference is prior art of the present invention. In the context of using section titles, they should not be construed as necessarily limiting.

Claims

1. A supplementary collision detection and prevention system (110) for use in combination with a medical imaging device, the medical imaging device comprising an own collision avoidance mechanism with its own sensors and an additional system to limit the functionality of the own collision avoidance mechanism, the supplementary collision detection and prevention system comprising: a plurality of supplementary sensors, the plurality of supplementary sensors being any one of a proximity sensor (141) and / or a contact sensor (121), and / or an inertial motion sensor (131), and / or an operator detection sensor (161), and / or a current sensor (151) configured to facilitate preventing or protecting against a collision with an entity; as well as An interface configured to receive communications from at least one of the plurality of supplemental sensors and to send signals that actuate collision avoidance operations of the medical imaging device and / or actuate the additional systems of the medical imaging device to avoid or mitigate collisions.

2. The system according to claim 1, wherein the interface communicates with the own collision avoidance mechanism of the medical imaging device and / or a trigger mechanism of the system, the trigger mechanism actuating at least one of the own sensors. 3 . The system of claim 1 , further comprising a command controller configured to actuate a collision avoidance operation of the additional system or the medical imaging device.

4. The system of claim 1, wherein the additional system is a radiation blocking shield, and wherein at least one of the supplemental sensors is associated with the radiation blocking shield.

5. The system of claim 4, wherein the radiation blocking shield extends from a radiation shield support base, and wherein the support base includes one or more of the plurality of supplemental sensors. 6 . The system of claim 4 , wherein the radiation shield is a retractable shield configured to retract in response to the signal.

7. The system of claim 1, wherein at least one of the plurality of supplemental sensors is selected from the group consisting of: a pressure sensor; a strain sensor; an infrared sensor; an ultrasonic sensor; an ultrasonic sensor; a laser sensor; a radio frequency sensor; a photoelectric sensor; and a thermal sensor or any combination thereof.

8. The system of claim 1, wherein the electric motor current sensor is configured to measure current consumption of one or more units of the medical imaging device and detect operation thereof that could result in a collision with the entity.

9. The system of claim 1, wherein the operator detection sensor is configured to detect activities of an operator that could result in a collision with the entity.

10. The system of claim 1, wherein the operator detection sensor is associated with a foot pedal or an operator control panel of the medical imaging device.

Images