Medical equipment movement control device

Abstract

The invention relates to a medical device movement control device (10), comprising: an input unit (20); at least one distance sensor (30); and a controller (40); wherein the input unit is configured to receive a required position of the medical equipment; wherein the input unit is configured to provide the required position of the medical device to the controller; wherein the at least one distance sensor is configured to be mounted to a medical device (50) or configured to be integrated with the medical device; wherein the at least one distance sensor is configured to acquire distance data about a plurality of angle directions of the medical equipment from the medical equipment; wherein the at least one distance sensor is configured to provide the distance data with respect to the plurality of angular directions of the medical device to the controller; and wherein the controller is configured to control a movement system (60) of the medical device to move the medical device from an initial position to the required position along a route between the initial position and the required position of the medical device, the route maintains a distance between the medical device and one or more of the objects at least a guard range distance, the control operation comprising utilizing distance data for a subset of the plurality of angular directions acquired at a plurality of locations along the route.

Description

Technical Field

[0001] The present invention relates to a medical equipment movement control device, a medical equipment movement control system, a medical equipment movement control method, a computer program element and a computer readable medium. Background Art

[0002] Many X-ray systems incorporate movement of the X-ray tube head and / or the X-ray detector, which can be heavy and pose a risk of collision with the patient.

[0003] Figure 1 Various clinical use cases of X-ray systems are shown, for example, the Philips C90 system or the Philips Azurion. Figure 1 Middle: "Chest X-ray" is labeled with "A", "Skull Exposure" is labeled with "B", "Lower Extremity Exposure" is labeled with "C", "Upper Extremity Exposure" is labeled with "D", "Image Stitching, Extremities / Spine / Abdomen and Pelvis" is labeled with "E", and "Extremities / Spine / Abdomen and Pelvis (Supine / Prone / Lateral)" is labeled with "F". These are merely exemplary use cases, and the X-ray system can be utilized in numerous ways, and the medical device movement control device, system and method are applicable to these ways.

[0004] Because there are serious consequences involving an X-ray tube head and / or X-ray detector striking a person and / or other object, collision detection systems have been developed that, for example, stop the X-ray tube head if a collision is detected.

[0005] One system that has been developed detects a collision after contact / collision between the X-ray tube head and the patient occurs and thereafter limits movement of the X-ray tube head to avoid injury / further injury to the patient.

[0006] DE102020212270A1 describes a support for a medical imaging system. According to its description, the support comprises: an X-ray tube; a drive for adjusting the X-ray tube in at least three degrees of freedom in space; at least one environmental sensor for collecting at least one environmental parameter; and a controller for controlling the adjustment movement of the X-ray tube by generating a control signal for the drive unit and adjusting the adjustment movement based on at least one environmental parameter.

[0007] Other systems anticipate the possibility of a collision between the X-ray tube head and the patient and limit movement of the X-ray tube head to avoid injury to / collision with the patient.

[0008] However, such developed systems may still collide with people and objects and cause damage, and even if the X-ray tube head or X-ray detector is stopped before the collision, it takes time to restart the movement of the X-ray tube head or X-ray detector to the required position.

[0009] There is a need to address these issues. Summary of the invention

[0010] It would be advantageous to have an improved technique for mobile medical devices, such as X-ray tube heads or X-ray detectors.The objects of the invention are solved by the subject-matter of the independent claims, wherein further embodiments are included in the dependent claims.

[0011] In a first aspect, a medical device movement control device is provided, comprising:

[0012] Input unit;

[0013] at least one distance sensor; and

[0014] Controller.

[0015] The input unit is configured to receive a required position of the medical device. The input unit is configured to provide the required position of the medical device to the controller. The at least one distance sensor is configured to be mounted to the medical device or configured to be integrated with the medical device. The at least one distance sensor is configured to collect distance data about multiple angular directions of the medical device from the medical device. The at least one distance sensor is configured to provide the distance data about the multiple angular directions of the medical device to the controller. The controller is configured to control the movement system of the medical device to move the medical device from the initial position to the required position along a route between the initial position of the medical device and the required position, the route maintaining a distance between the medical device and one or more of the objects at least a protection range distance, and this control operation includes using the distance data of a subset of the multiple angular directions collected at multiple positions along the route.

[0016] In this way, a medical device (e.g., an X-ray tube head or an X-ray detector of an X-ray system) can be automatically moved continuously to a desired position and around objects that are in the way on the way to the final position, but the movement of the medical device is automatically stopped if an object (which may itself be moving, such as a person) gets too close to the X-ray tube head or the X-ray detector.

[0017] The device can be retrofitted, for example, to existing medical equipment, such as an X-ray tube head or an X-ray detector of an X-ray system, such as an X-ray attenuation inspection system, a digital radiography system, a fluoroscopy system.

[0018] Taking an X-ray system having an X-ray tube head and an X-ray detector as an example, the device can autonomously control the movement of the X-ray tube head to a desired position of the X-ray tube head, or can autonomously control the movement of the X-ray detector to a desired position of the X-ray detector position, wherein (one or more) distance sensors can be mounted to the X-ray tube head or the X-ray detector, respectively, or integrated with the X-ray tube head or the X-ray detector, respectively. However, the distance sensor can be mounted to the X-ray tube head or integrated with the X-ray tube head, and can also be integrated with the X-ray detector, and a single controller can move the X-ray tube head to a desired position of the X-ray tube head, and move the X-ray detector to a desired position of the X-ray detector (e.g., either side of a body part of a person).

[0019] In one example, the controller is configured to control the mobile system of the medical device to stop the medical device when distance data of an object indicates that the object is closer to the medical device than the protection range distance, and this control operation includes utilizing distance data about the multiple angular directions of the medical device at one or more of the multiple locations along the route.

[0020] In one example, the distance data of the multiple angular directions collected by the at least one sensor from the medical device includes distance data reaching a threshold distance range, which is greater than the protection range distance and less than the maximum detection range of the at least one distance sensor.

[0021] In one example, the thresholds are 0.5m, 1m, 1.5m, 2m, 2.5m, 3m, 3.5m.

[0022] Therefore, the distance sensor only transmits the distance information within the threshold range to the controller instead of collecting the actual distance data in all directions. For example, only the distance data of the object within 2m of the medical device is provided to the controller. In this scenario, there is a distance of 4m in the direction of the wall, and the setting requires data at 2m. However, for the object within the threshold range (actual range of 2m), the data of the object (e.g., 1.78m) is provided to the controller. This provides improved computational efficiency.

[0023] It should be noted that the threshold value can be less than 0.5m, between 0.5m and 1m, between 1m and 1.5m, between 1.5m and 2m, between 2m and 2.5m, between 2.5m and 3m, between 3m and 3.5m, and can also be greater than 3m.

[0024] In one example, the plurality of angular directions include a plurality of angular directions within a horizontal plane.

[0025] In one example, the subset of the plurality of angular directions at each of the plurality of locations along the route includes angular directions within an angular range on either side of a straight line between the medical device and the desired position at each of the plurality of locations.

[0026] In one example, the angular range on either side of the straight line between the medical device and the desired position at each of the multiple positions includes angles of 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, and 60 degrees in a horizontal plane.

[0027] Therefore, at least one sensor can collect distance data of 360 degrees around the medical device (e.g., X-ray tube head or X-ray detector), and if an object (e.g., a person moving from any direction or a chair or table that can be moved from any direction) moves and enters the protection range distance, the device controls the medical device (e.g., X-ray tube head or X-ray detector) to stop to ensure safety. However, the controller uses the distance data within a limited angle range (the limited angle range surrounds the line pointing to the required position) to continuously move the medical device (e.g., X-ray tube head or X-ray detector) toward the required position, and this movement can navigate around the object and maintain a safe distance.

[0028] In one example, the controller is configured to determine a next portion of the route between the initial position and the desired position using the distance data of the angular direction within the angular range on either side of the straight line between the medical device and the desired position at each of the plurality of positions along the route. If the distance data indicates that an object is present in the direction of the straight line between the medical device and the desired position, the next portion of the route at a position in the plurality of positions is in a direction other than the direction of the straight line between the medical device and the desired position at the position.

[0029] In one example, the direction of the next portion of the route at the location among the plurality of locations is determined as an angular correction to the direction of the straight line between the medical device and the required position at the location, the angular correction being calculated as an angle between a direction toward the object and a direction toward a midpoint of the distance.

[0030] In one example, the distance median point is determined based on the distance data of the subset of the multiple angular directions within the angular range on either side of the straight line between the medical device and the required position at the position, and this determination operation results in the maximum distance value of the distance data from the subset of the multiple angular directions within the angular range on either side of the straight line between the medical device and the required position.

[0031] In one example, the maximum distance value is determined based on the sum of distance data from at least two adjacent angular directions.

[0032] In one example, the maximum distance value is determined based on the distance data of the subset of the multiple angular directions within the angular range on either side of the straight line between the medical device and the desired position at the location that have been weighted, and the magnitude of the weighted value decreases as the angular direction increases away from the straight line between the medical device and the desired position at the location.

[0033] Thus, the medical device (e.g., an X-ray tube head or an X-ray detector) always knows the direction to the desired location when moving, but bypasses the object in such a way that the medical device moves in a safe direction with minimal possibility of collision, while minimizing the length of the route to the desired location.

[0034] Thus, the weighted values ​​ensure that a route is determined that is as close to the ideal route as possible without objects getting in the way, which helps provide the shortest route to the desired location.

[0035] In a second aspect, a medical device movement control system is provided, comprising:

[0036] Input unit;

[0037] Medical equipment;

[0038] a mobile system for the medical device;

[0039] at least one distance sensor; and

[0040] Controller.

[0041] The input unit is configured to receive a desired position of the medical device. The input unit is configured to provide the desired position of the medical device to the controller. The at least one distance sensor is mounted to the medical device or integrated with the medical device. The at least one distance sensor is configured to collect distance data about multiple angular directions of the medical device from the medical device. The at least one distance sensor is configured to provide the distance data about the multiple angular directions of the medical device to the controller. The controller is configured to control the movement system of the medical device to move the medical device from the initial position to the desired position along a route between the initial position of the medical device and the desired position, the route maintaining a distance between the medical device and one or more of the objects at least a protection range distance, and this control operation includes using the distance data of a subset of the multiple angular directions collected at multiple positions along the route.

[0042] In this way, a medical device (e.g., an X-ray tube head or an X-ray detector of an X-ray system) can be automatically moved continuously to a desired position and around objects that are in the way on the way to the final position, but the movement of the medical device is automatically stopped if an object (which may itself be moving, such as a person) gets too close to the X-ray tube head or the X-ray detector.

[0043] The medical device can be, for example, an X-ray tube head or an X-ray detector of an X-ray system, for example an X-ray attenuation examination system, a digital radiography system, a fluoroscopy system.

[0044] Taking an X-ray system having an X-ray tube head and an X-ray detector as an example, the controller can autonomously control the movement of the X-ray tube head to a desired position of the X-ray tube head, or can autonomously control the movement of the X-ray detector to a desired position of the X-ray detector position, wherein (one or more) distance sensors are mounted to the X-ray tube head or the X-ray detector, respectively, or integrated with the X-ray tube head or the X-ray detector, respectively. However, the distance sensor can be mounted to the X-ray tube head or integrated with the X-ray tube head, and can also be integrated with the X-ray detector, and a single controller can move the X-ray tube head to a desired position of the X-ray tube head, and move the X-ray detector to a desired position of the X-ray detector (e.g., either side of a body part of a person).

[0045] In a third aspect, a medical device movement control method is provided, comprising:

[0046] receiving a desired position of the medical device by an input unit, and wherein at least one distance sensor is mounted to or integrated with the medical device;

[0047] providing the desired position of the medical device to a controller by the input unit;

[0048] collecting distance data about a plurality of angular directions of the medical device from the medical device by the at least one distance sensor;

[0049] providing, by the at least one distance sensor, the distance data regarding the plurality of angular directions of the medical device to the controller; and

[0050] The controller controls a movement system of the medical device to move the medical device from the initial position to the desired position along a route between the initial position of the medical device and the desired position, wherein the route maintains a distance between the medical device and one or more of the objects that is at least a protection range distance, and this control operation includes utilizing distance data of a subset of the multiple angular directions collected at multiple positions along the route.

[0051] In one aspect, a computer program element for controlling an apparatus according to the first aspect is provided, the computer program element being configured to perform the method of the third aspect when run by a processor.

[0052] In one aspect, a computer program element for controlling a system according to the second aspect is provided, the computer program element being configured to perform the method of the third aspect when run by a processor.

[0053] Hence, according to various aspects, a computer program element for controlling one or more of the devices / systems as described above is provided, which computer program element, if executed by a processor, is adapted to perform a method as described above.

[0054] According to another aspect, a computer readable medium storing the computer unit as described above is provided.

[0055] The computer program element can be, for example, a software program, but also a field programmable gate array, a processor or any other suitable digital device.

[0056] Advantageously, benefits provided by any of the above aspects apply equally to all other aspects, and vice versa.

[0057] The above aspects and examples will be apparent from and elucidated with reference to the embodiments described hereinafter. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Exemplary embodiments will be described below with reference to the accompanying drawings:

[0059] Figure 1 A schematic diagram showing an example of a use case of a medical device of an X-ray system;

[0060] Figure 2 An example of a medical device movement control device is shown;

[0061] Figure 3 An example of a medical device movement control system is shown;

[0062] Figure 4 An example of a medical device movement control method is shown;

[0063] Figure 5 Shown according to Figure 2-4 Examples of apparatus, systems and methods for autonomous movement control of an X-ray tube head;

[0064] Figure 6A-6B Shown according to Figure 2-4 Examples of apparatus, systems and methods for autonomous movement control of an X-ray tube;

[0065] Figure 7 Shows Figure 2-4 Detailed block diagram examples of structural features of the apparatus, system and method;

[0066] Figure 8 shows examples of different types of motion associated with an exemplary X-ray tube head motion control system;

[0067] Fig. 9 An example of a typical X-ray room is shown, where Figure 2-3 The device and system detect the distance of different objects, using Figure 4 The method shown;

[0068] Fig.10 Shown by Figure 2-4 Examples of room mapping performed by detailed embodiments of apparatus, systems, and methods;

[0069] Fig.11 Shown by Figure 2-4 Examples of sensor placement and field of view around an X-ray tube head used in detailed embodiments of the apparatus, systems, and methods;

[0070] Fig.12 Shown by Figure 2-4 Examples of different ranges or distances used in detailed embodiments of devices, systems, and methods;

[0071] Fig.13 Shown by Figure 2-4 Examples of sensor coverage areas used by detailed embodiments of apparatus, systems, and methods;

[0072] Fig.14 A top-down example of an X-ray tube head and exemplary sensor assembly locations and fields of view is shown, and a Figure 2-4 An object in a motion path of detailed embodiments of an apparatus, system, and method;

[0073] Fig.15 Shown for Figure 2-4 Examples of setting threshold distances of detailed embodiments of the apparatus, system, and method;

[0074] Fig.16 Shown for Figure 2-4 Examples of row averaging and column averaging of sensors in accordance with detailed embodiments of apparatus, systems, and methods;

[0075] Fig.17 Shown for Figure 2-4 Examples of stitching of sensor data for object position detection and course correction according to detailed embodiments of apparatus, systems, and methods;

[0076] Fig.18 Shown with Fig.17 Examples of associated course correction angles; and

[0077] Fig.19 Shown for Figure 2-4 Detailed embodiments of the apparatus, system and method are described in detail in Figure 17-18 Example of subsequent stitching of sensor data for object position detection and course correction following movement of the associated X-ray tube head. DETAILED DESCRIPTION

[0078] Figure 2An example of a medical device movement control device 10 is shown. The device 10 includes an input unit 20, at least one distance sensor 30, and a controller 40. The input unit 20 is configured to receive a required position of a medical device 50. The input unit 20 is configured to provide the controller 40 with the required position of the medical device 50. The at least one distance sensor 30 is configured to be mounted to the medical device 50, or configured to be integrated with the medical device 50. The at least one distance sensor 30 is configured to collect distance data about multiple angular directions of the medical device 50 from the medical device 50. The at least one distance sensor 30 is configured to provide the controller 40 with distance data about multiple angular directions of the medical device 50. The controller 40 is configured to control a movement system 60 of the medical device 50 to move the medical device 50 from an initial position to a required position along a route between the initial position of the medical device 50 and the required position, the route maintaining a distance between the medical device 50 and one or more of the objects at least a protection range distance, and this control operation includes using distance data of a subset of multiple angular directions collected at multiple positions along the route.

[0079] In this way, the medical device 50 (e.g., an X-ray tube head or an X-ray detector) can be automatically moved continuously to a desired position and around objects that are in the way on the way to the final position, but if an object (which may itself be moving, such as a person) gets too close to the X-ray tube head or the X-ray detector, the movement of the medical device is automatically stopped.

[0080] The device can be retrofitted, for example, to existing medical equipment 50 (eg an X-ray tube head or an X-ray detector and its movement system 60 ).

[0081] In one example, the medical device 50 is an X-ray tube head.

[0082] In one example, the medical device 50 is an X-ray detector.

[0083] In one example, a technician inputs a required position of the medical device into the input unit 20 based on the selected procedure.

[0084] In one example, the input unit 20 is actually an external communication unit of the controller unit 40, and the input unit 20 is configured to receive the required position from the workstation.

[0085] In one example, the input unit 20 is actually an external communication unit of the controller unit 40 , and the input unit 20 is configured to receive a required position from a workstation, and wherein the required position is input into the workstation by a technician based on a selected procedure.

[0086] Thus, after receiving a required position, for example, from a workstation, the controller 40 autonomously controls the movement of the medical device 50 (e.g., an X-ray tube head or an X-ray detector), and the workstation is then no longer involved in moving the medical device 50 (e.g., an X-ray tube head or an X-ray detector).

[0087] In one example, the apparatus comprises an output unit, wherein the controller 40 is configured to report a fault or an error using the output unit.

[0088] In one example, the at least one distance sensor 30 includes at least one stereo vision camera.

[0089] In one example, the at least one distance sensor 30 includes at least one time-of-flight sensor.

[0090] In one example, the at least one distance sensor 30 includes at least one lidar sensor.

[0091] In one example, the at least one distance sensor 30 includes at least one LED burst lighting sensor.

[0092] The device can be applied in, for example, an attenuated X-ray inspection system, a digital radiography system, or a fluoroscopic inspection system.

[0093] According to one example, the controller 40 is configured to control the mobile system 60 of the medical device 50 to stop the medical device 50 when distance data of the object indicates that the object is closer to the medical device 50 than the protection range distance, and this control operation includes utilizing distance data about multiple angular directions of the medical device 50 at one or more of the multiple locations along the route.

[0094] In one example, the controller 40 is configured to control the movement system 60 of the medical device 50 to move the medical device 50 away from the object when the distance data of the object indicates that the object is closer to the medical device 50 than the protection range distance, and this control operation includes utilizing the distance data of multiple angular directions of the medical device 50 at one or more of the multiple locations along the route.

[0095] In one example, the controller 40 is configured to control the movement system 60 of the medical device 50 to move the medical device 50 away from the object when the distance data of the object indicates that the object is approaching the protection range distance of the medical device 50, and this control operation includes utilizing the distance data of multiple angular directions of the medical device 50 at one or more of the multiple locations along the route.

[0096] Thus, for example, if a moving object (e.g., a person) approaches the medical device 50 (e.g., an X-ray tube head or an X-ray detector), the medical device 50 (e.g., an X-ray tube head or an X-ray detector) can be moved away from the person to maintain a distance greater than the protection range distance before continuing the controlled movement of the medical device 50 to the desired position. However, the person or other object may move too fast and enter the protection range distance, and the device can stop the medical device 50 (e.g., an X-ray tube head or an X-ray detector) for safety reasons. However, the device can also utilize an emergency braking range that is less than the protection range distance, and if the object is between the emergency braking range and the protection range distance, the device can determine to move the medical device 50 (e.g., an X-ray tube head or an X-ray detector) away from the object, unless the object is moving too fast toward the medical device 50 (e.g., an X-ray tube head or a detector), in which case the X-ray tube head or an X-ray detector is stopped. However, if the subject reaches an emergency stopping distance from the medical device 50 (eg, an X-ray tube head or an X-ray detector), the apparatus always stops the movement of the X-ray tube head or the X-ray detector.

[0097] According to an example, the distance data of multiple angular directions collected by the at least one distance sensor 30 from the medical device 50 includes distance data reaching a threshold distance range, which is greater than the protection range distance and less than the maximum detection range of the at least one distance sensor 30 .

[0098] According to an example, the threshold values ​​are 0.5m, 1m, 1.5m, 2m, 2.5m, 3m, 3.5m.

[0099] Therefore, the distance sensor 30 only transmits the distance information within the threshold range to the controller 40, instead of collecting the actual distance data in all directions. For example, only the distance data of the object within the 2m range of the medical device 50 is provided to the controller 40. In this scenario, there is a distance of 4m in the direction of the wall, and the data at 2m is required. However, for the object within the threshold range (the actual range of 2m), the data of the object (e.g., 1.78m) is provided to the controller. This provides improved computing efficiency.

[0100] It should be noted that the threshold value can be less than 0.5m, between 0.5m and 1m, between 1m and 1.5m, between 1.5m and 2m, between 2m and 2.5m, between 2.5m and 3m, between 3m and 3.5m, and can also be greater than 3m.

[0101] According to one example, the plurality of angular directions includes a plurality of angular directions within a horizontal plane.

[0102] In one example, the multiple angular directions in the horizontal plane cover 320 degrees, 340 degrees, and 360 degrees.

[0103] In one example, the plurality of angular directions includes a plurality of angular directions within a vertical plane.

[0104] In one example, the plurality of angular directions within the vertical plane covers 90 degrees, 120 degrees, 150 degrees, and 180 degrees.

[0105] Thus, it is possible to navigate the medical device 50 (e.g., an X-ray tube head or an X-ray detector) over the object, and if necessary, actually navigate the medical device 50 (e.g., an X-ray tube head or an X-ray detector) under the object, as well as navigate the medical device 50 (e.g., an X-ray tube head or an X-ray detector) laterally around the object in order to most efficiently and safely and quickly reach the desired location.

[0106] According to one example, a subset of the plurality of angular directions at each of the plurality of locations along the route includes angular directions within an angular range on either side of a line between the medical device 50 and the desired position at each of the plurality of locations.

[0107] According to one example, the angle range on either side of a straight line between the medical device 50 and the desired position at each of the multiple positions includes angles of 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, and 60 degrees in the horizontal plane.

[0108] In this way, at least one distance sensor 30 can collect distance data of 360 degrees around the medical device 50 (e.g., an X-ray tube head or an X-ray detector), and if an object (e.g., a person moving from any direction or a chair or table that can be moved from any direction) moves and enters the protection range distance, the device controls the medical device 50 (e.g., an X-ray tube head or an X-ray detector) to stop to ensure safety. However, the controller 40 uses the distance data within a limited angle range (the limited angle range surrounds a line pointing to the desired position) to continuously move the medical device 50 (e.g., an X-ray tube head or an X-ray detector) toward the desired position, and this movement can navigate around the object and maintain a safe distance.

[0109] In one example, the angular range on either side of a straight line between the medical device and the desired position at each of the plurality of positions includes angles of 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60 degrees in a vertical plane.

[0110] According to one example, the controller 40 is configured to determine the next portion of the route between the initial position and the desired position using the distance data of the angular direction within the angular range on either side of the straight line between the medical device 50 and the desired position at each of the plurality of positions along the route. If the distance data indicates that an object is present in the direction of the straight line between the medical device 50 and the desired position, the next portion of the route at one of the plurality of positions is in a direction other than the direction of the straight line between the medical device 50 and the desired position at the position.

[0111] According to one example, the direction of the next portion of the route at the location among the multiple locations is determined as an angular correction to the direction of a straight line between the medical device 50 and the required position at the location, the angular correction being calculated as the angle between the direction toward the object and the direction toward the midpoint of the distance.

[0112] In one example, the median distance point is the maximum geometric distance median point.

[0113] In one example, the distance median point is a weighted mean distance median point.

[0114] The distance median point can be determined by techniques such as windowing techniques.

[0115] According to one example, the distance median point is determined based on distance data from a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and a desired position at the position, this determination operation causing a maximum distance value from the distance data from a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and the desired position.

[0116] According to one example, the maximum distance value is determined based on the sum of distance data from at least two adjacent angular directions.

[0117] According to one example, the maximum distance value is determined based on distance data for a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and the desired position at the location that have been weighted, and wherein the magnitude of the weighted value decreases as the angular direction increases away from the straight line between the medical device 50 and the desired position at the location.

[0118] Thus, the medical device 50 (e.g., an X-ray tube head or an X-ray detector) always knows the direction to the desired location when moving, but bypasses the object in a manner that moves the medical device 50 in a safe direction with minimal possibility of collision, while minimizing the length of the route to the desired location.

[0119] Thus, the weighted values ​​ensure that a route is determined that is as close to the ideal route as possible without objects getting in the way, which helps provide the shortest route to the desired location.

[0120] Figure 3 An example of a medical device movement control system 100 is shown. The system 100 includes an input unit 20, a medical device 50, a movement system 60 of the medical device 50, at least one distance sensor 30, and a controller 40. The input unit 20 is configured to receive a required position of the medical device 50. The input unit 20 is configured to provide the controller 40 with the required position of the medical device 50. The at least one distance sensor 30 is mounted to the medical device 50 or integrated with the medical device 50. The at least one distance sensor 30 is configured to collect distance data about multiple angular directions of the medical device 50 from the medical device 50. The at least one distance sensor 30 is configured to provide the controller 40 with distance data about multiple angular directions of the medical device 50. The controller 40 is configured to control a movement system 60 of the medical device 50 to move the medical device 50 from an initial position to a desired position along a route between the initial position of the medical device 50 and the desired position, wherein the route maintains a distance between the medical device 50 and one or more of the objects being at least a protection range distance, and this control operation includes utilizing distance data of a subset of multiple angular directions collected at multiple positions along the route.

[0121] In one example, the medical device 50 is an X-ray tube head.

[0122] In one example, the medical device 50 is an X-ray detector.

[0123] In one example, the system is an attenuation X-ray inspection system.

[0124] In one example, the system is a digital radiography system.

[0125] In one example, the system is a fluoroscopy system.

[0126] In one example, the controller 40 is configured to control the mobile system 60 of the medical device 50 to stop the medical device 50 when distance data of the object indicates that the object is closer to the medical device 50 than the protection range distance, and this control operation includes utilizing distance data at multiple angular directions of the medical device 50 at one or more of the multiple locations along the route.

[0127] In one example, the controller 40 is configured to control the movement system 60 of the medical device 50 to move the medical device 50 away from the object when the distance data of the object indicates that the object is closer to the medical device 50 than the protection range distance, and this control operation includes utilizing the distance data of multiple angular directions of the medical device 50 at one or more of the multiple locations along the route.

[0128] In one example, the controller 40 is configured to control the mobile system 60 of the medical device 50 to move away from an object when distance data of the object indicates that the object is approaching a protection range distance of the medical device 50, and this control operation includes utilizing distance data at multiple angular directions of the medical device 50 at one or more of the multiple locations along the route.

[0129] In one example, the distance data of multiple angular directions collected by the at least one distance sensor 30 from the medical device 50 includes distance data reaching a threshold distance range, which is greater than the protection range distance and less than the maximum detection range of the at least one distance sensor 30 .

[0130] In one example, the thresholds are 0.5m, 1m, 1.5m, 2m, 2.5m, 3m, 3.5m.

[0131] In one example, the plurality of angular directions includes 360 degrees in a horizontal plane.

[0132] In one example, the plurality of angular directions includes a plurality of angular directions within a horizontal plane.

[0133] In one example, the multiple angular directions in the horizontal plane cover 320 degrees, 340 degrees, and 360 degrees.

[0134] In one example, the plurality of angular directions includes a plurality of angular directions within a vertical plane.

[0135] In one example, the plurality of angular directions within the vertical plane covers 90 degrees, 120 degrees, 150 degrees, and 180 degrees.

[0136] Thus, it is possible to navigate the medical device 50 (e.g., an X-ray tube head or an X-ray detector) over the object, and if necessary, actually navigate the medical device 50 (e.g., an X-ray tube head or an X-ray detector) under the object, as well as navigate the medical device 50 (e.g., an X-ray tube head or an X-ray detector) laterally around the object in order to most efficiently and safely and quickly reach the desired location.

[0137] In one example, a subset of the plurality of angular directions at each of the plurality of locations along the route includes angular directions within an angular range on either side of a line between the medical device and the desired position at each of the plurality of locations.

[0138] In one example, the angle range on either side of a straight line between the medical device and the desired position at each of the multiple positions includes angles of 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, and 60 degrees in the horizontal plane.

[0139] In one example, the angular range on either side of a straight line between the medical device and the desired position at each of the plurality of positions includes angles of 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60 degrees in a vertical plane.

[0140] In one example, the controller 40 is configured to determine a next portion of the route between the initial position and the desired position using distance data in an angular direction within an angular range on either side of a straight line between the medical device 50 and the desired position at each of the plurality of positions along the route. If the distance data indicates that an object is present in the direction of the straight line between the medical device 50 and the desired position, the next portion of the route at one of the plurality of positions is in a direction other than the direction of the straight line between the medical device 50 and the desired position at the position.

[0141] In one example, the direction of the next portion of the route at the location among the multiple locations is determined as an angular correction to the direction of a straight line between the medical device 50 and the desired position at the location, the angular correction being calculated as the angle between the direction toward the object and the direction toward the midpoint of the distance.

[0142] In one example, the median distance point is the maximum geometric distance median point.

[0143] In one example, the distance median point is a weighted mean distance median point.

[0144] The distance median point can be determined by techniques such as windowing techniques.

[0145] In one example, the distance median point is determined based on distance data from a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and a desired position at the location, this determination operation causing a maximum distance value from the distance data from a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and the desired position.

[0146] In one example, the maximum distance value is determined based on the sum of distance data from at least two adjacent angular directions.

[0147] In one example, the maximum distance value is determined based on distance data for a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and the desired position at the location that have been weighted, and wherein the magnitude of the weighted value decreases as the angular direction increases away from the straight line between the medical device 50 and the desired position at the location.

[0148] Figure 4 An example of a medical device movement control method 200 is shown. The method 200 includes:

[0149] receiving 210 a required position of a medical device 50 by the input unit 20 , and wherein at least one distance sensor 30 is mounted to the medical device 50 or is integrated with the medical device 50 ;

[0150] A desired position of the medical device 50 is provided 220 to the controller 40 by the input unit 20 ;

[0151] collecting 230 distance data about a plurality of angular directions of the medical device 50 from the medical device 50 by at least one distance sensor 30 ;

[0152] providing 240 distance data about a plurality of angular directions of a medical device 50 to a controller 40 by at least one distance sensor 30; and

[0153] The mobile system 60 of the medical device is controlled 250 by the controller 40 to move the medical device 50 from an initial position to a desired position along a route between the initial position of the medical device 50 and the desired position, wherein the route maintains a distance between the medical device 50 and one or more of the objects being at least a protection range distance, and this control operation includes utilizing distance data of a subset of multiple angular directions collected at multiple positions along the route.

[0154] In one example, the medical device 50 is an X-ray tube head.

[0155] In one example, the medical device 50 is an X-ray detector.

[0156] In one example, the method includes controlling, by a controller 40, a mobile system 60 of a medical device 50 to stop the medical device 50 when distance data of an object indicates that the object is closer to the medical device 50 than a protection range distance, and this control operation includes utilizing distance data at multiple angular directions of the medical device 50 at one or more of multiple locations along a route.

[0157] In one example, the method includes controlling, by a controller 40, a movement system 60 of a medical device 50 to move the medical device 50 away from an object when distance data of the object indicates that the object is closer to the medical device 50 than a protection range distance, and this control operation includes utilizing distance data regarding multiple angular directions of the medical device 50 at one or more of a plurality of locations along a route.

[0158] In one example, the method includes controlling, by a controller 40, a movement system 60 of a medical device 50 to move the medical device 50 away from an object when distance data of the object indicates that the object is approaching a protection range distance of the medical device 50, and this control operation includes utilizing distance data regarding multiple angular directions of the medical device 50 at one or more of multiple locations along a route.

[0159] In one example, the distance data of multiple angular directions collected by the at least one distance sensor 30 from the medical device 50 includes distance data reaching a threshold distance range, which is greater than the protection range distance and less than the maximum detection range of the at least one distance sensor 30 .

[0160] In one example, the thresholds are 0.5m, 1m, 1.5m, 2m, 2.5m, 3m, 3.5m.

[0161] In one example, the plurality of angular directions includes a plurality of angular directions within a horizontal plane.

[0162] In one example, the multiple angular directions in the horizontal plane cover 320 degrees, 340 degrees, and 360 degrees.

[0163] In one example, the plurality of angular directions includes a plurality of angular directions within a vertical plane.

[0164] In one example, the plurality of angular directions within the vertical plane covers 90 degrees, 120 degrees, 150 degrees, and 180 degrees.

[0165] In one example, a subset of the plurality of angular directions at each of the plurality of locations along the route includes angular directions within an angular range on either side of a line between the medical device 50 and the desired position at each of the plurality of locations.

[0166] In one example, the angular range on either side of a straight line between the medical device 50 and the desired position at each of the plurality of positions includes angles of 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, and 60 degrees in a horizontal plane.

[0167] In one example, the angular range on either side of a straight line between the medical device 50 and the desired position at each of the plurality of positions includes angles of 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60 degrees in a vertical plane.

[0168] In one example, the method includes determining, by the controller 40, a next portion of the route between the initial position and the desired position using distance data in an angular direction within an angular range on either side of a straight line between the medical device 50 and the desired position at each of a plurality of positions along the route. If the distance data indicates that an object is present in the direction of the straight line between the medical device 50 and the desired position, the next portion of the route at one of the plurality of positions is in a direction other than the direction of the straight line between the medical device 50 and the desired position at the position.

[0169] In one example, the direction of the next portion of the route at the location among the multiple locations is determined as an angular correction to the direction of a straight line between the medical device 50 and the desired position at the location, the angular correction being calculated as the angle between the direction toward the object and the direction toward the midpoint of the distance.

[0170] In one example, the median distance point is the maximum geometric distance median point.

[0171] In one example, the distance median point is a weighted mean distance median point.

[0172] The distance median point can be determined by techniques such as windowing techniques.

[0173] In one example, the distance median point is determined based on distance data from a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and a desired position at the location, this determination operation causing a maximum distance value from the distance data from a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and the desired position.

[0174] In one example, the maximum distance value is determined based on the sum of distance data from at least two adjacent angular directions.

[0175] In one example, the maximum distance value is determined based on distance data for a subset of multiple angular directions within an angular range on either side of a straight line between the medical device 50 and the desired position at the location that have been weighted, and wherein the magnitude of the weighted value decreases as the angular direction increases away from the straight line between the medical device 50 and the desired position at the location.

[0176] The medical equipment movement control device, the medical equipment movement control system and the medical equipment movement control method are now described in detail, wherein reference is made to Figure 5-19 The above description has been made. For the sake of simplicity of description, the following description generally refers to the movement of a medical device 50 in the form of an X-ray tube head. However, the new development can be applied to X-ray tube heads, X-ray detectors and other medical devices, and can be used, for example, in attenuation X-ray inspection systems, digital radiography systems, fluoroscopy systems.

[0177] It has been recognized that the problems associated with existing X-ray tube head movement control systems (i.e., bringing the X-ray tube head head-to-head after or before a collision) can be solved by providing a system that continuously senses the environment and objects in the vicinity of the X-ray tube head and detects the possibility of a collision, then recalculates another safer route to avoid the collision and allows the movement of the X-ray tube head to continue to the desired or required position. Advanced collision detection then eliminates the possibility of the X-ray tube head colliding with a distant object, and the system can safely reduce the speed of the X-ray tube head to reduce long-term wear and then continue along an alternative route, or if necessary, stop the system completely in an emergency. Autonomous trajectory determination enables the X-ray tube head to automatically move from a starting point to a terminal or required position. Even in the event of a possible collision with an object, the system automatically finds an alternative path in travel to avoid collision with the object and then continues the movement, and after the operator indicates the required position of the X-ray tube head (which can be a position required for a specific procedure), the automated movement of the X-ray tube head completely eliminates such operator intervention. This saves valuable "operator" time and greatly reduces "operator fatigue" in the operating room / X-ray room. It is also recognized that the X-ray detector and X-ray tube head can be controlled to automatically and safely reach the correct position for inspection or scanning.

[0178] Figure 5 , Fig. 6A and Figure 6B Examples of collision avoidance and autonomous motion control of the X-ray tube head as it continues to move toward a desired position and navigates around objects along the way are shown.

[0179] Advanced sensing enables the system to continuously sense a configurable distance around the X-ray tube head (up to several meters), which allows more margin for motion controller latency. Longer sensing distance enables objects to be detected from longer distances and enables navigation around objects earlier and, if necessary, enables the speed of the X-ray tube head to be reduced and enables a smoother stop rather than applying emergency brakes resulting in an abrupt stop.

[0180] The sensor 30 is mounted on the X-ray tube head and utilizes time of flight (TOF) sensing, and can be a LiDAR sensor or an LED illumination sensor or a camera and / or depth sensing based system, wherein the detector of each sensor 30 can be, for example, a single detector pixel for a scanning LiDAR sensor system or a 2D detector array for a burst illumination LiDAR sensor system or a burst illumination LED system. The sensor system 30 is capable of sensing distances from 2-3 cm to 2-3 m (where each distance has a large field of view of 60 degrees), thereby enabling tracking of significant movement in a specific area around the X-ray tube head, and wherein multiple sensors can provide 360 ​​degree sensing around the X-ray tube head. By using TOF sensing technology, the sensing range can be adjusted by analyzing only the reflected light returned within a specific time window of light emission. As the time window increases, the sensing range threshold also increases. Therefore, a time window of approximately 18 ns means that objects more than 3 m away are not sensed, and in this way by adjusting the threshold, the "noise" can be reduced or the amount of data to be analyzed can be reduced. Therefore, a variable threshold distance can be utilized and, to reduce noise, once an object is detected, the variable threshold can be set to the distance to the closest part of the object, so the variable threshold changes as the X-ray tube head moves.

[0181] Multi-zone sensing is provided, in which the sensing mechanism divides the sensing field of view into multiple finer zones rather than a single zone. Each zone can be configured with a different range threshold, enabling uniform spherical sensing about the X-ray tube head, giving an accurate range sensing threshold, which can avoid unnecessary sensing of objects outside the sensing range.

[0182] Motion detection is used as part of an advanced collision avoidance system to detect objects that are moving (e.g., people). The system is able to effectively distinguish between stationary objects and moving objects by analyzing adjacent sensing cycles to determine whether the object is in a fixed position consistent with the movement of the X-ray tube head, or whether the object has moved. Therefore, the system actually performs histogram-based sensing to provide information about the object to the motion controller to create alternative trajectories and also take real-time decisions to avoid collisions. For example, if a person is slowly walking towards the X-ray tube head from any direction, the X-ray tube head can be controlled to navigate away from the person before continuing to move towards the desired position. However, if the person is moving towards the X-ray tube head, the X-ray tube head can be controlled to stop before a collision occurs. Once the person leaves the protection range distance, the X-ray tube head can be controlled to continue moving towards the desired position.

[0183] Thus, even in the event of a potential collision, the X-ray tube head is able to avoid the collision and continue moving by automatically finding an alternate path in motion. This completely eliminates operator intervention and operator fatigue and provides a complete one-touch automated motion system, for example, the operator can simply press a process button in the UI workflow on the workstation and the system automatically performs the movement of the X-ray tube head to execute the process without any operator intervention and without any further work on the workstation. This is because the system provides a mechanism that if an object is detected in the vicinity of the X-ray tube head, the system is able to find its own alternate path for the X-ray tube head, wherein the system is able to not only avoid collisions but also provide a continuous and uninterrupted movement from the start coordinates to the end coordinates (required position).

[0184] Therefore, reference Figure 5 , the first image shows the X-ray tube head (within the two circles) moving in the desired direction toward the desired position. The inner circle indicates the protection range distance around the X-ray tube head, the system will move the X-ray tube head to keep the object at a distance of at least the protection range distance from the X-ray tube head, unless as described above, if a fast moving object, for example, approaches the X-ray tube head, and the system stops the X-ray tube head so that a safe situation exists when the object is closer to the X-ray tube head than the protection range distance. The second circle around the X-ray tube head is the variable threshold distance, which, as described above, is the distance around the X-ray tube head where the distance data of the object is analyzed. The second image shows the change in direction of the X-ray tube as it approaches a person. The third image shows that a collision has been avoided, and wherein the X-ray tube head continues to move. The fourth image shows that the system is calibrating a new direction to move the X-ray tube head to the desired position. The fifth image indicates that the X-ray tube head continues to move toward the desired position.

[0185] Fig. 6A and Figure 6B The collision avoidance and auto-movement systems are shown in more detail. Fig. 6A and Figure 6BIn, "A1" indicates the required position or destination to which the X-ray tube head is to be automatically moved. "C1" indicates the X-ray tube head. "B1" indicates the protection range distance. "D1" indicates the threshold distance range. As part of the coordinate-based movement system, a motion controller in the X-ray tube head can receive information about the end coordinates (motion coordinates of the required position) from the workstation. The starting position can be known and can be the position where the X-ray tube head is currently located. However, the workstation can provide the controller with the starting position to which the X-ray tube head will move, and then move from that position to the required position. However, in this case, the starting position is actually the required position, and the system operates to avoid collisions and the automatic movement function when moving to the starting position and when moving from the starting position to the required position.

[0186] Continue to refer Fig. 6A and Figure 6B ,like Fig. 6A As shown, the system can utilize only the protection range distance B1 when avoiding collisions and moving toward the desired position, but this may result in a non-shortest jerky route and may result in constant adjustments to speed and acceleration. Figure 6B In addition to the protection range distance, a variable threshold distance D1 can be utilized. The system sets a variable threshold distance to obtain information about the free space around the X-ray tube head and the next obstacle on the path. This approach helps improve the user experience by eliminating creeping movements / system traps and saving time, and can actually produce the shortest path. In addition to the shorter path, higher acceleration and speed can be achieved through smoother motor movement.

[0187] Figure 7 The block diagram of the detailed medical equipment movement control device / system / method is shown, and the overall process of the device / system / method that meets the requirements of collision avoidance and trajectory control is described. Figure 7In the figure, the sensor front end is indicated by "A2", and the sensor front end is associated with the box containing "B2" and "C2". The sensor 30 of the medical device 50 is indicated by "B2", and the sensor raw data collected by the sensor 30 (B2) is indicated by "C2", the function of the motion controller 40 is indicated by "D2", the position setting threshold calculation is indicated by "E2", the zone relative speed calculation is indicated by "F2", the trajectory control logic is indicated by "G2", the new trajectory set point generator is indicated by "H2", the protection range check is indicated by "I2", the collision avoidance logic is indicated by "J2", the motor drive is indicated by "K2", the motor position feedback is indicated by "L2", the operator interface is indicated by "M2", the room layout and coordinate data is indicated by "N2", the examination information is indicated by "O2", and the working point (operator console) is indicated by "P2". The operator uses the workstation P2 from which the desired position of the medical device is set, which can take into account the layout of the room N2 and information about the examination O2 to be performed. The medical device 50 has a sensor 30 (B2) that collects raw data C2, and the motion controller 40 (D2) uses this data to move the medical device 50 to the desired position. In practice, a feedback loop type mechanism is used, in which the raw data C2 is used to set the position threshold E2, followed by a speed calculation F2. The control logic G2 is used to generate a new trajectory H2 (which involves a protection range check I2) and to use collision avoidance logic J2, and if necessary, an emergency stop is performed. The instruction K2 is sent to the mobile control system 60 to move the medical device 50, and the position feedback L2 is used together with the newly collected sensor data C2 to continue the cycle of the process, thereby moving the medical device 50 to the desired position.

[0188] The medical device movement control apparatus / system / method is compatible with any type of range / depth / vision sensor 30. This new technology is a combination of algorithms and frameworks and is able to provide autonomous movement regardless of the type of sensor 30 used (camera, lidar, millimeter wave, ultrasound or any type of combined array). This is possible because the system uses real-time sensor data to extract the distance of the object from the x-ray tube head in three-dimensional space.

[0189] Continue to refer Figure 7 , the sensor front end A2 having the sensor B2 (30) of the medical device 50 and collecting the sensor data C2 is an independent entity with independent functions relative to the rest of the algorithm. With respect to the medical device 50 (e.g., an X-ray tube head or an X-ray detector), there are many movements to be controlled at any given point in time with respect to collision avoidance and autonomous movement, among which, Figure 7As shown and described above, the controller 40 (D2) utilizes the sensor data C2 collected by the sensor 30 (B2) to move the medical device 50 to the required position while bypassing objects that are in the way. In one example, lateral movement and longitudinal movement (and actually vertical movement) are autonomous trajectory movements (e.g., movement of the X-ray tube head / X-ray detector from the X1, Y1 position to the X2, Y2 position (and from Z1 to Z2 if necessary)) and speed control, and all movements can also be controlled to avoid collisions. Therefore, for example, if there is any object directly below the X-ray tube head / detector, the height of the X-ray tube head / detector can first be changed with α / β movement to avoid collisions, and then lateral movement and longitudinal movement can occur for autonomous trajectory movement.

[0190] This new system provides variable distance sensing. Figure 8-9 As shown in the figure, in a typical X-ray room, in addition to the presence of people, there are many fixed parts and movable parts. Figure 8 , length is indicated by "A3", lateral direction is indicated by "B3", height is indicated by "C3" (lateral direction, length and height can be considered equivalent to x, y and z), tilt α is indicated by "D3", and arm swing is indicated by "E3", wherein these movements are representative of the movement of the medical device 50 from a starting position or position to a desired position or position in terms of the X-ray tube head. Fig. 9 In the example, the sensor assembly is indicated by "A4", and the system is capable of sensing the range (distance) of different objects in the room, as shown. Thus, variable range sensing is capable of locating the distance to an object and, if necessary, creating an object map of the X-ray room (e.g. Fig.10 ), and can also change the real-time navigation path, such as Figure 5 -6. Fig.10 , a room mapping routine is shown, wherein multi-sensor raw data is indicated by "A5", digital filters are indicated by "B5", room floor and object mapping (coordinates) are indicated by "C5", key coordinates for distance tables are indicated by "D5", and motion controller 40 is indicated by "E5" - the motion controller 40 is in Figure 7 Also known as D2.

[0191] Fig.11 A detailed example of sensor placement around an X-ray tube head / X-ray detector is shown, and the field of view of the individual sensors is shown, where the field of view of all sensors can approach 360 degrees.

[0192] Therefore, regarding the above discussion, we can then discuss in further detail Figure 7 Features presented in .

[0193] Sensor front end A2

[0194] Thus, the sensor front end A2 has an array of sensors B2 (30) that look in all directions, creating a sphere around the medical device 50 (X-ray tube head / X-ray detector) that collects the raw data C2. The radius of the sphere can be software configurable to create a body protection range (Protection Range Distance) and a threshold range (Threshold Distance) by interrogating the data in different time windows as previously described. The sensor front end A2 can then transmit the raw sensed data C2 to the motion controller D2 (40).

[0195] Motion Controller D2

[0196] The motion controller D2 (40) is a closed loop control system that receives as its important inputs the sensor raw data C2, position feedback for the motors, and coordinate based data inputs. The controller D2 (40) works completely in real time to avoid collisions, continuously sensing the sensor raw data according to set thresholds. The moment any inward deviation from the set threshold limit is detected on any individual pixel of the sensor, the motion controller D2 (40) immediately takes action to avoid the collision and stops / finds another route via the mobile system 60 based on the configuration. Therefore, the sensor front end A2 transmits the raw sensed data C2 from the sensor B2 (30) to the motion controller D2 (40). Each sensor itself sees the field of view as a group of pixels (e.g.: in Fig.13 ). Each matrix refers to the portion of the spatial field that reaches a certain distance of several meters across the sensing surface of the sensor. This creates a real-time distance matrix, which is the raw data for implementing protection range and avoidance logic. From the block diagram, there are other design elements, such as trajectory control logic G2, relative speed calculator F2, set threshold calculation logic E2 and other elements, which work together for automatic trajectory control.

[0197] Position setting threshold calculation E2

[0198] This block E2 is responsible for setting a threshold for the body protection range (collision avoidance) and a variable threshold for the sensing distance.

[0199] Zone relative speed calculation F2

[0200] This block F2 utilizes a distance sensing array on the sensor B2 (30). These arrays can be used on sensors such as cameras, time of flight, ultrasound sensors, etc. The array inside the sensor divides the field into smaller areas (zones) to increase the sensing resolution, thereby creating a better map of the object and its distance from the medical device 50 (X-ray tube head / X-ray detector). The measured distance is used to determine the best possible direction and speed / acceleration to move towards the desired position.

[0201] Trajectory control logic G2

[0202] Based on the room map, the current position, the current position of the medical device 50 (X-ray tube / X-ray detector) head in 3D space, this block G2 decides the best next direction towards which the X-ray tube head / X-ray detector can be moved.

[0203] New trajectory setpoint generator H2

[0204] For example, when a technician sets up a procedure (e.g., Orto - knee to spine), a trajectory of the medical device 50 (X-ray tube head / X-ray detector) is generated. A real-time set of next motion coordinates is continuously generated by this block H2 based on the direction from the previous block and the next trajectory. The next motion coordinates are used to provide a lag-free / smooth motion and should also not result in dead spots / blocks. Protection Range Check I2 and Collision Avoidance Logic J2

[0205] The two boxes, I2 and J2, work together to continuously check if any object is sensed within the body protection range set by the system. This box is run repeatedly to minimize the risk of collision.

[0206] Fig.12 Different ranges are shown for use in detailed embodiments of the device / system / method. Fig.12 In the figure, the medical device 50 (e.g., X-ray tube head / X-ray detector) is indicated by "A6", the emergency braking range is indicated by "B6", the protection range is indicated by "C6", the variable distance thresholding zone is indicated by "D6", and the maximum sensing radius is indicated by "E6".

[0207] Continue to refer Fig.12 , with respect to the medical device 50 (A6) (e.g., X-ray tube head), this is the portion of the X-ray system where the X-ray generator and other key system parts (e.g., collimator, X-ray tube, user interface, handle, and motorization system 60) are present. It should be noted that multiple time-of-flight sensors 30 are discussed that can be mounted around the X-ray tube head. A pseudo three-dimensional boundary can be created by stitching together data from the various sensors mounted around the X-ray tube head, covering all sides of the X-ray tube head.

[0208] The emergency braking distance (range) is such a distance (range): within this distance (range), if the presence of any object is detected, the system immediately takes action to apply the brakes and stops within the shortest delay time. Within this range, the probability of a collision is high.

[0209] The protection range (also called body protection range) is a fixed minimum distance within which, if any object enters, the system assumes the possibility of a collision and stops with a defined deceleration. This distance can be configured by software, but once configured, it remains fixed during system operation.

[0210] The threshold distance is the maximum distance within which the system assumes free space with minimal risk of collision. The higher the threshold distance, the better the system will be able to find the best and fastest trajectory to the destination, but the system may also experience several noise sources and will be required to reduce the threshold distance frequently. However, a lower threshold distance may result in poorer motion trajectory motion, but provide better noise performance, see for example the two examples in Figure 6.

[0211] A variable distance thresholding zone is a zone in which the algorithm makes decisions about the direction and speed of motion towards the final destination (required location) based on the presence of objects in the area.

[0212] The maximum sensing distance relates to the maximum sensing range for the sensor 30, which can be up to a few meters. A larger sensing range means greater coverage, but also means more noise, because the sensor will pick up more unwanted objects / movement (hence the term noise). As a "sweet spot" for performance vs. coverage, the sensing distance of the sensor can be chosen so that the noise performance is not too large while not compromising system accuracy. It should be noted that the depth / sensing range of the sensor needs to be equal to or greater than the sensing distance.

[0213] Fig.13 The sensor footprint is shown distributed into smaller pixels, where the value in each pixel indicates the distance to the medical device 50 (X-ray tube head / X-ray detector). As mentioned above, the sensor 30 is a TOF (time of flight) based sensor, which can be replaced by any other type of depth sensing technology (e.g., ultrasound, camera, IR array, LiDAR, etc.). As long as they are in pixel form (e.g., Fig.13 The 8×8 pixel array shown in the figure can be used to divide their sensing area. These sensor pixels are smaller areas of a larger area, which provide finer details and are used for data processing, and each sensor pixel can have its own threshold range, so that a sphere of detection range can be generated around the X-ray tube head / X-ray detector.

[0214] The sensor 30 is then arranged on a medical device 50 (eg, an X-ray tube head / X-ray detector) to provide 360 ​​degree coverage around the X-ray tube head / X-ray detector.

[0215] Then, Fig.14 Projections of three of the twelve sensors 30 mounted on a medical device 50 (X-ray tube head / X-ray detector) are shown. Each sensor 30 has its own field of view. The wide FOV is obtained by logically stitching sensor data acquired by the sensor front end. Also as mentioned above, instead of such a flat detection tip, the detection tip can be bent to form a sphere around the X-ray tube head / X-ray detector. In Fig.14 In FIG. 1 , the sensor is indicated by “A7” and the object in the motion path is indicated by “B7”. Fig.14 An example of sensor placement is shown, where 12 sensors are utilized, 3 in each of 4 directions. However, a single scanning sensor can be used, capable of scanning 360 degrees; 2 sensors can be used, each capable of scanning 180 degrees; 4 sensors can be used, one in each direction; 8 sensors can be used, 2 in each direction, and in fact more than 12 sensors can be used.

[0216] Then, Fig.15 describes in detail how the threshold distance can be set. Fig.15 In the figure, "A8" indicates that the sensing distance is greater than or equal to the protection range distance, "B8" indicates the termination and start of the emergency sign, "C8" indicates data splicing, "D8" indicates setting a new distance threshold, "E8" indicates calculating the acceleration vector (direction and value), "F8" indicates setting a new direction, "G8" indicates receiving sensor raw data, "H8" indicates a digital FIR (finite impulse response) filter, and "I8" indicates the moving window average (geometric mean) of rows and columns.

[0217] Continue to refer Fig.15 , the medical device motion controller 40 receives the final destination coordinates from the work point. The system scans the surrounding objects (if any object appears within the protection range distance, the system will issue a warning). However, the system has the ability to try to navigate away from any object that exists inside its protection range. This is achieved by using the sensor 30 to scan the area at 360 degrees, and if no obstacles are seen in any other direction, the motion controller 40 will navigate away from the object to bring it out of the protection range distance. Once the system has the final destination (required position) and no objects are detected within the protection range distance, the motion controller 40 begins moving the medical device 50 (X-ray tube head / X-ray detector) using the movement system 60, where the initial distance threshold is equal to the protection range distance. This distance threshold can change on the motion route based on the surrounding objects and the direction of the final destination (required position). Runs continuously in real time Fig.15The cycle shown is repeated until the X-ray tube head / X-ray detector reaches the required position.

[0218] about Fig.15 , the following discussion provides more details regarding specific elements.

[0219] The FIR filter is a second / third order FIR filter that is applied to each pixel of successive frames of a particular sensor to obtain lower noise data. This is used to eliminate any false readings (primarily due to reflections, etc.). The specific order of the filter used can be selected based on a trade-off with the filter delay.

[0220] Fig.16 The row and column averages of the sensors for a detailed embodiment of the apparatus, system and method are shown. This involves a mean calculation and a moving average calculation. This is a two-step process. Step 1 provides for the calculation of the vertical (column direction) mean and the horizontal (row direction) mean of the current filtered data. In step 2, the current mean data and the previous mean data are "window averaged". The number of windows (based on the order) can vary and can have weights (weighted averages) to obtain optimal performance. The average horizontal data is used to find direction and for subsequent steps. The average vertical data is used to determine the safest height of the medical device 50 (X-ray tube head / X-ray detector) and is directly used to set the X-ray tube head height / X-ray detector height.

[0221] The geometric averages of all individual sensors are concatenated or "stitched" together as a matrix to create a single matrix for the entire 90 degree field of view in the direction of tube head motion (e.g., Fig.14 The splicing of sensor groups 1, 2 and 3 is shown).

[0222] The matrix of geometric means (row data) for each sensor has 8 indices, and concatenation essentially means combining these matrices for the 3 sensors into a single matrix of length 24×8 (24 horizontally - for variable threshold spacing, and 8 vertically - for positioning the height to the highest value).

[0223] Then, Figure 17-19 Further details are provided on the autonomous mobility provided.

[0224] exist Fig.17 , the field of view is indicated by “A9”, the destination or required position is indicated by “B9”, the object in the path is indicated by “C9”, the free space is indicated by “D9”, the threshold distance is indicated by “E9”, and the object sensed in the stitching matrix is ​​indicated by “F9”.

[0225] exist Fig.18In the diagram, "A10" indicates the critical distance and "B10" indicates the distance to the obstacle.

[0226] exist Fig.19 , a destination is indicated by “B11”, an object in the motion path is indicated by “C11”, a free space is indicated by “D11”, and a threshold distance is indicated by “E11”.

[0227] The geometric mean data provides a means of determining possible obstacles to the medical device 50 (e.g., an X-ray tube head), as well as a means of finding the maximum free space or collision-free distance from the X-ray tube head. After obtaining the geometric mean, the algorithm then looks for the "maximum free space," which is essentially the direction of the X-ray tube head / X-ray detector on a trajectory of minimal collision risk. The system then calculates the maximum free space toward the point of maximum geometric mean (e.g., Fig.17 124.7) as shown, and set the course towards that angle.

[0228] The index increment is used to calculate the angle of the new trajectory as described below.

[0229] like Fig.17 The 90 degree field of view of the 3 sensor elements shown is divided into 24 indices. This means that every pixel "sees" and angle = 90 / 24 degrees = 3.75 degrees. The center of the field of view points to the destination (required position).

[0230] Calculate the course correction angle. Fig.17 As shown in , the minimum distance 35.46 is at index 7, and the threshold distance 124.7 is at index 4. The difference = 4-7 = (-)3. Therefore, the course correction angle = (-)(3.75×3) = (-)11.25 degrees. This is shown in Fig.18 middle.

[0231] Next, the medical device 50 (X-ray tube head / X-ray detector) is as follows Fig.19 The correction angle shown is moved to the threshold distance. At this new position, the obstacle is closer to the X-ray tube head / X-ray detector, but the X-ray tube head / X-ray detector is moving away from the line of sight of the obstacle. The new threshold distance is 114.7, and a new course correction angle is calculated. The minimum distance 23.43 is at index 9, and the threshold distance 95.31 is at index 5. The difference = 5-9 = (-)4, providing a course correction angle = (-)(3.75×4) = (-)15 degrees. Again, a new threshold distance is set, and course corrections are continued until the obstacle is bypassed and the final destination is reached.

[0232] It should be noted that as the medical device 50 (X-ray tube head / X-ray detector) moves toward the final destination (required position), the line of sight toward the final destination changes, so the sensing front end will accept data from sensors adjacent to the line of sight. For example, according to the above example, the next sensor group may be sensors 2, 3, 4, but when the X-ray tube head / X-ray detector reaches the final destination, the sensor group may have sensors 4, 5, 6. In essence, the number of sensors used for calculations always remains 3. But which group the algorithm chooses depends on the line of sight toward the final destination.

[0233] In another exemplary embodiment, a computer program or a computer program element is provided, characterized in that it is configured to execute the method steps of any one of the methods according to one of the preceding embodiments on an appropriate device or system.

[0234] Therefore, the computer program element may be stored in a computer unit, which may also be part of an embodiment. The computing unit may be configured to perform the steps of the above method or cause the execution of the steps of the above method. In addition, the computing unit may be configured to operate the components of the above system. The computing unit can be configured to automatically operate and / or run the user's command. The computer program can be loaded into the working memory of a data processor. Therefore, a data processor can be equipped to perform a method according to one of the aforementioned embodiments.

[0235] This exemplary embodiment of the invention covers both a computer program that right from the beginning uses the invention and a computer program that is converted by means of an update into a program that uses the invention.

[0236] Furthermore, the computer program element may be able to provide all necessary steps to fulfill the flow of an exemplary embodiment of the method as described above.

[0237] According to a further exemplary embodiment of the present invention, a computer-readable medium, for example a CD-ROM, a USB stick or the like, is proposed, wherein the computer-readable medium has a computer program element stored on the computer-readable medium, the computer program element being described by the preceding sections.

[0238] The computer program may be stored and / or distributed on a suitable medium, such as optical storage media or solid-state media supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.

[0239] However, the computer program may also be present on a network, such as the World Wide Web, and can be downloaded from such a network into a working memory of a data processor. According to a further exemplary embodiment of the present invention, a medium is provided for making a computer program element available for downloading, the computer program element being arranged to perform a method according to one of the aforementioned embodiments of the present invention.

[0240] It must be noted that embodiments of the present invention are described with reference to different subject matters. In particular, some embodiments are described with reference to method claims, while other embodiments are described with reference to apparatus claims. However, unless otherwise stated, a person skilled in the art will infer from the above and following descriptions that, in addition to any combination of features belonging to one type of subject matter, any combination of features relating to different subject matters is also considered to be disclosed in the present application. However, all features can be combined to provide synergistic effects that are more than the simple addition of the features.

[0241] Although the present invention has been illustrated and described in detail in the drawings and the foregoing description, such illustration and description should be considered illustrative or exemplary rather than restrictive. The present invention is not limited to the disclosed embodiments. Other variations of the disclosed embodiments can be understood and implemented by those skilled in the art in practicing the claimed invention by studying the drawings, the disclosure, and the appended claims.

[0242] In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. Although certain measures are recited in mutually different dependent claims, this does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. A medical equipment movement control device (10), comprising: Input unit (20); at least one distance sensor (30); as well as Controller (40); wherein the input unit is configured to receive a desired position of the medical device; wherein the input unit is configured to provide the desired position of the medical device to the controller; wherein the at least one distance sensor is configured to be mounted to a medical device (50) or configured to be integrated with the medical device; wherein the at least one distance sensor is configured to collect distance data about a plurality of angular directions of the medical device from the medical device; wherein the at least one distance sensor is configured to provide the distance data regarding the plurality of angular directions of the medical device to the controller; wherein the controller is configured to control a movement system (60) of the medical device to move the medical device from the initial position to the desired position along a route between the initial position of the medical device and the desired position, the route maintaining a distance between the medical device and one or more of the objects of at least a protection range distance, the control operation comprising utilizing distance data of a subset of the plurality of angular directions collected at a plurality of positions along the route; and The controller (40) is configured to control the movement system (60) of the medical device (50) to move the medical device (50) away from the object when distance data of the object indicates that the object is closer to the medical device (50) than the protection range distance, and this control operation includes utilizing distance data about the multiple angular directions of the medical device (50) at one or more of the multiple positions along the route.

2. The device according to claim 1, wherein: The controller is configured to control the mobile system of the medical device to stop the medical device when distance data of an object indicates that the object is closer to the medical device than the protection range distance, and this control operation includes utilizing distance data about the multiple angular directions of the medical device at one or more of the multiple positions along the route.

3. The device according to any one of claims 1 to 2, wherein: The distance data of the plurality of angular directions collected by the at least one sensor from the medical device includes distance data reaching a threshold distance range, the threshold distance range being greater than the protection range distance and less than a maximum detection range of the at least one distance sensor.

4. The device according to claim 3, wherein: The thresholds are 0.5m, 1m, 1.5m, 2m, 2.5m, 3m, and 3.5m.

5. The device according to any one of claims 1 to 4, wherein: The multiple angular directions include multiple angular directions in a horizontal plane.

6. The device according to any one of claims 1 to 5, wherein: The subset of the plurality of angular directions at each of the plurality of locations along the route includes angular directions within an angular range on either side of a straight line between the medical device and the desired position at each of the plurality of locations.

7. The device according to claim 6, wherein: The angular range on either side of the straight line between the medical device and the desired position at each of the multiple positions includes angles of 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, and 60 degrees in the horizontal plane.

8. The device according to any one of claims 6 to 7, wherein: The controller is configured to determine a next portion of the route between the initial position and the required position using the distance data of the angular direction within the angular range on either side of the straight line between the medical device and the required position at each of the multiple positions along the route, and wherein, if the distance data indicates that an object is present in the direction of the straight line between the medical device and the required position, the next portion of the route at a position among the multiple positions is in a direction other than the direction of the straight line between the medical device and the required position at the position.

9. The device according to claim 8, wherein: The direction of the next portion of the route at the location among the plurality of locations is determined as an angular correction to the direction of the straight line between the medical device and the desired location at the location, the angular correction being calculated as an angle between a direction toward the object and a direction toward a midpoint of the distance.

10. The device according to claim 9, wherein: The distance median point is determined based on the distance data of the subset of the multiple angular directions within the angular range on either side of the straight line between the medical device and the required position at the position, and this determination operation results in the maximum distance value of the distance data from the subset of the multiple angular directions within the angular range on either side of the straight line between the medical device and the required position.

11. The device according to claim 10, wherein: The maximum distance value is determined based on the sum of distance data from at least two adjacent angular directions.

12. The device according to any one of claims 10 to 11, wherein: The maximum distance value is determined based on the distance data of the subset of the multiple angular directions within the angular range on either side of the straight line between the medical device and the desired position at the location, which have been weighted, and wherein the magnitude of the weighted value decreases as the angular direction increases away from the straight line between the medical device and the desired position at the location.

13. A medical equipment movement control system (100), comprising: Input unit (20); Medical equipment (50); A mobile system (60) for the medical device; at least one distance sensor (30); as well as Controller (40); wherein the input unit is configured to receive a desired position of the medical device; wherein the input unit is configured to provide the desired position of the medical device to the controller; wherein the at least one distance sensor is mounted to or integrated with the medical device; wherein the at least one distance sensor is configured to collect distance data about a plurality of angular directions of the medical device from the medical device; wherein the at least one distance sensor is configured to provide the distance data regarding the plurality of angular directions of the medical device to the controller; wherein the controller is configured to control the movement system of the medical device to move the medical device from the initial position to the desired position along a route between the initial position of the medical device and the desired position, the route maintaining a distance between the medical device and one or more of the objects of at least a protection range distance, the control operation comprising utilizing distance data of a subset of the plurality of angular directions collected at a plurality of positions along the route; and The controller (40) is configured to control the movement system (60) of the medical device (50) to move the medical device (50) away from the object when distance data of the object indicates that the object is closer to the medical device (50) than the protection range distance, and this control operation includes utilizing distance data about the multiple angular directions of the medical device (50) at one or more of the multiple positions along the route.

14. A medical device movement control method (200), comprising: receiving (210) a desired position of the medical device by an input unit, and wherein at least one distance sensor is mounted to or integrated with the medical device; providing (220) the desired position of the medical device to a controller by the input unit; collecting (230) distance data about a plurality of angular directions of the medical device from the medical device by the at least one distance sensor; providing (240), by the at least one distance sensor, to the controller the distance data regarding the plurality of angular directions of the medical device; controlling (250) by the controller a movement system of the medical device to move the medical device from the initial position to the desired position along a route between the initial position of the medical device and the desired position, the route maintaining a distance between the medical device and one or more of the objects at least a protection range distance, the controlling operation comprising utilizing distance data for a subset of the plurality of angular directions collected at a plurality of positions along the route; and The movement system (60) of the medical device (50) is controlled by the controller (40) to move the medical device (50) away from the object when the distance data of the object indicates that the object is closer to the medical device (50) than the protection range distance, and this control operation includes utilizing the distance data about the multiple angular directions of the medical device (50) at one or more of the multiple positions along the route.

15. A computer program element for controlling an apparatus according to any of claims 1 to 12 or a system according to claim 13, the computer program element being configured to perform the method according to claim 14 when run by a processor.

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