Collision detection method and device, medical equipment and storage medium

Abstract

The invention relates to a collision detection method and device, medical equipment and a storage medium, the collision detection method is applied to a medical examination bed provided with a pressure sensor, and the collision detection method comprises the steps that in the movement process of the medical examination bed, pressure sensing information collected by the pressure sensor in real time is obtained; determining pressure increment information based on the pressure sensing information; and according to the pressure increment information, detecting whether the medical examination bed is collided or not. According to the invention, the problem of low collision detection stability of the medical examination bed is solved.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to collision detection methods, apparatus, medical devices, and storage media. Background Technology

[0002] The purpose of a medical examination bed is to position the patient; however, existing treatment beds are large, have low motion precision, and limited sway. Due to space constraints in the treatment chamber, there is a risk of collision between the bed and the rotating support and treatment head. Therefore, collision detection for medical examination beds is necessary. In related technologies, collision detection methods based on pressure sensors typically determine whether a collision has been triggered by setting a comparison threshold. This leads to zero-point instability, requiring frequent calibration and thus affecting the stability of collision detection.

[0003] Currently, no effective solution has been proposed to address the issue of low stability in collision detection for medical examination beds in related technologies. Summary of the Invention

[0004] This application provides a collision detection method, apparatus, medical device, and storage medium to at least address the problem of low collision detection stability for medical examination beds in related technologies.

[0005] In a first aspect, embodiments of this application provide a collision detection method applied to a medical examination bed equipped with a pressure sensor; the method includes:

[0006] During the movement of the medical examination bed, the pressure sensing information collected in real time by the pressure sensor is acquired;

[0007] Based on the pressure sensing information, the pressure increment information is determined;

[0008] Based on the pressure increment information, it is detected whether the medical examination bed has collided.

[0009] In some embodiments, the medical examination bed further includes a base and a speed reducer disposed on the base; the pressure sensor is installed between the speed reducer and the base.

[0010] In some embodiments, acquiring the pressure sensing information collected in real time by the pressure sensor includes:

[0011] Obtain the preset startup time parameters;

[0012] If the current startup duration meets the startup time parameter, the pressure sensing information is acquired.

[0013] In some embodiments, determining the pressure increment information based on the pressure sensing information includes:

[0014] The pressure increment information is obtained by calculating the difference between the pressure sensing information at the current moment and the pressure sensing information at the previous moment.

[0015] In some embodiments, detecting whether the medical examination bed has collided based on the pressure increment information includes:

[0016] Obtain a preset initial value for the increment, and calculate the cumulative value of the increment of the pressure increment information based on the initial value for the increment;

[0017] The incremental cumulative value is compared with a preset incremental threshold. If the comparison result is that the incremental cumulative value is greater than the incremental threshold, it is determined that the medical examination bed has collided.

[0018] In some embodiments, if a collision is detected in the medical examination bed based on the pressure increment information, the method further includes:

[0019] Detect movement commands directed at the medical examination bed;

[0020] In response to the motion command, the medical examination bed is controlled to perform a reverse motion.

[0021] In some embodiments, the method further includes:

[0022] The collision pressure value of the medical examination bed is obtained, and the real-time pressure information of the medical examination bed during the reverse movement process is obtained.

[0023] The medical examination bed is used to detect whether the collision has been cleared based on the difference between the real-time pressure information and the collision pressure value.

[0024] Secondly, embodiments of this application provide a collision detection device applied to a medical examination bed equipped with a pressure sensor; the device includes:

[0025] The acquisition module is used to acquire pressure sensing information collected in real time by the pressure sensor during the movement of the medical examination bed;

[0026] The incremental detection module is used to determine the pressure increment information based on the pressure sensing information;

[0027] The collision detection module is used to detect whether the medical examination bed has collided based on the pressure increment information.

[0028] Thirdly, embodiments of this application provide a medical device, including a medical examination bed and a controller; wherein the medical examination bed is equipped with a pressure sensor;

[0029] The controller stores a computer program, which, when executed by a processor, implements the steps of the collision detection method described in the first aspect above.

[0030] Fourthly, embodiments of this application provide a storage medium storing a computer program that, when executed by a processor, implements the collision detection method as described in the first aspect above.

[0031] Compared to related technologies, the collision detection method, apparatus, medical device, and storage medium provided in this application are applied to a medical examination bed equipped with a pressure sensor. During the movement of the medical examination bed, pressure sensing information is acquired in real time by the pressure sensor. Based on the pressure sensing information, pressure increment information is determined. Based on the pressure increment information, it is detected whether the medical examination bed has collided. Based on this, a collision detection algorithm without a fixed zero point is provided. Each detection only calculates the increment without referencing a zero point. This detection method differs from traditional fixed pressure comparison methods, enabling the detection of slowly applied forces and recognizing both hard and flexible objects, thereby improving the stability and accuracy of collision detection.

[0032] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0034] Figure 1 This is a hardware structure block diagram of a terminal for a collision detection method according to an embodiment of this application;

[0035] Figure 2 This is an application scenario diagram of a medical examination bed according to an embodiment of this application;

[0036] Figure 3 This is a flowchart of a collision detection method according to an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the structure of a medical examination bed according to an embodiment of this application;

[0038] Figure 5 This is a flowchart of another collision detection method according to an embodiment of this application;

[0039] Figure 6 This is a structural block diagram of a collision detection device according to an embodiment of this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0041] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0042] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first,” “second,” “third,” etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0043] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. Taking running on a terminal as an example, Figure 1 This is a hardware structure block diagram of a terminal for a collision detection method according to an embodiment of this application. For example... Figure 1 As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0044] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the collision detection method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0045] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0046] To facilitate understanding of this application, one application scenario of a medical examination bed will be described first. Please refer to... Figure 2The medical examination table 21 can be used in scenarios involving equipment such as Digital Subtraction Angiography (DSA); DSA equipment is also known as a large C-arm device (C-arm device). This large C-arm device includes a C-arm gantry 22 and a crane 23. X-ray sources (tubes) and detectors are mounted at opposite ends of the C-arm gantry 22. The C-arm gantry 22 and the crane 23 are interconnected, and the crane 23 can move on guide rails, driving the C-arm 22 to move so that the X-ray sources and detectors mounted on the C-arm gantry 22 can perform medical scans on the patient on the medical examination table 21. The medical examination table 21 can also provide interfaces for mounting third-party equipment, such as high-pressure injectors and electrocardiogram (ECG) equipment. Because the large C-arm device is large and close to the medical examination bed 21, in actual application, when the medical examination bed 21 moves to adjust its position (such as lifting, tilting or translating), it is prone to collision with the C-arm frame 22 or other surrounding equipment, which greatly affects the safety of medical examination.

[0047] Based on this, this embodiment provides a collision detection method, which is applied to a medical examination bed equipped with a pressure sensor; Figure 3 This is a flowchart of a collision detection method according to an embodiment of this application, such as... Figure 3 As shown, the process includes the following steps:

[0048] Step S310: During the movement of the medical examination bed, the pressure sensing information collected in real time by the pressure sensor is acquired.

[0049] The pressure sensor can be installed at any position on the medical examination bed to detect the force on the bed board. Compared with the related technology that requires the pressure sensor to be installed on a relatively stationary object for collision detection, the installation method of the pressure sensor in this embodiment is more flexible and adaptable.

[0050] During the movement of the medical examination table from the start of its motion to its arrival at the designated position, the sensing signals collected by the pressure sensor are acquired in real time. Specifically, during the information acquisition process, the electrical signals output by the pressure sensor are read in real time and converted into digital signals for subsequent processing and analysis. It should be understood that the acquired pressure data can also be filtered to remove noise and interference signals, thereby generating the aforementioned pressure sensing information.

[0051] Step S320: Determine pressure increment information based on pressure sensing information.

[0052] The pressure sensing information mentioned above refers to the pressure signal values ​​continuously collected by the pressure sensor over a period of time. In this step, the difference between the pressure signal values ​​at adjacent collection times can be calculated to determine the pressure increment information. The interval between two adjacent collection times can be set according to actual conditions; for example, it can be set to detect once every 100ms.

[0053] In an optional embodiment, the calculation process for the pressure increment information described above can be as follows: calculate the difference between the pressure sensing information at the current moment and the pressure sensing information at the previous moment to obtain the pressure increment information. More specifically, the pressure value at the current moment is acquired in real time by a pressure sensor. This value is usually represented in digital form and can be voltage, current, frequency, or a direct digital reading, depending on the sensor's output type and subsequent signal processing circuitry. The system needs to store or record the pressure sensing information at the previous time point (i.e., the "previous moment"). This is usually achieved by maintaining a variable or data structure in memory that saves the latest pressure value each time it is updated and becomes the "previous moment" value in the next update. Then, the difference between the pressure sensing information at the current moment and the previous moment is calculated. This difference is the pressure increment information, which represents the amount of pressure change from the previous moment to the current moment.

[0054] It's important to note that when determining the pressure increment information, it's crucial to ensure that the timestamps are accurate and synchronized when acquiring the pressure sensing information from the current and previous moments. This helps avoid calculation errors caused by time asynchrony. Before calculating the difference, it's also necessary to check the validity of the pressure sensing information from the current and previous moments. For example, if the sensor malfunctions or the data is abnormal (e.g., outside the normal range), it may be necessary to ignore this invalid data or take other measures to handle it.

[0055] Step S330: Based on the pressure increment information, detect whether the medical examination bed has collided.

[0056] The system can compare the current pressure increment with a preset increment threshold to determine if a collision has occurred on the medical examination bed. Alternatively, to ensure the stability and reliability of collision detection, the system can continuously monitor the cumulative value of the pressure increment and determine if it exceeds a preset threshold. This cumulative value reflects the total pressure change on the bed from the start of detection to the current moment. If the cumulative value does not exceed the set threshold, the medical examination bed can continue to move normally. If the cumulative value exceeds the set threshold, it can be considered that the medical examination bed has triggered a collision or is about to collide. In this case, the system can trigger an alarm to alert the operator or execute other preset response measures, such as stopping the bed's movement, reducing its speed, or controlling the medical examination bed to begin reverse movement. This provides an examination bed with automatic protection, which can stop moving when the bed is subjected to pressure or lifting force to protect the examination bed or other equipment from damage.

[0057] Additionally, please see Figure 4 A lead screw 42 is installed inside the guide shaft 41 of the medical examination bed, and a reducer 43 is installed below the guide shaft 41. This reducer 43 can be a worm gear reducer. During the movement of the medical examination bed, the lead screw 42 fluctuates due to the movement. If a set pressure comparison threshold is used to determine whether a collision is triggered, this fluctuation of the lead screw 42 can easily affect the accuracy of collision detection. Therefore, this embodiment, through the above steps, not only enables incremental detection of collisions to achieve a detection method without a fixed zero point, but also identifies and stably triggers slow-applied forces. It can automatically identify fluctuations caused by movement and avoids false collision identification due to movement fluctuations, thus preventing interference from fluctuations in detection.

[0058] In related technologies, collision detection is typically performed by comparing pressure values. Specifically, a comparison value is set, and if the pressure value at a certain moment exceeds this value, a collision signal is triggered. However, in this method, the zero point is unstable due to the installation of the pressure sensor, requiring frequent calibration. This application, through steps S310 to S330, provides a collision detection algorithm without a fixed zero point. Each detection only calculates the increment without referencing a zero point. This detection method differs from the traditional fixed pressure comparison method, enabling the detection of slowly applied forces and recognizing both hard and flexible objects, thereby improving the stability and accuracy of collision detection.

[0059] In some embodiments, the medical examination bed further includes a base and a speed reducer disposed on the base; a pressure sensor is installed between the speed reducer and the base. Specifically, please refer to... Figure 4The bed board 44 of this medical examination bed is fixed to the base 47 via primary column 45 and secondary column 46 to ensure the stability of the examination bed during use. The primary column 45 and secondary column 46 are used to support the various structural components of the medical examination bed; for example, a reducer 43 is fixed to the primary column 45, and a lead screw 42 is installed at the output end of the reducer 43; a nut is fixed to the secondary column 46, and a motor 49 drives the reducer 43 to rotate the lead screw 42, converting it into the lifting motion of the secondary column 46. The primary column 45 is mounted on the secondary column 46. The bed board 44 is directly connected to the lead screw 42 and guide shaft 41, and their movement allows for adjustment of the height or position of the bed board 44; the lead screw 42 is driven to rotate by the reducer 43, converting it into linear motion of the bed board 44, such as lifting motion; the guide shaft 41 ensures that the bed board 44 remains stable during lifting or moving, without deviation or wobbling. The reducer 43 is installed below the guide shaft 41; and in order to detect the anti-collision function of the bed plate 44, the pressure sensor 48 is installed at the overall load-bearing position, that is, below the reducer 43 below the guide shaft 41. The motor 49 is installed at a certain position below the bed plate 44, such as on the base 47, and the motor 49 is directly connected to the reducer 43; the motor 49 receives external control signals, starts and drives the reducer 43 to rotate, and then drives the lead screw 42 to move the bed plate 44.

[0060] Regarding the installation location of the pressure sensor, excessive starting force of the reducer during the movement of the medical examination bed may affect collision detection. Therefore, the acquisition of real-time pressure sensing information from the pressure sensor may further include the following steps:

[0061] The system acquires a preset start-up time parameter; if the current start-up duration meets the parameter, it acquires pressure sensing information. Specifically, a preset start-up time parameter is established based on the start-up characteristics of the reducer and the design requirements of the medical examination bed. This parameter represents the time required from the motor starting to the reducer outputting stable torque, and can be preset and stored according to actual application conditions. During this time period, due to the large starting force of the reducer, non-collision pressure changes may occur to the pressure sensor. When the medical examination bed starts, the start-up time is recorded. This can be achieved through a timer in the control system. Before the pressure sensor is ready to collect pressure sensing information, it first checks whether the current start-up duration meets the preset start-up time parameter. If the start-up duration is still less than the parameter, pressure sensing information is temporarily not collected to avoid misjudgment. Once the start-up duration meets the parameter, the pressure sensing information collected in real time by the pressure sensor begins to be acquired. At this time, the starting force of the reducer has stabilized, reducing its impact on the pressure sensor, thus the acquired pressure sensing information more accurately reflects the actual stress on the bed board or related components.

[0062] The above embodiments effectively reduce the impact of the reducer's starting force on collision detection, improving the safety and reliability of the medical examination bed control. Furthermore, when performing collision detection in this manner, the pressure sensor can be installed at any position on the medical examination bed, without needing to be specifically mounted on a relatively stationary object, thus offering high adaptability and significantly improving application flexibility.

[0063] In some embodiments, the detection of whether a collision has occurred on the medical examination bed based on pressure increment information may further include the following steps:

[0064] Obtain a preset initial value for the increment, and calculate the incremental cumulative value of the pressure increment information based on the initial value for the increment; compare the incremental cumulative value with a preset increment threshold, and if the comparison result is that the incremental cumulative value is greater than the increment threshold, then it is determined that a collision has occurred on the medical examination bed.

[0065] Specifically, firstly, based on the actual application, an initial value for the pressure increment accumulation is set; generally, this initial value is set to 0. Next, for each acquired pressure increment information, it is stored in an increment array, and the values ​​in the increment array are accumulated; for example, for the first acquired pressure increment information, it is added to the initial increment value to obtain the current increment accumulation value; then, for each subsequent acquired pressure increment information, it is added to the increment accumulation value, and the accumulation value is updated.

[0066] Each calculated incremental cumulative value is compared with an incremental threshold, which can be set according to the characteristics of the device, the usage environment, and the desired sensitivity. If the current incremental cumulative value exceeds the incremental threshold, it can be determined that a collision has occurred on the medical examination table; at this time, one or more response actions can be triggered, such as stopping the movement of the device, sounding an alarm, or recording the collision event.

[0067] Alternatively, in another embodiment, to improve the accuracy and stability of collision detection, the duration for which the incremental cumulative value exceeds the incremental threshold can be further determined. Specifically, when the incremental cumulative value is detected to exceed the incremental threshold, a timer can be used to record the duration for which the incremental cumulative value continuously exceeds the incremental threshold. In other words, in each detection cycle, the incremental cumulative value is updated based on the current pressure increment information, and it is checked whether it exceeds the incremental threshold; if it does, the timer starts or continues; if it does not exceed, the timer is reset. The duration for which the current incremental value exceeds the threshold is compared with a preset duration threshold; this threshold indicates how long the incremental cumulative value must continuously exceed the incremental threshold to be confirmed as a collision event, and can be set according to the characteristics of the device and the application scenario. If the duration for which the incremental cumulative value continuously exceeds the incremental threshold reaches the duration threshold, a collision can be considered to have occurred on the medical examination bed; otherwise, it indicates that the current situation may be a misjudgment caused by brief fluctuations or noise, and therefore it is not determined to be a collision event on the medical examination bed. Through the above embodiments, it is helpful to distinguish between a real collision event and a misjudgment caused by brief fluctuations or noise, thereby effectively improving the accuracy of collision detection.

[0068] In some embodiments, when a collision is detected on the medical examination bed based on pressure increment information, the collision detection method further includes the following steps:

[0069] The system detects motion commands directed at the medical examination bed and, in response, controls the bed to perform a reverse motion. In the event of a detected or impending collision with the medical examination bed, in addition to immediately triggering an alarm or recording the event, further safety measures can be taken to mitigate potential injury or damage. Operators can issue motion commands interactively by pressing motion buttons on the control box. These commands instruct the medical examination bed to perform a reverse motion, opposite to its current trajectory. Parameters for the reverse motion (such as speed, acceleration, and distance) should be set according to the specific circumstances to ensure a safe and effective collision avoidance. The control box can be installed on the medical examination bed or separately for easy operator access.

[0070] It should be added that, given the urgency of the current situation, in order to respond promptly to commands and control the medical examination bed to move in the opposite direction, the program can be set so that, under the current circumstances, the operator can trigger the movement command by pressing any button on the control box. This avoids the problem of short reaction time in the event of a collision, making it difficult for the operator to trigger the designated button in time, thus causing the reverse movement response to be untimely. This is beneficial to improving the safety of the medical examination bed control.

[0071] In some embodiments, the above-described control of the medical examination bed to perform reverse movement may further include the following steps:

[0072] The collision pressure value of the medical examination bed is obtained, as well as the real-time pressure information during the reverse movement of the medical examination bed; based on the difference between the real-time pressure information and the collision pressure value, it is determined whether the medical examination bed has cleared the collision.

[0073] When the medical examination bed experiences a collision (such as improper contact with a wall, other equipment, or a patient), the sensors record a significant pressure peak. This peak is the collision pressure value. The pressure peak at the time of collision is recorded and stored in the system's database or real-time processing unit for later comparison. During reverse movement of the medical examination bed (such as moving or adjusting angles), the real-time pressure information output by the sensors is continuously monitored. It should be understood that the real-time pressure data is filtered and smoothed to remove noise and unnecessary fluctuations, ensuring data accuracy. The real-time pressure information is then compared with the previously recorded collision pressure value, and the difference between them is calculated. When the real-time pressure value falls below a preset threshold, the collision is considered resolved. This threshold can be set based on experience or safety standards; typically, this threshold should be low enough to ensure that even slight contact is not misinterpreted as collision resolution.

[0074] When a collision is detected as cleared using the above methods, the operator can wait for the medical examination bed to be moved or the patient to adjust their position to eliminate any potential collision hazards. Alternatively, if the above methods determine that a collision has not yet been eliminated, the medical examination bed can continue to move in the opposite direction along its current trajectory until the collision is detected as resolved. These embodiments further enhance the safety of the medical examination bed.

[0075] The following description uses a specific embodiment as an example. Taking the pressure sensor installed at the overall load-bearing position of the medical examination bed, specifically below the guide shaft and under the reducer, as an example... Figure 5 This is a flowchart of another collision detection method according to an embodiment of this application, such as... Figure 5 As shown, the process includes the following steps:

[0076] Step S501, Start the process; The operator presses the motion button on the control box to instruct the medical examination bed to start moving.

[0077] Step S502: Obtain the start-up process time based on the motion conditions.

[0078] Step S503: Collision detection begins after the start-up time has elapsed.

[0079] Step S504: Determine whether the current pressure increment value is not 0.

[0080] In step S505, if the judgment result of step S504 is negative, it means that the medical examination bed has not been moved. The incremental array needs to be cleared and assigned a value of 0. At the same time, return to step S503 to continue waiting for the start time to pass before starting the test.

[0081] Step S506: If the judgment result of step S504 is yes, then the current pressure increment information is stored in the increment array, and the pressure increment information in the increment array is accumulated and summed.

[0082] Step S507: Determine whether the absolute value of the cumulative increment is greater than the preset increment threshold and has been there for a period of time; if not, it means that the medical examination bed has not collided, and return to step S505 above to clear the increment array and wait for the next collision detection.

[0083] Step S508: If the judgment result of step S507 is yes, then a collision is triggered, and the collision pressure value at this moment is recorded; at this time, the medical examination bed can be controlled to stop moving.

[0084] Step S509: When it is detected that the operator has pressed any movement button, the medical examination bed is controlled to start moving in the opposite direction.

[0085] Step S510: Determine whether the difference between the collected real-time pressure value and the collision pressure value is greater than a preset difference threshold; if not, control the medical examination bed to continue moving in the opposite direction.

[0086] In step S511, if the judgment result of step S510 is yes, it means that the medical examination bed has cleared the collision and returns to step S503 to wait for the next collision detection.

[0087] The collision detection method implemented through the above embodiments allows for arbitrary installation of pressure sensors, eliminating the need for specific installation in relatively static locations. This detection method requires no calibration of comparison values ​​and has no zero point; it automatically detects from the start of movement, offering high flexibility. Compared to traditional detection methods, it can identify and stably trigger conditions under slow force application, automatically recognizing fluctuations caused by motion without triggering due to these fluctuations. Furthermore, when the pressure sensor is installed below the reducer, the installation process and movement-induced lead screw fluctuations can significantly impact detection, easily leading to false triggering using traditional fixed pressure comparison methods. Therefore, this embodiment implements collision detection based on the monotonically continuous incremental detection described above, thereby distinguishing between normal operating conditions and motion fluctuations, effectively preventing false triggering of collision detection.

[0088] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0089] This embodiment also provides a collision detection device applied to a medical examination bed equipped with a pressure sensor. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the terms "module," "unit," "subunit," etc., can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0090] Figure 6 This is a structural block diagram of a collision detection device according to an embodiment of this application, such as... Figure 6 As shown, the device includes: an acquisition module 61, used to acquire pressure sensing information collected in real time by a pressure sensor during the movement of the medical examination bed; an incremental detection module 62, used to determine pressure increment information based on the pressure sensing information; and a collision detection module 63, used to detect whether the medical examination bed has collided based on the pressure increment information.

[0091] In some embodiments, the acquisition module 61 is further configured to acquire a preset startup time parameter; the acquisition module 61 acquires pressure sensing information when the current startup duration meets the startup time parameter.

[0092] In some embodiments, the incremental detection module 62 is further used to calculate the difference between the pressure sensing information at the current moment and the pressure sensing information at the previous moment, to obtain pressure increment information.

[0093] In some embodiments, the collision detection module 63 is further configured to obtain a preset initial incremental value and calculate an incremental cumulative value of pressure increment information based on the initial incremental value; the collision detection module 63 compares the incremental cumulative value with a preset incremental threshold, and if the comparison result is that the incremental cumulative value is greater than the incremental threshold, it is determined that a collision has occurred on the medical examination bed.

[0094] In some embodiments, the collision detection device further includes a reverse motion module; the reverse motion module is used to detect motion commands for the medical examination bed; and in response to the motion commands, to control the medical examination bed to perform reverse motion.

[0095] In some embodiments, the aforementioned reverse motion module is further configured to acquire the collision pressure value of the medical examination bed and acquire real-time pressure information of the medical examination bed during the reverse motion process; the reverse motion module detects whether the medical examination bed has cleared the collision based on the difference between the real-time pressure information and the collision pressure value.

[0096] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0097] This embodiment also provides a medical device including a medical examination bed and a controller; wherein, the medical examination bed is provided with a pressure sensor; the controller stores a computer program, and when the computer program is executed by a processor, it implements the steps of the collision detection method described in any of the above embodiments.

[0098] This embodiment also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0099] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0100] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0101] S1 acquires pressure sensing information collected in real time by pressure sensors during the movement of the medical examination bed.

[0102] S2, based on pressure sensing information, determines the pressure increment information.

[0103] S3 detects whether the medical examination bed has collided based on the pressure increment information.

[0104] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0105] Furthermore, in conjunction with the collision detection methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the collision detection methods in the above embodiments.

[0106] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0107] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A collision detection method, characterized in that, Applied to a medical examination bed equipped with a pressure sensor; the method includes: During the movement of the medical examination bed, the pressure sensing information collected in real time by the pressure sensor is acquired; Based on the pressure sensing information, the pressure increment information is determined; Based on the pressure increment information, it is detected whether the medical examination bed has collided.

2. The collision detection method according to claim 1, characterized in that, The medical examination bed also includes a base and a speed reducer disposed on the base; the pressure sensor is installed between the speed reducer and the base.

3. The collision detection method according to claim 2, characterized in that, The step of acquiring the pressure sensing information collected in real time by the pressure sensor includes: Obtain the preset startup time parameters; If the current startup duration meets the startup time parameter, the pressure sensing information is acquired.

4. The collision detection method according to any one of claims 1 to 3, characterized in that, The step of determining the pressure increment information based on the pressure sensing information includes: The pressure increment information is obtained by calculating the difference between the pressure sensing information at the current moment and the pressure sensing information at the previous moment.

5. The collision detection method according to any one of claims 1 to 3, characterized in that, The step of detecting whether the medical examination bed has collided based on the pressure increment information includes: Obtain a preset initial value for the increment, and calculate the cumulative value of the increment of the pressure increment information based on the initial value for the increment; The incremental cumulative value is compared with a preset incremental threshold. If the comparison result is that the incremental cumulative value is greater than the incremental threshold, it is determined that the medical examination bed has collided.

6. The collision detection method according to any one of claims 1 to 3, characterized in that, If a collision is detected in the medical examination bed based on the pressure increment information, the method further includes: Detect movement commands directed at the medical examination bed; In response to the motion command, the medical examination bed is controlled to perform a reverse motion.

7. The collision detection method according to claim 6, characterized in that, The method further includes: The collision pressure value of the medical examination bed is obtained, and the real-time pressure information of the medical examination bed during the reverse movement process is obtained. The medical examination bed is used to detect whether the collision has been cleared based on the difference between the real-time pressure information and the collision pressure value.

8. A collision detection device, characterized in that, A device for use on a medical examination bed equipped with a pressure sensor; the device includes: The acquisition module is used to acquire pressure sensing information collected in real time by the pressure sensor during the movement of the medical examination bed; The incremental detection module is used to determine the pressure increment information based on the pressure sensing information; The collision detection module is used to detect whether the medical examination bed has collided based on the pressure increment information.

9. A medical device, characterized in that, It includes a medical examination bed and a controller; wherein the medical examination bed is equipped with a pressure sensor; The controller stores a computer program, which, when executed by a processor, implements the steps of the collision detection method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the steps of the collision detection method according to any one of claims 1 to 7 when it is run.

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