PROTECTIVE DEVICE FOR ARRANGEMENT ON Omni-WHEEL OF MOBILE MEDICAL APPARATUS AND MEDICAL APPARATUS

Abstract

In order to enable good collision monitoring even in the case of very small obstacles, a protective device is provided which is arranged on an omnidirectional wheel for a mobile medical device, having a substantially annular frame which has an upper side, a lower side and a plurality of deflection elements which are fixed to the lower side of the frame in a deformable or deflectable manner, the frame can be mounted on the omni-directional wheel perpendicularly to the wheel plane such that it surrounds the omni-directional wheel in a ring shape, the underside faces the underside, and the deflection elements extend along their longitudinal axes, in particular substantially perpendicularly, in the direction of the underside, at least one sensor is arranged on the lower side of the frame and is designed to detect a deformation or deflection of at least one of the deflection elements in such a way that the at least one deflection element can enter a deformed or deflected second position from an undeformed or deflected first position, in particular by an external force, in the second position, the deflection element touches, for example, contacts or applies pressure to the sensor.

Description

Technical Field

[0001] The present invention relates to a protective device for being arranged on an omnidirectional wheel for a mobile medical device according to claim 1, and to a medical device according to claim 10. Background Technology

[0002] A major problem with automatically moving or traveling medical equipment (such as mobile C-arm X-ray machines) in examination rooms or operating rooms is the potential for collisions with other equipment or objects. To prevent this, a collision detection system is known, for example, having proximity sensors arranged on the equipment cart to detect obstacles before a collision occurs. However, small objects such as cables are easily overlooked. For example, with such small objects, there is a high risk that the wheels of the medical equipment's cart could collide with a cable and become entangled under / in the wheel. In this case, the corresponding cable or wheel may be damaged, or the equipment cart may become tangled with the cable, hindering its movement. In the worst case, this could lead to serious damage to the equipment or endanger personnel. To prevent this, operators check the planned path of the medical equipment or use cameras to do so, but this is complex and should be avoided, especially in the case of self-propelled equipment. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a device for mobile medical equipment that can avoid dangers even caused by small obstacles. Furthermore, the technical problem to be solved by the present invention is to provide a corresponding medical device.

[0004] The present invention is solved by a protective device according to claim 1 for arrangement on omnidirectional wheels for use in mobile medical devices and a medical device with a protective device according to claim 10. Advantageous embodiments of the invention are the subject of the relevant dependent claims.

[0005] The protective device according to the invention for mounting on omnidirectional wheels of a mobile medical device that can travel on a bottom surface (e.g., the floor of an examination room) has a substantially annular frame with an upper side, a lower side, and a plurality of deformable or deflectable deflecting elements fixed to the lower side of the frame. The frame can be mounted perpendicular to the wheel plane on the omnidirectional wheel such that it surrounds the omnidirectional wheel in a ring, with its lower side facing the bottom surface, and the deflecting elements extending along their longitudinal axes, particularly substantially perpendicularly, in the direction of the bottom surface. At least one sensor is arranged on the lower side of the frame and is designed to detect deformation or deflection of at least one of the deflecting elements by means that at least one deflecting element, particularly by the application of an external force, can move from a first position of no deformation or deflection to a second position of deformation or deflection, in which the deflecting element contacts the sensor, for example, by (electrical) contact or by applying pressure to the sensor. The protective device can be mounted on one or (in multiple designs) multiple omnidirectional wheels of the medical device's cart. The deflection elements arranged on the lower side of the frame are deformable or deflectable, ensuring the sensitivity of the protection device even in the presence of small obstacles such as cables.

[0006] If the omnidirectional wheel moves onto a cable (or other small obstacle) that cannot be easily pushed away, at least one or more deflecting elements deform or deflect from a first position to a second position and press against the sensor. The obstacle is detected by touch (contact) or pressure. As a result, automated measures can then be activated to indicate the danger, such as by issuing a warning signal or sending a message to the operator, or to overcome the danger, such as by stopping or reversing the movement of one or more (equipment cart) wheels. Collision detection can also be provided for small obstacles that would otherwise be difficult to detect, thanks to the protective device. The protective device significantly reduces the risk of damage to cables, other objects, and the medical equipment itself. Alternatively, for very light obstacles, the deflecting elements can move the obstacle away from the path of the omnidirectional wheel, thus ensuring free and undisturbed forward movement.

[0007] According to the design of the present invention, the frame is designed to be substantially flat, and when mounted on a wheel, the frame plane is arranged substantially parallel to the bottom surface on which the omnidirectional wheel can move. Therefore, the frame can be manufactured and assembled in a simple manner.

[0008] According to another design of the invention, the deflecting element is constructed to be elongated, such as columnar or piling-shaped, and extends perpendicular to the plane of the frame. The deflecting element may also have protrusions (e.g., arranged laterally).

[0009] The invention also includes a medical device having a device cart with at least two, particularly four, omnidirectional wheels, on which the aforementioned protective devices are arranged respectively. Specifically, the medical device has a control unit designed to control the actions of the medical device. Such actions may be, for example, the output of a (visual or auditory) display or an emergency stop or backward movement of the device.

[0010] The medical device is advantageously designed as a mobile C-arm X-ray device. In particular, the medical device has four drive-controlled omnidirectional wheels, each with protective devices, and is designed to move autonomously under the control of a control unit.

[0011] According to the design of the present invention, the sensor is designed as a contact sensor and / or a pressure sensor. These types of sensors represent a simple and efficient design for a sensor element for detecting contact by at least one of the deflecting elements. A pressure sensor can, for example, be formed of a switch bar surrounded by a protective element, which is pressed by the deflecting element when force / pressure is applied, thereby detecting an impact. For example, a contact sensor can also be designed based on a capacitive or inductive sensor that is activated accordingly.

[0012] According to another design of the invention, the protective device has a signal transmission unit designed to transmit a signal to the control unit of the medical device upon detection. Signal transmission occurs if a touch is detected by a corresponding sensor. The signal transmission unit can be designed, for example, for wireless signal transmission, such as based on radio, WLAN, Bluetooth, or other known methods.

[0013] According to another design of the invention, the sensor is constructed in a ring shape, for example, in a shape similar to and / or adapted to the frame. For example, the sensor element can also be constructed in a ring shape, and the corresponding ring can be arranged on the underside of the frame, slightly spaced from the deflection element located in the first position. Multiple individual sensor elements can also be provided, which together perform the function of the sensor. For example, there can be one sensor element for each deflection element. These can then be arranged, for example, along the frame, such that when the deflection element deforms to a second position, at least one sensor element detects an obstacle (e.g., by touch, electrical contact, or pressure).

[0014] According to another design of the invention, the frame is designed to be enclosed. For example, it can simply surround and arrange the omnidirectional wheels separately. The frame is particularly circular or rectangular. The rectangular shape may have rounded corners.

[0015] According to another design of the invention, the deflecting elements are arranged to be distributed along the frame. In this way, seamless monitoring is possible, allowing for the detection of all obstacles. Fewer or no deflecting elements are arranged in the area of ​​the shaft, and a particularly large number of deflecting elements are arranged in the rolling surfaces of the omnidirectional wheels or in the areas of the rollers, as these always encounter obstacles first. In particular, the deflecting elements are constructed in a long strip shape and are fixed to the frame in such a way that they extend perpendicular to the plane of the frame and do not contact the floor of the inspection chamber. Attached Figure Description

[0016] The invention and further advantageous embodiments according to the features of the dependent claims are explained in more detail below using embodiments schematically illustrated in the accompanying drawings, but the invention is not limited to these embodiments. Drawings:

[0017] Figure 1 A three-dimensional top view of the upper side of the protective device is shown;

[0018] Figure 2 A three-dimensional top view of the lower side of the protective device is shown;

[0019] Figure 3 A top view showing the protective device arranged on the omnidirectional wheel;

[0020] Figure 4 A side view of the protective device arranged on the omnidirectional wheel is shown;

[0021] Figure 5 The deflection element is shown in the first position;

[0022] Figure 6 The deflection element is shown in the second position; and

[0023] Figure 7 This shows a view of a mobile C-arm X-ray machine with four wheels, each wheel having a protective device. Detailed Implementation

[0024] exist Figure 1 The top view shows a perspective top view of the protective device 9 for the omnidirectional wheels of medical equipment and... Figure 2As shown below, the protective device 9 has a frame 11 with an upper side 14 and a lower side 15, wherein a plurality of deflecting elements 12 and sensors 13 are arranged on the lower side 15. The frame 11 is annular, for example, a rounded rectangular shape, and may be flat, such that the frame has a frame plane. The deflecting elements 12 are arranged on the lower side 15 of the frame 11, for example, fixed or inserted therein by fixing elements 25 (screws, nails, clamps, etc.). The deflecting elements 12 are, for example, cylindrical or peg-shaped and extend along their longitudinal axis, preferably substantially perpendicular to the frame plane of the frame 11. The deflecting elements 12 may also be arranged at an angle to the frame plane. In the example shown, the deflecting elements 12 also have attached protrusions 26, which facilitate improved activation of the sensors 13 and thus increase the sensitivity of the protective device. When the protective device 9 is mounted on the omnidirectional wheel 10, the deflecting elements 12 extend in their longitudinal orientation toward the direction of the bottom surface 17 (i.e., toward the floor of the examination room), but do not contact it, see, for example Figure 4 In the installed configuration, the omnidirectional wheel is located within the receiving opening of the frame. The frame plane is specifically parallel to the bottom surface 17. The deflecting element 12 preferably has a small distance from the (flat) bottom surface, for example, between 1 and 5 mm, so as not to deform or deflect due to accidental contact with the bottom surface, and to be able to drive over steps and thresholds unimpeded. The basic shape of the undeformed or undeflected deflecting element 12 corresponds to the first undeformed position on a single deflecting element 12, such as... Figure 5 As shown. The cable 16 shown here is still far enough away from the deflection element 12 to avoid deformation or deviation.

[0025] The deflecting elements 12 are distributed along the frame 11. Here, a plurality of deflecting elements 12 are preferably mounted closely and continuously along one or more sides of the frame 11 in front of the rolling face of the omnidirectional wheel 10, so as to ensure particularly good monitoring even in the case of very small obstacles. Conversely, fewer deflecting elements 12 are arranged along one or more sides of the frame 11 in the region of the omnidirectional wheel 10's axle. Figure 3 An omnidirectional wheel 10 with a protective device 9 mounted on it is shown. The protective device 9 can be mounted on the omnidirectional wheel 10, for example, by screwing, clamping, gluing or other fixing methods on the wheel itself or the axle.

[0026] In addition to being cylindrical or peg-shaped, the deflecting elements 12 each have an attached protrusion 26. The sensor 13, arranged on the lower side 15 of the frame 11, can also be designed as annular, partially annular, or otherwise adapted to the shape of the frame 11. Multiple sensor elements can also be provided. The sensor 13 is arranged relative to the deflecting element 12 such that deformation or deflection of at least one deflecting element 12 causes the deflecting element 12 to contact the sensor 13 or apply pressure to the sensor 13, particularly in the protrusion region. This typically means that the sensor 13 is arranged behind the deflecting element 12 or closer to the receiving opening of the frame for the wheel than the deflecting element 12. The protrusion 26 (if present) is arranged on the side of the respective deflecting element 12 facing the sensor 13. Depending on the type of sensor 13, a signal can then be generated, for example, by touch, electrical contact, or pressure. Figure 6 The deflecting element 12 is shown in a deformed second position, where contact with the sensor 13 occurs. This corresponds to the detection of an obstacle, in the form of a cable 16, which collides with or at least contacts the deflecting element 12.

[0027] The deflection element 12 is designed to be flexibly deformable, for example, made of a rubber compound or deformable plastic. The degree of deformability can be adjusted as needed for the corresponding protective device 9. The deflection element should have sufficient stability (not too soft) to avoid unnecessary false alarms, so that light obstacles can be pushed off the path by the protective device, and, for example, to apply the necessary pressure in the case of a pressure sensor. At the same time, sufficient flexibility must be ensured so that in the case of a more rigid obstacle, the corresponding deflection element 12 can deform to a second position by external force (obstacle) to detect the obstacle. Additionally, the deflection element can also be designed or arranged to deflect outwards, for example, by arranging spring elements for fixation to the frame.

[0028] Sensor 13 can be designed, for example, as a touch sensor, contact sensor, and / or pressure sensor. A pressure sensor can, for example, include a switch bar surrounded by a protective element, which is pressed by a deflector element and thereby detects an obstacle when force / pressure is applied. A contact sensor can also be designed, for example, based on a capacitive or inductive sensor, which is activated accordingly, or activated, for example, by closing a circuit upon contact with a deflector element.

[0029] The protective device also includes a signal transmission unit designed to forward a signal to a control unit, such as that of a medical device, when an obstacle is detected. The control unit can then control appropriate measures based on the forwarded signal, such as stopping or reversing the movement of the medical device and / or outputting visual or auditory warnings.

[0030] Figure 7A medical device in the form of a mobile C-arm X-ray device 20 is shown, which has a device carriage 19 with four omnidirectional wheels 10 (e.g., Mecanum wheels) and protective devices 9 fixed to each omnidirectional wheel. The device carriage 19 carries a C-arm 21, and an X-ray detector 22 and an X-ray source 23 are adjustablely held on the C-arm 21. The mobile C-arm X-ray device 20 also has a control unit 18 that controls all movements. The mobile C-arm X-ray device 20 is designed to be self-propelled, meaning that the omnidirectional wheels 10 have actuators that can be controlled by the control unit 18 to perform any movement. For example, the mobile C-arm X-ray device 20 can be moved from one examination room to another or to a desired position within an examination room. In the event of an obstruction, the signal transmission unit of the corresponding protective device 9 sends a signal to the control unit 18, which then triggers a corresponding action, such as stopping or reversing the movement of the mobile C-arm X-ray device 20, or issuing a warning on the display unit 24 or via a microphone.

[0031] For assembly, frame 11 is placed around omnidirectional wheel 10 and, for example, fixed to omnidirectional wheel or its axle. When connected to the wheel, the lower side 15 of frame 11 faces the bottom surface 17. Frame 11 has a flexible deflecting element, for example made of rubber, which deflects light obstacles from the path and detects heavier obstacles. Flexibility is important so that it can pass unimpeded over thresholds or steps. To prevent the wheel from traveling on the cable, a conductive sensor is arranged directly behind the deflecting element so that, due to its special geometry, the sensor is activated upon impact, thereby sending a signal to the central control unit, which can, for example, perform an emergency stop. Small obstacles, such as cables, can be detected, preventing cable damage and obstruction of movement of medical equipment.

[0032] The invention can be briefly summarized as follows: To enable effective collision monitoring even with very small obstacles, a protective device is provided for an omnidirectional wheel of a mobile medical device. This protective device has a substantially annular frame with a plurality of deformable or deflectable deflecting elements on an upper, lower, and fixed frame. The frame can be mounted perpendicular to the wheel plane such that it surrounds the omnidirectional wheel in a ring, with its lower surface facing the bottom surface. The deflecting elements extend along their longitudinal axis, particularly substantially perpendicularly, in the direction of the bottom surface, and are designed to detect deformation or deflection of at least one of the deflecting elements by means of at least one deflecting element, particularly by the application of an external force, moving from a first position of no deformation or deflection to a second position of deformation or deflection, in which the deflecting element contacts a sensor, for example, by contact or by applying pressure.

Claims

1. A protective device (9) for mounting on an omnidirectional wheel (10) for use in a mobile medical device (20) that can travel on a bottom surface (17), having a substantially annular frame (11) having an upper side (14), a lower side (15), and a plurality of deformable or deflectable deflecting elements (12) fixed to the lower side (15) of the frame (11), the frame (11) being able to be mounted perpendicular to the wheel plane on the omnidirectional wheel (10) such that it annularly surrounds the omnidirectional wheel (10), the lower side (15) facing the bottom surface (17) and The deflection element (12) extends along its longitudinal axis, particularly in a direction substantially perpendicular to the bottom surface, and at least one of the sensors (13) is arranged on the underside (15) of the frame (11) and is designed to detect the deformation or deflection of at least one of the deflection elements (12) in such a way that at least one deflection element (12) can move from a first position of no deformation or deflection to a second position of deformation or deflection, in which the deflection element (12) touches the sensor (13).

2. The protection device (9) according to claim 1, wherein, The sensor (13) is designed as a touch sensor or a pressure sensor.

3. The protective device (9) according to any one of the preceding claims has a signal transmission unit designed to transmit a signal to the control unit of the medical device (20) during detection.

4. The protective device (9) according to any one of the preceding claims, wherein, The sensor (13) is constructed in a ring shape.

5. The protective device according to any one of the preceding claims, wherein, The frame (11) is constructed to be substantially flat, and the planes of the frame are arranged parallel to the bottom surface (17).

6. The protective device according to any one of the preceding claims, wherein, The deflection element (12) is configured to be elongated and extend perpendicular to the plane of the frame.

7. The protective device (9) according to any one of the preceding claims, wherein, The frame (11) is constructed to be closed.

8. The protective device (9) according to any one of the preceding claims, wherein, The deflection elements (12) are arranged to be distributed along the frame (11).

9. The protective device (9) according to any one of the preceding claims, wherein, The frame (11) is constructed to be circular or rectangular.

10. A medical device having a device cart having at least two, in particular four, omnidirectional wheels (10), on which protective devices (9) according to any one of claims 1 to 9 are respectively arranged.

11. A medical device having a control unit (18), wherein, The control unit (18) is configured to operate the medical device.

12. The medical device according to claim 10 or 11, wherein the device is configured as a mobile C-arm X-ray device (20).

13. The medical device according to any one of claims 11 or 12, wherein the medical device has four drive-operated omnidirectional wheels (10), each of the omnidirectional wheels having a protective device (9), wherein, The medical device is configured to drive itself under the control of the control unit (18).

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