Medical device system and method for identifying undershoots in a medical device system

Abstract

This invention relates to a medical device system having a movable first device unit and a movable second device unit. The movable second device unit has a movable device arm with at least one articulated element and at least one sensor for detecting the attitude of the at least one articulated element. The device system also includes a control unit signal-connected to the at least one sensor, wherein articulated attitude signals detected by the sensor can be transmitted to the control unit. The control unit is configured to identify insufficient spacing between the first device unit and the second device unit based on the attitude of the first device unit and the transmitted articulated attitude signals.

Description

Technical Field

[0001] In this application, nouns and pronouns referring to people are generally not specific to gender.

[0002] This invention relates to a medical device system and a method for identifying insufficient spacing in the medical device system. Background Technology

[0003] Medical device systems typically consist of multiple individual device units that can move relative to each other. Examples include angiography systems commonly used to assist in imaging procedures. Such systems can incorporate imaging devices such as CT scanners, MR scanners, or, in particular, C-arm scanners. Angiography systems can also have screens or other types of optical displays, allowing medical professionals to view medical images taken by the imaging device during surgery or treatment.

[0004] To achieve high flexibility in system use, and especially to enable situation-based positioning of the equipment, the equipment units are implemented movable relative to each other. During treatment or surgery, both the imaging device and the display used to show the captured medical images move around.

[0005] This introduces the risk of equipment colliding with each other, which could lead to surgical interruptions, equipment damage, and / or malfunctions in medical equipment systems. Summary of the Invention

[0006] Therefore, the object of this invention is to improve a medical device system. In particular, the invention should prevent damage to the medical device system. In particular, the invention should improve the usability of the medical device system. In particular, the invention should facilitate the operation of the medical device system. In particular, the invention should prevent collisions between the device units of the medical device system.

[0007] According to the present invention, the objective is achieved by the method and apparatus according to the present invention. Preferred embodiments are given herein.

[0008] According to one aspect of the present invention, a medical device system is provided. The medical device system has a movable first device unit. The medical device system also has a movable second device unit. The movable second device unit has a movable device arm. The device arm includes at least one hinge element. At least one sensor is configured to detect the attitude of the hinge element. Preferably, the sensor is disposed at the hinge element. The medical device system further has at least one control unit signal-connected to the at least one sensor. The hinge attitude signal detected by the sensor can be transmitted to the control unit. The control unit is configured to identify insufficient spacing between the first device unit and the second device unit based on the hinge attitude signal detected by the sensor and transmitted to the control unit. Preferably, the control unit is further configured to identify insufficient spacing based on the attitude of the first device unit.

[0009] The term "movable device unit" should be understood broadly within the scope of this invention. In particular, it should be understood as a device unit whose spatial position and / or orientation can be changed. For example, a device unit can be movable or pivotable. The following interpretation generally refers to device units and thereby includes both first and second device units.

[0010] The terms “posture” and / or “position” should be understood broadly hereafter. These terms are used synonymously in principle in the current implementation. The terms specifically describe where the body is located relative to a coordinate system. Additionally or alternatively, the terms describe the orientation or orientation of the body relative to the coordinate system. For example, if we are currently referring to detecting position or posture, this means detecting where the body is located and / or how the body is positioned, where only one of these two possibilities can exist, or both possibilities can be implemented.

[0011] Preferably, the device unit can be, for example, a medical imaging device movable in space, or can include a medical imaging device movable in space. The device unit can, for example, have a movement and / or adjustment system, particularly a track system mounted on the floor, walls, and / or ceiling, such as a ceiling-suspended track system. Additionally or alternatively, the device unit can be designed as a so-called dual-plane system, which enables movement in at least one plane unfolded by two axes. Additionally or alternatively, the device unit can be rotatable, allowing its orientation to change about a certain point of rotation or axis of rotation. Additionally or alternatively, the device unit can move in space as a whole, for example, by means of a movement system. The movement system can, for example, have rollers, by which the device unit can move on the ground.

[0012] The device unit can have a movable, particularly pivotable, device arm. Within the scope of the invention, "pivotable" can be understood in particular as such that one end of the device arm is fixed, for example, to the ceiling of a room, and the device arm can move about the fixed end. In particular, when the device unit includes a display, the first end of the device arm can be fastened to the ceiling, or fastened to the ceiling. The second end of the device arm, opposite the first end, can include a display bracket for fastening the display. Additionally or alternatively, an optical display can be fastened at the second end.

[0013] Therefore, the display can move in space through the movement of the device arm, especially through the pivoting of the device arm. This has the advantage that medical professionals can position the display according to the application. For example, the position can be selected in relation to the action to be performed during surgery. However, this also introduces the risk of collision between the display and other objects or device units, such as imaging devices that can also be freely positioned. It goes without saying that the first and / or second device unit can be included in the device arm configured in the sense of the above embodiments.

[0014] The term "hinged element" should be understood broadly hereafter, and includes elements that connect two components or connect components to a structure and allow relative movement of the components. For example, a hinged element can be used to connect two sections of an equipment arm. However, a hinged element can also be configured to connect a component, such as an equipment arm, to a structure of the surrounding environment, such as to the ceiling of an inspection room. A hinged element can allow one or more types of relative movement. For example, a hinged element can allow relative rotational movement of the connected components about a rotation axis and / or relative longitudinal movement of the connected components along a longitudinal axis.

[0015] In a preferred embodiment, at least one hinge element is a rotary hinge, meaning that the rotary hinge allows the member to rotate about a hinge axis or hinge point. The hinge element can be, for example, a hinge or a ball-and-socket joint. At least one sensor for detecting the attitude of the rotary hinge can be an angle sensor.

[0016] In a preferred embodiment, at least one hinge element is a track element, meaning the hinge element enables longitudinal movement of the two components toward each other along an axis. At least one sensor for detecting the attitude of the track element can be a displacement measurement sensor. For example, the device arm can be secured to the ceiling of the room by means of the track element.

[0017] Within the scope of this disclosure, the term "sensor" should be interpreted broadly, and in particular includes mechanisms for detecting the attitude of at least one articulated element, regardless of how the attitude of the articulated element is specifically detected. The key is simply that attitude measurement is performed by the sensor. The sensor is particularly capable of providing digital or analog output signals that can be evaluated in an evaluation device, for example, by evaluation circuitry.

[0018] The sensor can be implemented as an incremental encoder or an absolute encoder. An incremental encoder provides a specific number of step pulses per unit of motion, from which changes in attitude can be determined. For example, optical scales, magnetic measuring devices, or gears or toothed tracks can be used for detection. The signal from the incremental encoder can be used together with a reference signal characterizing the zero or initial position for position determination. An absolute encoder provides an absolute measurement signal from which the position or attitude of the hinge can be directly derived.

[0019] Preferably, the orientation of at least one portion of the device arm, particularly one or more articulated elements, and / or the orientation of one or more segments of the device arm can be measured. The overall orientation of the device arm can be determined based on measurements of the orientation of the articulated elements and / or the orientation of the segments of the device arm. Alternatively or additionally, the overall orientation of the device arm can also be measured, for example by a camera, to obtain a second position value, which can be used, for example, for verification purposes.

[0020] The sensor is preferably located at or within the hinge element. This protects the sensor from damage. Furthermore, the measurement of the hinge element's attitude is minimized by external influences. For example, measurements from sensors spaced apart from the hinge element, such as those from a camera detecting the attitude of a machine arm, may be obstructed or degraded by objects or people positioned between the sensor and the machine arm. Conversely, if the sensor is located at or within the hinge element, the measurement is less affected by interfering variables. Therefore, measurement accuracy is improved.

[0021] Therefore, preferably, at least one sensor is disposed at at least one hinge element. Preferably, the at least one sensor constitutes a means of detecting the attitude of at least one hinge element. For example, in the case of a rotating hinge, a rotary encoder can be provided to detect the relative movement of the arm segments toward each other. The attitude detected by the rotary encoder can be transmitted to a control unit for determining the attitude of the device arm. Based on the attitude of the device arm, the position and / or orientation of the second device in space can be determined.

[0022] By placing sensors at the hinge elements, the attitude and / or position of the device units can be determined in a space-saving manner. Furthermore, the sensors are precisely positioned where relative motion occurs, i.e., within the hinge elements, resulting in particularly accurate measurements that are less affected by interfering variables.

[0023] The signal connection between the control unit and the sensor allows information to be transmitted between them. This transmitted information can, in particular, include measurement signals. For example, the measurement signals can be recorded by the sensor and transmitted to the control unit for evaluation. However, it is also possible for the sensor to include distributed evaluation units configured to evaluate the measurement signals recorded by the sensor, particularly for preparing the measurement signals for processing by the control unit.

[0024] The control unit can be configured, for example, as a programmable data processing device, or its functionality can be implemented at least partially in hardware. The control unit can be integrated into a device unit, particularly a medical imaging device, or configured separately from it. For example, it can be implemented as a workstation computer, a server, or a cloud solution. Furthermore, the control unit can be distributed across multiple different hardware components. For example, a portion of the control unit can be located in or at a first device unit, and another portion of the control unit can be located in or at a second device unit.

[0025] The feature “identification of insufficient spacing” should be interpreted broadly. In particular, it can include identifying actual insufficient spacing between the first and second device units. Additionally or alternatively, it can identify insufficient spacing that may occur in the future, for example, when the movement of the first and / or second device units is carried out as planned. This enables proactive control of the medical device system, allowing potential insufficient spacing or other risks to be identified as early as possible. Additionally or alternatively, “identification of insufficient spacing” can also refer to insufficient spacing that has occurred in the past, for example, to simplify the retrospective analysis of existing insufficient spacing.

[0026] Insufficient spacing can specifically manifest as a collision or near-collision between the first and second device units. Here, the control unit can be configured to determine the current, future, and / or past spacing between the first and second device units. The determined spacing can be compared to a spacing limit value. When the spacing is below the spacing limit value, the control unit can determine that the spacing is insufficient.

[0027] In a preferred design, the control unit can be configured to trigger an action upon detection of insufficient spacing. For example, the control unit can be configured to send control signals to the first and / or second device units. The control signals can be adapted or configured to cause the first and / or second device units to come to a standstill. Alternatively or additionally, the control signals can be adapted and / or configured to alter the planned movement of the first and / or second device units. Additionally or alternatively, the control unit can be configured to trigger a warning signal upon detection of insufficient spacing. The warning signal can be, in particular, optical, acoustic, tactile, or otherwise designed warning signals, and / or can trigger or include a corresponding warning notification. For example, an acoustic warning signal can be output and / or a warning notification can be displayed on an optical display. In particular, a warning notification can be displayed on the optical display of the second device unit. Additionally or alternatively, suggestions for alternative movements and / or positioning, particularly for the first and / or second device units, can be output.

[0028] The construction described here allows for the effective identification of insufficient spacing between the first and second device units. Identifying existing or potential insufficient spacing is the first step in preventing it, thereby improving the safety and reliability of the medical device system, as collisions between the first and second device units are effectively prevented. Automated position monitoring simplifies the operation of the medical device system, as operators are no longer required to manually maintain the minimum spacing between the first and second device units. Damage to the device system is avoided, thus improving its availability, i.e., the number of hours the system can be used.

[0029] In a preferred embodiment, the device arm is configured in multiple sections, i.e., the device arm has multiple sections. Therefore, the device arm has at least two sections and hinge elements for connecting the two sections of the device arm. More preferably, the device arm has multiple sections, particularly two, three, four, five, or a corresponding number of sections, wherein hinge elements are respectively provided between two adjacent sections. The hinge elements allow relative movement of the sections arranged adjacent to each other. For example, a rotary hinge, considered a special form of hinge element, allows one section to twist relative to another section about one or more hinge axes.

[0030] Preferably, the first device unit has a position detection mechanism that is signal-connected to the control unit. The position detection mechanism can be configured to detect the current position of the first device unit, particularly its current orientation, current movement, planned position, particularly its planned orientation, and / or planned movement. The position detection mechanism can be, for example, a sensor for identifying the orientation and / or position and / or movement of the first device unit. Additionally or alternatively, the orientation and / or position and / or movement of the first device unit can also be provided to the control unit, for example, by the controller of the first device unit. In a particularly preferred embodiment, the control unit can include the controller of the first device unit.

[0031] Therefore, signals regarding the current position, current movement, planned position, and / or planned movement can be transmitted to and / or used by the control unit. More preferably, the control unit is also configured to identify insufficient spacing based on the position, orientation, and / or movement of the first device unit.

[0032] In this way, not only the orientation and / or position of the equipment arm of the second equipment unit or the orientation and / or position of the second equipment unit itself are used to determine the spacing, but also the planned or actual orientation, position, and / or movement of the first equipment unit are used to determine the spacing. This improves the accuracy of spacing determination when it is insufficient. Furthermore, it enables better prediction of future system behavior, as will be implemented in more detail below.

[0033] In a preferred embodiment, the movable first device unit includes a medical imaging device or a medical imaging apparatus. Alternatively or additionally, the second medical device unit may include an optical display disposed at the device arm. In this design, images captured by the first device unit using the medical imaging device can be displayed on, for example, the optical display of the second device unit. Preferably, the control unit is configured to detect insufficient clearance between the first device unit and the device arm, particularly insufficient clearance between the first device unit and the optical display, thereby preventing damage to the optical display.

[0034] As indicated above, the optical display is preferably located at the end of the device arm of the second device unit, so that the optical display can be positioned in space by the movement of the device arm, especially by the pivoting movement of the device arm. Thus, the optical display can be positioned with particular flexibility.

[0035] Preferably, the planned movement of the first device unit includes movements to be performed for medical image acquisition. For example, for medical image acquisition, it may be necessary for the first device unit or the imaging device of the first device unit to move around, for example, a patient who can be positioned on an operating table. Alternatively or additionally, the first device unit or the imaging device of the first device unit may be able to move along a longitudinal axis, particularly the z-axis, for example, to acquire medical images of a certain volume area of ​​the patient.

[0036] The motion required by the imaging device to capture one or more medical images can be known to the control unit or can be transmitted to the control unit. The control unit can be configured to calculate or obtain a motion trajectory based on the planned motion of the imaging device. The control unit can also be configured to determine, through the obtained motion trajectory, and / or whether there is insufficient spacing with the second device unit when implementing the planned motion of the imaging device.

[0037] Therefore, it is possible to identify potential collisions during the medical image acquisition planning stage, thereby enabling the acquisition to be planned so that the minimum spacing between the first and second device units is not violated during acquisition.

[0038] In some cases, different feasible movements of the imaging device can be used for capturing medical images. The control unit can be configured to change the planned movements of the imaging device so that the capture of medical images is performed at a distance not less than the minimum distance between the first device unit and the second device unit.

[0039] Therefore, alternative movements for capturing the same medical image can be suggested. Alternatively, similar images can be suggested, captured by means of movement of the imaging device that does not result in insufficient spacing. The suggestion of alternative movements can be displayed and / or a corresponding control signal can be provided by a control unit, which induces a corresponding alternative movement of the imaging device.

[0040] Preferably, the movable second device unit can be pivoted, particularly manually, via the device arm. The manual pivotability of the device arm has the advantage that no additional adjustment actuator is required to pivot the device arm, thus making the device arm particularly less prone to failure.

[0041] Preferably, the control unit is configured to identify insufficient spacing between the device arm in the second control unit and the first device unit. Therefore, the control unit can be configured to trigger the movement of the device arm more precisely, particularly by monitoring the hinge posture of the device arm's hinge elements, in order to protect specific parts of the device arm, such as the end of the device arm or objects disposed at the end, from collisions with the first device unit or insufficient spacing.

[0042] In a preferred embodiment, the movable second device unit includes an actuator signal-connected to the control unit at at least one of the hinge elements. The actuator allows the attitude of the hinge element to be set. To set the hinge attitude, a control signal can be transmitted from the control unit to the actuator.

[0043] Preferably, insufficient spacing can be identified based on control signals transmitted to the actuator and / or based on the articulated posture set by the actuator.

[0044] Therefore, in addition to or alternatively, determining the posture of the device arm based on measurement signals from at least one sensor, the posture of the device arm can be determined and / or the determined posture of the device arm can be checked based on control signals sent from the control unit to the actuator. The determination based on the sent control signals can be used to check the posture determined based on the measurement values. Conversely, the control signals transmitted to the actuator can be checked by the articulated posture and / or arm posture determined based on the measurement signals. Alternatively or additionally, the posture of the device arm can be determined based on a combination of measurement signals and control signals. This has the advantage of enabling more reliable operation of the medical device system. Furthermore, especially by checking and controlling the measurement signals with control signals, the position and posture of the device arm can be adjusted, allowing the device arm to be positioned more accurately and reliably.

[0045] In a preferred embodiment, at least one sensor is also an actuator. For example, the sensor can be a servo drive whose attitude is sensed. For instance, a rotary encoder can be provided to measure the attitude of an electric motor and transmit the corresponding signal to the control unit. This combination of actuator and sensor has the advantage that the components are very space-saving, requiring only a small installation space. However, the attitude of the hinge element, which can be adjusted by the actuator, does not necessarily need to be detected by the sensor. In this case, instead of a sensor, an actuator, such as an electric motor, can be provided whose adjustment variable, such as current, can be detected by the control unit. The control unit can be configured to determine the attitude of the hinge element and / or the entire device arm, thus the second device unit, based on the detected adjustment variable.

[0046] For example, a servo motor can be used as an actuator, which allows control of articulated posture and, optionally, control of regulated motion, i.e., regulation of speed and / or acceleration. A servo motor typically comprises an electric motor and a sensor for position determination. The servo motor can operate in a closed-loop control loop. This operation can be torque-regulated, speed-regulated, or position-regulated. Combinations are possible through nested control loops. By incorporating sensing detection of the electric motor's motion within the servo motor, the servo motor can simultaneously function as both a sensor and an actuator within the scope of this invention.

[0047] Alternatively or additionally, an electric stepper motor can be used as the actuator. Stepper motors can operate accurately without sensing mechanisms for position feedback, making them simpler and more cost-effective to construct than servo motors.

[0048] Preferably, the multi-joint machine arm can have multiple articulated elements. More preferably, a sensor for identifying the articulated posture is provided at each articulated element. Additionally or alternatively, an actuator for changing the articulated posture can be provided at each of the articulated elements. Each of the sensors and / or actuators can be signal-connected to a control unit. Therefore, the posture of the machine arm can be detected, controlled, and / or adjusted with particular precision.

[0049] In a preferred embodiment, the control unit is configured to determine the orientation of the device arm using forward kinematics. Specifically, the orientation of the suspension point at the first end of the device arm, for example, at the ceiling of the operating room, can be known. From this known point, the device arm can extend in multiple segments to its second end. Hinges, each equipped with a sensor for detecting the hinge orientation, can be provided between the segments. Measurements detected by the sensors, reflecting the corresponding hinge orientation, can be sent to the control unit. The control unit can access, for example, information about the kinematic relationships applicable to the device arm in its memory. In particular, the kinematic relationships can describe how the orientation of the device arm changes when one of the hinges changes its orientation. The control unit can be configured to determine the position and / or orientation of the device arm in space based on the kinematic relationships and the measurements detected by the sensors. In particular, the orientation of the second end of the device arm in space can be determined. Thus, for example, the orientation of a display disposed at the second end of the device arm can be determined.

[0050] The calculation of the device arm's posture and / or the position of the second end of the device arm can be performed in real time or near real time, enabling the monitoring of insufficient spacing even during the use of the device system. Real-time or near real-time calculation means that the calculation continues for an acceptable period of time. An acceptable period of time is, for example, less than 1 millisecond, less than 10 milliseconds, less than 100 milliseconds, or less than 1 second.

[0051] In a preferred embodiment, the control unit is configured to output a blocking signal when it detects insufficient clearance between a movable first device unit and a movable second device unit, the blocking signal causing the movement of the movable first device unit and / or the movable second device unit to stop. Therefore, collisions between the first and second device units can be reliably prevented, and damage to the first and / or second device units can be avoided.

[0052] In a preferred embodiment, the control unit is configured to trigger a backward movement of the first and / or second device units if insufficient clearance is detected between the first and second device units. This backward movement, for example, can move away from the direction of another device unit, thus completing an avoidance maneuver. This prevents a collision with the device unit itself, even if one of the device units might still move further due to inertia. This further improves safety during the operation of the medical device system.

[0053] Preferably, the control unit is configured to suggest alternative positions and / or alternative routes for the movement of the first and / or second device units when insufficient spacing is detected between the first and second device units. As explained above, this enables the performance of functions to be performed by either the first or second device unit, such as capturing medical images, despite the detection of insufficient spacing. Therefore, the robustness of the device system's functionality is improved.

[0054] The control unit can also be configured to send control signals to the first and / or second device units, the control signals causing the first and / or second device units to move according to a sought or suggested alternative position and / or alternative route. Therefore, the first and / or second device units, more specifically, one or more actuators of the corresponding device units, can be manipulated via the control signals.

[0055] In a preferred embodiment, at least one inertial measurement unit (IMU) is disposed at the device arm of the second device unit. More preferably, an IMU is disposed at least at the last segment of the device arm, i.e., at the segment preferably comprising the second end of the device arm. More preferably, an IMU is disposed at each segment of the device arm. Here, the IMU is configured to identify the orientation and / or movement of the device arm and / or the orientation and / or movement of the segment to which the IMU is disposed. At least one IMU is signal-connected to a control unit, wherein the control unit is configured to check the determined position of the device arm and / or the second end of the device arm and / or the segment to which the device arm belongs, based on the orientation and / or movement detected by the IMU. Therefore, the accuracy of the arm position determined by the control unit is improved. Furthermore, control feasibility for determining the arm position is realized.

[0056] The control unit can also be configured to send control signals to the second device unit, which trigger adjustments to the orientation and / or movement of the device arm when a check reveals that the desired position of the device arm no longer matches its preset position. Therefore, the control signals can correspondingly manipulate the second device unit, more specifically, manipulate one or more actuators of the second device unit. This reduces the discrepancy between the preset position and the actual occupied position of the device arm.

[0057] According to another aspect, the present invention relates to a method for identifying insufficient spacing in a medical device system. The medical device system can be configured in particular according to one embodiment of the above-described embodiments. The medical device system has at least a movable first device unit and a movable second device unit with a movable device arm. The device arm has at least one hinge element and at least one sensor for detecting the attitude of the at least one hinge element. The method comprises the following steps:

[0058] - Detect the attitude of at least one hinged element;

[0059] - Determine the attitude of the movable device arm based on the attitude of at least one hinge element;

[0060] - Based on the pose of the first device unit and the pose obtained from the device arm of the second device unit, identify insufficient spacing between the first device unit and the second device unit.

[0061] By employing methods to identify insufficient spacing in medical device systems, collisions that could potentially damage the devices between the first and second device units are avoided. Furthermore, the functionality and usability of the device system are improved.

[0062] Features already discussed in the context of one embodiment of the device system can be applied, along with the advantages mentioned, to other disclosed inventive subjects, particularly to the described method for identifying insufficient spacing.

[0063] The present invention also relates to a computer program having instructions configured to execute a method for identifying insufficient spacing when implemented by a control unit.

[0064] Furthermore, the present invention relates to a computer-readable data carrier having instructions configured to execute a method for identifying insufficient spacing when implemented by a control unit. Attached Figure Description

[0065] Other advantages and details of the invention will become apparent from the following embodiments and the accompanying drawings.

[0066] This is illustrated here:

[0067] Figure 1 Examples of medical device systems are shown, and

[0068] Figure 2 A flowchart is shown for a method used to identify insufficient spacing. Detailed Implementation

[0069] The embodiments described in detail below are preferred embodiments of the invention. To improve readability of the following embodiments, corresponding elements in similar embodiments are referred to by the same reference numerals.

[0070] exist Figure 1 A simplified diagram schematically illustrates a medical device system 10, which can be used, for example, for X-ray imaging. Figure 1 The example illustrates the construction of a device system 10 based on the principle of a C-arm device, which has an imaging device 26, and in particular a rotatable and movable C-arm 28, which can be rotated and moved accordingly to image the object to be imaged and / or the object to be examined, such as a patient located on the examination table 12, from different directions, i.e., at different shooting angles.

[0071] The device system 10 can be configured, for example, to perform rotational angiography based on the principle of subtraction angiography. In this case, multiple two-dimensional projections (also referred to herein as original images) taken from different angles can be generated. A three-dimensional reconstruction can be calculated from these projections by a computing unit if necessary. However, the device system 10 can also be configured according to other structures. In particular, this design is not limited in principle to X-ray-based imaging methods.

[0072] In this embodiment, the device system 10 has a first device unit 20. The first device unit 20 includes a moving track 22 along which the imaging device 26 can be moved. In addition to the previously mentioned C-arm 28, the imaging device 26 also includes a rotating device 24 by means of which the C-arm 28 can be rotated. Therefore, it is particularly possible to image the object being examined on the examination table 12 from different angles.

[0073] The movement of the C-arm 28 and the entire imaging device 26 is controlled by the control unit 60. Here, the imaging device 26 and / or the C-arm 28 can be moved manually, i.e., by muscle force and / or manual movement. Alternatively or additionally, the imaging device and / or the C-arm can be moved automatically, wherein the movement is preferably implemented by control commands aroused by the control unit 60.

[0074] The equipment system 10 also includes a second equipment unit 30. The second equipment unit 30 is mounted on the ceiling 14 of the room by means of a ceiling bracket. The second equipment unit 30 has a pivotable multi-jointed equipment arm 32, the first end 36 of which is disposed at the ceiling bracket. Thus, the first end 36 of the equipment arm 32 is immovable relative to the ceiling. The equipment arm 32 has multiple arm sections 43, 47, and 51, which are connected to each other by means of hinge elements 40, 44, and 48, respectively. The hinge elements 40, 44, and 48 are implemented as rotary hinges.

[0075] Therefore, the first arm segment 43 is connected to the ceiling 14 via a first rotating hinge 40 and is pivotable in a plane parallel to the ceiling 14, the first rotating hinge defining a rotation axis perpendicular to the ceiling 14. The second arm segment 47 is connected to the first arm segment 43 via a second hinge element 44, allowing the second arm segment 47 to pivot relative to the first arm segment 43 about a hinge axis. A third hinge element 48 is provided between the second arm segment 47 and the third arm segment 51, enabling the third arm segment 51 to pivot about the second arm segment 47. Therefore, the second end 38 of the device arm 32, opposite the first end 36, can move in space with a high degree of positioning freedom through the pivoting of the device arm 32. A screen 34 is provided at the second end 38, which can be positioned in space through the pivoting of the device arm 32.

[0076] The user of device system 10 can orient the screen 34 as required by specific circumstances, such as during surgery, by utilizing its free-positioning capability. However, this free-positioning capability introduces the risk of collision between the screen 34 or the entire second device unit 30 and the first device unit 20, especially when the first device unit 20 and the second device unit 30 are positioned independently of each other.

[0077] To avoid this situation, and especially to ensure that the distance between the first device unit 20 and the second device unit 30 is not less than a predetermined distance, at at least one hinge element, and currently at each of the hinge elements 40, 44, 48, a sensor 42, 46, 50 is provided, by means of which the attitude of the hinge element can be detected.

[0078] This enables the application of a method for identifying and optionally avoiding insufficient spacing between the first device unit 20 and the second device unit 30, as it is used in... Figure 2 The flowchart is shown schematically.

[0079] This method is particularly effective in real-time implementation during the use of medical device systems.

[0080] In step S1, the attitudes of the hinge elements 40, 44, and 48 are determined by sensors 42, 46, and 50, and transmitted to the control unit 60 via signal connections. Figure 1 The device arm 32 of the second device unit 30 shown can be manually pivoted. However, the inventive concept also includes at least one of the hinge elements 40, 44, 48 being equipped with an actuator so as to automatically set the posture of the corresponding hinge element 40, 44, 48.

[0081] In step S2, the measurement signals detected by sensors 42, 46, and 50 are evaluated by the control unit 60. Here, the orientation of the device arm 32, especially the positioning and / or orientation of the second end 38 of the device arm 32, is determined based on the measurement signals. For this purpose, information about the kinematics of the device arm 32, such as the lengths of the arm segments 43, 47, and 51, and the orientation and / or orientation of the hinge axis, can be used.

[0082] In step S3, the positioning and / or orientation of the first device unit 20 is determined or acquired. Step S3 is preferably performed simultaneously with steps S1 and S2, but it can also be performed at different times from the two steps. In particular, the control unit 60 can acquire and / or detect the next planned movement and / or action to be performed by the first device unit 20.

[0083] In step S4, based on the positioning and / or orientation of the first device unit 20 and the second device unit 30, the control unit 60 identifies whether a collision has occurred or will occur between the first device unit 20 and the second device unit 30 or whether the minimum distance between them is insufficient.

[0084] In step S5, measures are initiated by the control unit 60 to avoid insufficient minimum clearance or prevent a collision. If insufficient minimum clearance cannot be avoided or a collision cannot be prevented, the measures initiated by the control unit 60 aim to minimize the resulting damage. For example, the movement of the first and / or second device units 20, 30 can be stopped by a control signal sent by the control unit 60. Additionally or alternatively, alternative routes can be suggested for the movement of the first device unit 20 and / or the second device unit 30 and / or alternative routes can be triggered by corresponding control commands.

[0085] Optionally, the system can be calibrated in the preceding step S0. For this purpose, the first device unit 20 and / or the second device unit 30 can be positioned in a predefined posture. In particular, the device arm 32 can be held in a predefined posture for calibration and / or can travel along a predefined calibration trajectory.

[0086] The various illustrated logic blocks, modules, circuits, and algorithm steps described in conjunction with the disclosed embodiments can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps have been generally described above with reference to their functional descriptions. Whether the functionality is implemented in hardware or software depends on the respective application applied to the entire system. Those skilled in the art can implement the described functionality in different ways for each specific application; however, such implementation decisions should not be construed as departing from the disclosure or the scope of protection.

[0087] As a software implementation, the implementation method can be implemented in software, firmware, middleware, microcode, hardware description languages, or any combination thereof. The code segment or machine-readable instructions can be any combination of methods, functions, subroutines, programs, routines, subroutines, modules, software packages, classes, or instructions, data structures, or program instructions. The code segment can be coupled to another code segment or hardware circuitry by transmitting and / or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc., can be transmitted, forwarded, or transferred, for example, through memory release, message forwarding, token forwarding, network transmission, etc.

[0088] The actual software code or dedicated control hardware used to implement the systems and methods described herein is not limiting to the claimed features or the disclosure. Therefore, the operation and performance of the systems and methods have been described without reference to specific software code, and it is to be understood that software and control hardware can be developed to implement the systems and methods based on the description herein.

[0089] When implemented as software, functionality can be stored as one or more instructions or code in a non-volatile computer-readable or processor-readable storage medium. The steps of the methods or algorithms disclosed herein can be embodied in a processor-executable software module, which can reside on a computer-readable or processor-readable storage medium. Non-volatile computer-readable or processor-readable storage media include not only computer storage media but also accessible storage media that facilitate the transfer of a computer program from one location to another. Non-volatile processor-readable storage media can be any available computer-accessible medium. Exemplarily, but not limitingly, such non-volatile processor-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical data carriers, magnetic data carriers or other magnetic data storage devices, or other accessible storage media capable of storing desired program code in the form of instructions or data structures, and accessible to a computer or processor. As used herein, disks / optical discs include compact optical discs (CDs), laser optical discs, optical discs, digital versatile optical discs (DVDs), floppy disks, and Blu-ray discs, wherein disks typically reproduce data magnetically, and optical discs reproduce data optically by means of a laser. Combinations of the above media are also included in computer-readable media. Additionally, the execution of a method or algorithm can exist as one or any combination or arrangement of code and / or instructions on non-volatile processor-readable and / or computer-readable media that can be integrated into a computer program product.

[0090] The description above should enable those skilled in the art to make and / or use the embodiments and variations thereof described herein. Different modifications to the embodiments will be apparent to those skilled in the art, and the principles defined herein can be applied to other implementations without departing from the essential characteristics or scope of the subject matter disclosed herein. Therefore, this disclosure should not be limited to the embodiments shown herein, but should be undertaken with the greatest possible scope based on the principles and novel features disclosed in the invention.

[0091] While different aspects and embodiments have been disclosed, other aspects and embodiments are also contemplated. The different aspects and embodiments disclosed are for illustrative purposes only and should not be considered limiting, wherein the true scope and essential features are defined by the invention.

Claims

1. A medical device system (10) comprising: - Movable first device unit (20). - A movable second device unit (30), wherein the movable second device unit (30) has a movable device arm (32) with at least one hinge element (40, 44, 48) and at least one sensor (42, 46, 50) for detecting the attitude of the at least one hinge element (40, 44, 48). - A control unit (60) connected to the at least one sensor (42, 46, 50) via a signal, wherein the articulated attitude signal detected by the sensor (42, 46, 50) can be transmitted to the control unit (60). The control unit (60) is configured to identify insufficient spacing between the first device unit (20) and the second device unit (30) based on the attitude of the first device unit (20) and the transmitted articulated attitude signal.

2. The device system (10) according to the preceding claim, wherein at least one hinge element (40, 44, 48) is a rotary hinge, and the at least one sensor (42, 46, 50) for detecting the attitude of the rotary hinge is an angle sensor.

3. The device system (10) according to any one of the preceding claims, wherein at least one hinge element (40, 44, 48) is a track element, and the at least one sensor (42, 46, 50) for detecting the attitude of the track element is a displacement measurement sensor.

4. The device system (10) according to any one of the preceding claims, wherein the first device unit (20) has a position detection mechanism signal-connected to the control unit (60), the position detection mechanism being used to detect the current position, current movement, planned position and / or planned movement of the first device unit (20), such that the position and / or movement of the first device unit (20) can be transmitted to the control unit (60), and the control unit (60) is further configured to identify insufficient spacing based on the position and / or movement of the first device unit (60).

5. The device system (10) according to any one of the preceding claims, wherein the movable first device unit (20) includes a medical imaging device, and / or the medical second device unit (30) includes an optical display (34) disposed at the device arm (32).

6. The device system (10) according to any one of claims 4 or 5, wherein the planned movement of the first device unit (20) includes movement to be performed for medical image capture.

7. The device system (10) according to any one of the preceding claims, wherein the movable second device unit (30) is pivotable, in particular manually, via the device arm (32), wherein the control unit (60) is preferably configured to detect insufficient spacing between the device arm (32) and the first device unit (20).

8. The device system (10) according to any one of the preceding claims, wherein the movable second device unit (30) includes an actuator signal-connected to the control unit (60) at at least one of the hinge elements (40, 44, 48), by means of which the attitude of the hinge element (40, 44, 48) can be set, wherein in order to set the hinge attitude, a control signal can be transmitted from the control unit (60) to the actuator, and optionally, the insufficient spacing is identified based on the control signal transmitted to the actuator and / or based on the hinge attitude set by the actuator.

9. The device system (10) according to the preceding claim, wherein the sensor (42, 46, 50) is also an actuator.

10. The device system (10) according to any one of the preceding claims, wherein the device arm has a plurality of hinge elements (40, 44, 48), and each of the hinge elements (40, 44, 48) is provided with a sensor (42, 46, 50) for identifying the hinge posture and / or an actuator for changing the hinge posture, wherein each of the sensor (42, 46, 50) and / or actuator is signal-connected to the control unit (60).

11. The device system (10) according to any one of the preceding claims, wherein the control unit (60) is configured to determine the posture of the device arm (32) using forward kinematics.

12. The device system (10) according to any one of the preceding claims, wherein the control unit (60) is configured to output a blocking signal when it is detected that the distance between the movable first device unit (20) and the movable second device unit (30) is insufficient, the blocking signal causing the movement of the movable first device unit (20) and / or the movable second device unit (30) to stop.

13. The device system (10) according to any one of the preceding claims, wherein the control unit (60) is configured to suggest alternative positions and / or alternative routes for the movement of the first device unit (20) and / or the second device unit (30) when it is detected that the distance between the movable first device unit (20) and the movable second device unit (30) is insufficient.

14. The device system (10) according to any one of the preceding claims, wherein at least one inertial measurement unit (IMU) is provided at the device arm (32) of the second device unit (30), wherein the inertial measurement unit (IMU) is configured to identify the orientation and / or movement of the device arm (32) and is signal-connected to the control unit (60), wherein the control unit (60) is configured to check the desired position of the device arm (32) based on the orientation and / or movement detected by the inertial measurement unit (IMU).

15. A method for identifying insufficient spacing in a medical device system (10), wherein the medical device system (10) has a movable first device unit (20) and a movable second device unit (30) with a movable device arm (32), wherein the device arm (32) has at least one hinge element (40, 44, 48) and at least one sensor (42, 46, 50) for detecting the posture of the at least one hinge element (40, 44, 48), wherein the method comprises the following steps: - Detect the attitude of the at least one hinge element (40, 44, 48); - The attitude of the movable device arm (32) is determined based on the attitude of the at least one hinge element (40, 44, 48); - Based on the posture of the first device unit (20) and the posture of the device arm (32) of the second device unit (30), it is identified that the spacing between the first device unit (20) and the second device unit (30) is insufficient.

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