Apparatus, system, and method for assisting a patient in disengaging from a malfunctioning scanner

Abstract

This application provides an apparatus, system, and method for assisting patients in removing themselves from a malfunctioning scanner. The apparatus includes an indicator light, a first switch, a second switch, and a crank handle. The first switch, when triggered by an external source, sends a scanner malfunction signal. The indicator light indicates the movement of the crank handle. The crank handle triggers the second switch to send an assistance activation signal and drives the scanner to move along a preset track. The first and second switches need to be activated simultaneously. The technical solution provided by this application allows patients to safely leave the scanner without damaging it.

Description

Technical Field

[0001] This application relates to the field of motion control technology for medical imaging equipment, and more particularly to a device, system, and method for helping patients get rid of a faulty scanner. Background Technology

[0002] Standing CT refers to changing the patient's original supine position to a standing or semi-sitting position. The medical equipment (scanner) is changed from being stationary on the ground and rotating around the patient to achieve X-ray penetration. Instead, the medical equipment (scanner) can simultaneously achieve linear movement along the patient's axis and rotation around the patient to achieve X-ray penetration.

[0003] When a standing CT scan malfunctions, the scanner enters an emergency stop state, which can trap the patient inside the scanner.

[0004] Therefore, there is an urgent need for a way to allow patients to safely leave the scanner without damaging it. Summary of the Invention

[0005] To address the aforementioned technical problems, this application proposes an apparatus, system, and method for helping patients exit a malfunctioning scanner, allowing them to leave the scanner safely without damaging it.

[0006] In a first aspect, one or more embodiments of this application provide a device for helping patients get rid of a malfunctioning scanner, externally mounted on a CT scanner, comprising: an indicator light, a first switch, a second switch, and a rocker arm; the first switch is used to send a scanner malfunction signal when triggered by an external source; the indicator light is used to indicate the motion information of the rocker arm; the rocker arm is used to trigger the second switch to send an assistance start signal and drive the scanner to move on a preset track; the first switch and the second switch need to be activated simultaneously.

[0007] Secondly, one or more embodiments of this application also provide a system for helping patients get rid of a faulty scanner, comprising: a processor, a motor brake, a position sensor, a memory, and the device described in the first aspect; the position sensor is used to detect position information of both sides of the scanner on the preset track and return the position information to the processor; the motor brake is used to lock or release the scanner according to the instructions of the processor; the processor is used to determine the position deviation of the scanner on the preset track according to the position information; control the start and stop of the motor brake according to the position deviation; and control the indicator light to transmit joystick action information according to the position deviation.

[0008] Furthermore, the scanner is mounted on two tracks, each track being equipped with an indicator light, a first switch, a second switch, a rocker arm, a motor brake, and a position sensor. The first and second switches on both tracks need to be triggered simultaneously. The rockers on the two tracks respectively drive one side of the scanner to move; while driving the scanner to move, the processor determines the movement distance on both sides of the scanner based on the position information, and determines the position deviation based on the movement distance.

[0009] Furthermore, when the positional deviation does not exceed a first threshold, the processor controls the indicator light to indicate that the joysticks corresponding to the two tracks operate normally; when the positional deviation is greater than the first threshold but not greater than a second threshold, the processor controls the indicator light to indicate that one joystick corresponding to the track operates normally, while the other joystick accelerates; when the positional deviation is greater than the second threshold, the processor controls the indicator light to indicate that one joystick corresponding to the track stops operating, while the other joystick accelerates. When the positional deviation is greater than the second threshold, the processor controls the motor brake to lock the scanner.

[0010] Thirdly, one or more embodiments of this application also provide a method for helping patients get rid of a faulty scanner, based on the system described in the second aspect above, comprising: receiving an externally input scanner fault signal and an assistance start signal; triggering an assistance process according to the scanner fault signal and the assistance start signal; after triggering the assistance process, calculating the positional deviation on both sides of the scanner; issuing an indication signal according to the positional deviation, the indication signal being used to indicate whether the assistance action has changed; receiving an externally input scanner normal signal and an assistance stop signal; and ending the assistance process according to the scanner normal signal and the assistance stop signal when it is determined that the current positional difference is less than a preset threshold.

[0011] Furthermore, the assistance action includes two sets of actions; issuing an indication signal based on the position deviation includes: when the position deviation does not exceed a first threshold, the indication signal indicates that the two sets of actions remain unchanged; when the position deviation is greater than the first threshold but does not exceed a second threshold, the indication signal indicates that one set of actions remains unchanged and the other set of actions accelerates; when the position deviation is greater than the second threshold, the indication signal indicates that one set of actions stops and the other set of actions accelerates.

[0012] Fourthly, one or more embodiments of this application also provide a storage medium for storing computer-executable instructions, which, when executed, implement the following process: receiving an externally input scanner fault signal and assistance start signal; triggering an assistance process based on the scanner fault signal and assistance start signal; calculating the positional deviation on both sides of the scanner after triggering the assistance process; issuing an indication signal based on the positional deviation, the indication signal being used to indicate whether the assistance action has changed; receiving an externally input scanner normal signal and assistance stop signal; and ending the assistance process based on the scanner normal signal and assistance stop signal when it is determined that the current positional difference is less than a preset threshold.

[0013] Compared with the prior art, this application can achieve at least the following technical effects: This application provides an apparatus, system, and method for helping patients escape from a malfunctioning scanner, solving the problem that when a standing CT scanner malfunctions and enters an emergency stop state, the patient is trapped inside the scanner and cannot be safely removed without damaging the scanner.

[0014] Specifically, in terms of the device, an indicator light, a first switch, a second switch, and a crank are used. When the first switch is triggered externally, it sends a scanner fault signal. The crank triggers the second switch, sending an assistance start signal and driving the scanner to move along a preset track. The first and second switches must be activated simultaneously, allowing the operator to manually initiate the assistance program. Manually operating the crank drives the scanner, enabling safe patient evacuation without relying on the scanner's own power system. The simultaneous activation of both switches ensures the safety of the evacuation operation and prevents accidental triggering. In terms of the system, position sensors monitor the scanner's position information on both sides in real time. The processor determines the position deviation based on this information and controls the motor brake and indicator light, achieving dual-axis synchronous monitoring and protection during the evacuation process. This prevents distortion and damage to the scanner's transmission system caused by asynchronous evacuation operations on both sides. In terms of the method, by receiving fault and assistance start signals to trigger the assistance process, collecting position deviation data to issue an indication signal, and ending the assistance process when the position difference is less than a threshold, closed-loop control of the entire patient evacuation process is achieved, ensuring the safety and controllability of the evacuation operation.

[0015] In summary, this application enables patients to safely exit the scanner without damaging it, while real-time monitoring and graded protection of dual-axis position deviation prevents damage to the transmission system caused by asynchronous evacuation operations on both sides. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in one or more embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a system for helping patients get rid of faulty scanners, provided for one or more embodiments of this application; Figure 2 A schematic diagram of another system for helping patients get rid of faulty scanners, provided for one or more embodiments of this application; Figure 3 A flowchart illustrating a method for helping patients get rid of faulty scanners, provided for one or more embodiments of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this application, the technical solutions in one or more embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on one or more embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0019] like Figure 1 As shown, this application provides a device to help patients get rid of a faulty scanner, which is externally mounted on a CT scanner and includes: an indicator light 101, a first switch 102, a second switch 103, and a crank 104.

[0020] The first switch is used to send a scanner fault signal when triggered by external factors. For example, the first switch can be a push-button switch. When the operator presses the first switch, the system receives the scanner fault signal, confirms that the scanner is in an emergency stop state, and the patient evacuation procedure needs to be initiated. The first switch is located on the column on the back of the scanner, and can be reached by the operator after opening the cover of the patient evacuation device on the back of the machine.

[0021] The crank handle is used to trigger the second switch to send an assistance start signal and to drive the scanner to move on the preset track. Specifically, the second switch is located in a circular hole on the side of the scanner. The operator inserts the crank handle horizontally into the circular holes on both sides of the scanner, so that the disc at the rear end of the crank handle contacts the pin position at the circular hole, thereby triggering the second switch to send an assistance start signal. After the crank handle is inserted, the operator turns the handle according to the indicated direction on the corresponding side to drive the scanner to move on the track.

[0022] The indicator light is used to indicate the operation information of the crank handle. For example, the indicator light is installed on the back column of the scanner, and indicates whether the operation of the crank handle is normal through three states: solid light, flashing light, and off. When the indicator light is solid light, it indicates that the crank handle is operating normally and can continue to be cranked; when the indicator light is flashing, it indicates that the speed on that side is too slow and needs to be cranked faster; when the indicator light is off, it indicates that the cranking on that side needs to be stopped. It should be noted that the above embodiments are only illustrative examples and should not be regarded as limiting the technical solution of this application. Other methods can also accomplish the task of indication, such as changing the color of the indicator light, changing the brightness of the indicator light, or changing the number of indicator lights in different states.

[0023] The first switch and the second switch need to be activated simultaneously. That is, the operator needs to simultaneously trigger the first switch (send a scanner fault signal) and trigger the second switch via the crank (send an assistance activation signal) for the system to enter the patient evacuation operation state. It should be noted that simultaneous activation here does not necessarily mean that they must be activated at the same time, as long as they are both in the triggered state.

[0024] like Figure 1 As shown, this application embodiment also provides a system to help patients get away from a fault scanner, including: a processor 105, a motor brake 106, a position sensor 107, and the device described in the above-described device embodiment.

[0025] Position sensors are used to detect the position information of both sides of the scanner on a preset track and return this information to the processor. For example, the position sensors can be encoders or linear encoders, installed on the tracks on sides A and B of the scanner respectively, to collect position data from both sides in real time and transmit it to the processor. The sampled data from the position sensors is written to the processor via a fieldbus, and the processor performs real-time calculations on the position data from both sides.

[0026] A motor brake is used to lock or release the scanner according to instructions from the processor. For example, a motor brake can be an electromagnetic brake mounted on the drive mechanism on both sides of the scanner. When the processor issues a locking command, the motor brake closes, locking the scanner on that side to stop its movement; when the processor issues a releasing command, the motor brake opens, allowing the scanner on that side to move.

[0027] The processor is configured to determine the position deviation of the scanner on the preset track according to the position information; control the start and stop of the motor brake according to the position deviation; control the indicator light to transmit crank operation information according to the position deviation. The processor obtains the position deviation ΔP by calculating the difference between the position data on both sides in real time, and executes the hierarchical control logic according to the deviation interval.

[0028] Further, as shown in Figure 2 , the scanner is arranged on two tracks, and each track is respectively matched with an indicator light 101, a first switch 102, a second switch 103, a crank 104, a motor brake 106 and a position sensor 107. That is, the A-side track and the B-side track are each equipped with a complete set of evacuation operation devices and detection protection components, and the structures on both sides are completely independent, with synchronous sampling and linkage protection. For example, the upper and lower parts of the A-side column are respectively provided with an A-side indicator light, an A-side first switch, an A-side second switch and an A-side crank, and the B-side is configured in the same manner.

[0029] The first switch and the second switch on the two tracks need to be triggered at the same time. That is, after the first switches on both the A side and the B side are pressed and the second switches on both the A side and the B side are triggered by the cranks, the system is allowed to enter the patient evacuation operation state, so as to ensure the synchronization of the bilateral operations.

[0030] The cranks on the two tracks respectively drive one side of the scanner to move. When driving the scanner to move, the processor respectively determines the moving distance of both sides of the scanner according to the position information, and determines the position deviation according to the moving distance. For example, the processor collects the position data PA and PB of the A-side position sensor and the B-side position sensor respectively, and calculates the position deviation ΔP = |PA - PB|, which is used as a basis for judging the synchronization of the bilateral evacuation operations.

[0031] The processor executes a three-level hierarchical control logic according to the position deviation, so as to ensure that both sides of the scanner move synchronously, thereby ensuring that the scanner will not be damaged during movement. Let the first threshold be P1 and the second threshold be P2, and P1 < P2. For the convenience of description, P1 is set to 3mm and P2 is set to 6mm in the embodiment.

[0032] When the position deviation does not exceed the first threshold, that is, ΔP ≤ P1, the processor controls the indicator lights to indicate that the cranks corresponding to the two tracks operate normally. For example, when ΔP ≤ 3mm, both the A-side and B-side indicator lights remain normally on, and the cranks on both sides can be shaken normally, indicating that the synchronization of the bilateral evacuation operations is good.

[0033] When the position deviation is greater than the first threshold and does not exceed the second threshold, that is, P1<ΔP<P2, the processor controls the indicator lights to indicate that the crank corresponding to one rail operates normally, and the crank corresponding to the other rail operates at an accelerated speed. For example, when 3mm<ΔP<6mm, the indicator light on the side with a slower evacuation speed flashes to prompt the operator that the side needs to speed up the cranking speed to correct the synchronization of the two sides in time and prevent the deviation from continuing to expand. The indicator light on the side with a faster evacuation speed remains normally on, allowing normal cranking.

[0034] When the position deviation is greater than the second threshold, that is, ΔP ≥ P2, the processor controls the indicator lights to indicate that the crank corresponding to one rail stops operating, and the crank corresponding to the other rail operates at an accelerated speed. For example, when ΔP ≥ 6mm, the indicator light on the side with an excessively fast evacuation speed goes out directly, and the crank on that side stops operating; the indicator light on the side with a slower evacuation speed keeps flashing, and the crank on that side can continue to accelerate the operation until the deviation between the two sides falls back within the first threshold and the indicator lights on both sides are lit again at the same time, then the synchronous evacuation operation on both sides can be resumed.

[0035] When the position deviation is greater than the second threshold, the processor controls the motor brake to lock the scanner. That is, when ΔP ≥ P2, the processor sends a locking instruction to the motor brake on the side with an excessively fast evacuation speed, the motor brake is closed, which mechanically forcibly locks the scanner on the excessively fast side, prohibits illegal operations, and protects the transmission system from being damaged. This mechanism establishes a hard interlock relationship between the indicator light state and the motor brake: the indicator light being on indicates that the brake on that side is open and evacuation operation is allowed; the indicator light being off indicates that the brake on that side is closed, the operation is invalid, and further evacuation operation is prohibited.

[0036] In the embodiments of the present application, a memory may also be provided in the system. The memory is used to store position deviation data. For example, the processor continuously collects data from the position sensors on both sides during the whole process of patient evacuation, calculates the position deviation in real time and stores it in the memory, so as to provide data support for fault tracing and operation review. The memory may be a non-volatile storage medium such as EEPROM.

[0037] As Figure 3 shown, the embodiments of the present application further provide a method for helping a patient evacuate from a faulty scanner, which is based on the system of the above system embodiments and includes the following steps: Step 1: Receive an externally input scanner fault signal and an assistance activation signal.

[0038] The scanner malfunction signal is sent after the first switch is triggered externally, indicating that the scanner is in an emergency stop state. The assistance activation signal is sent after the joystick triggers the second switch, indicating that the operator requests to initiate the patient evacuation procedure. For example, two operators, located on sides A and B of the scanner respectively, each press the first switch and send the scanner malfunction signal, while simultaneously inserting the joystick into the circular hole to trigger the second switch and send the assistance activation signal. The system receives these two signals as the entry conditions for the evacuation operation.

[0039] This step, by simultaneously receiving fault signals and assistance activation signals, ensures that the evacuation operation is initiated only under legal conditions, thus resolving the safety risks caused by accidental activation and effectively ensuring the safety of patient evacuation operations.

[0040] Step 2: Trigger the assistance process based on the scanner malfunction signal and assistance activation signal.

[0041] When the system simultaneously receives both a scanner malfunction signal and an assistance activation signal, it triggers the assistance process and enters the patient evacuation operation state. For example, the system simultaneously illuminates the indicator lights on sides A and B, and simultaneously releases the motor brakes on sides A and B, allowing the operator to move the scanner on the track using a joystick. After the assistance process is triggered, the operator can simultaneously operate the patient evacuation mechanism to perform the patient evacuation.

[0042] This step transforms fault signals and assistance activation signals into trigger conditions for the assistance process, solving the safety control problem of initiating evacuation operations. The effect is to ensure that the evacuation process can only be initiated when both switches are activated simultaneously.

[0043] Step 3: After triggering the assistance process, calculate the positional deviation on both sides of the scanner.

[0044] The system uses position sensors to collect position data from sides A and B of the scanner in real time. The processor calculates the position deviation between the two sides, ΔP = |PA - PB|. For example, the position sensors continuously collect position information from both sides and transmit it to the processor, which calculates the position deviation in real time as the basis for issuing subsequent indication signals and controlling the brake. The assistance actions include two sets of actions: one set of evacuation operations driven by the A-side joystick and the other by the B-side joystick.

[0045] This step, by collecting the positional deviations on both sides in real time, provides a data foundation for subsequent graded indication and protection control, and solves the problem of not being able to monitor the synchronization of both sides during evacuation. The effect is to achieve real-time quantitative monitoring of dual-axis synchronization.

[0046] Step 4: Based on the positional deviation, issue an indication signal. The indication signal is used to indicate whether the assistance action has changed.

[0047] The indication signal conveys information on whether the assistance action changes through the state change of the indicator light. A three-level hierarchical indication logic is executed according to the relationship between the position deviation ΔP and the first threshold P1 as well as the second threshold P2: When the position deviation does not exceed the first threshold, that is, ΔP ≤ P1, the indication signal is used to indicate that both sets of actions remain unchanged. For example, when ΔP ≤ 3mm, the indicator lights on side A and side B both stay normally on, indicating that the rockers on both sides can be shaken normally, and both sets of evacuation operations remain unchanged.

[0048] When the position deviation is greater than the first threshold and does not exceed the second threshold, that is, P1<ΔP<P2, the indication signal is used to indicate that one set of actions remains unchanged, and the other set of actions is accelerated. For example, when 3mm<ΔP<6mm, the indicator light on the side with a slower evacuation speed flashes to prompt the operator to speed up the shaking speed on this side, while the indicator light on the other side stays normally on with the action unchanged.

[0049] When the position deviation is greater than the second threshold, that is, ΔP ≥ P2, the indication signal is used to indicate that one set of actions stops, and the other set of actions is accelerated. For example, when ΔP ≥ 6mm, the indicator light on the side with an excessively fast evacuation speed goes out, the rocker on this side stops acting, and the motor brake on this side locks up simultaneously; the indicator light on the side with a slower evacuation speed stays normally on, and the rocker on this side can continue to operate until the deviation between the two sides falls back within the first threshold.

[0050] This step sends indication signals hierarchically through the position deviation, intuitively guides the operator to adjust the rhythm of evacuation operations, solves the problem of damage to the transmission system caused by unsynchronized evacuation operations on both sides, and has the effect of realizing standardized and normalized evacuation operations through visual indication.

[0051] Step 5: Receive the external input scanner normal signal and the assistance stop signal.

[0052] After the patient is completely evacuated, the operator presses the buttons on both sides respectively to send the scanner normal signal and the assistance stop signal, indicating that the scanner fault has been eliminated and the patient evacuation has been completed. For example, after the operator confirms that the patient has been safely evacuated from the scanner, the operator presses the blue buttons on side A and side B respectively, and the system receives the scanner normal signal and the assistance stop signal.

[0053] This step provides a trigger condition for the end of the assistance process by receiving the externally input normal signal and stop signal, solves the problem that the system state cannot be automatically reset after the evacuation is completed, and has the effect of realizing closed-loop control of the evacuation process.

[0054] Step 6: When it is determined that the current position difference is less than the preset threshold, the assistance process is ended according to the scanner normal signal and the assistance stop signal.

[0055] Once the system confirms that the current positional deviation ΔP is less than a preset threshold (e.g., 3mm) and receives both a normal scanner signal and an assistance stop signal, the assistance process ends, and the system returns to standby mode with both indicator lights constantly illuminated. For example, after the operator moves the CT bed to a safe evacuation position and the patient is completely evacuated, the positional deviation on both sides returns to normal, and the system automatically returns to standby mode, completing a full patient evacuation protection process. The operator then removes the crank handle from the round hole and returns it to its original position. Note that the crank handle can only be removed when both indicator lights are constantly illuminated.

[0056] This step, through the dual confirmation of the position difference being less than a preset threshold and an external stop signal, ensures that the assistance process ends safely, thus eliminating the risk of interruption before the evacuation operation is completed. The effect is to ensure the integrity and safety of the entire patient evacuation process.

[0057] This application embodiment also provides a storage medium for storing computer-executable instructions. When executed, the computer-executable instructions implement the following process: receiving an externally input scanner fault signal and assistance start signal; triggering an assistance process based on the scanner fault signal and assistance start signal; after triggering the assistance process, calculating the positional deviation between the two sides of the scanner; issuing an indication signal based on the positional deviation, the indication signal indicating whether the assistance action has changed; receiving an externally input scanner normal signal and assistance stop signal; and ending the assistance process based on the scanner normal signal and assistance stop signal when the current positional difference is determined to be less than a preset threshold. The storage medium can be any medium capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A device for helping patients get rid of a malfunctioning scanner, externally mounted on a CT scanner, characterized in that, include: Indicator light, first switch, second switch, and crank handle; The first switch is used to send a scanner fault signal when triggered by an external source; The indicator light is used to indicate the movement information of the crank handle; The crank is used to trigger the second switch to send an assistance start signal and to drive the scanner to move on a preset track; The first switch and the second switch need to be activated simultaneously.

2. A system for helping patients get rid of malfunctioning scanners, characterized in that, include: The processor, the motor brake, the position sensor, and the device according to claim 1; The position sensor is used to detect the position information of both sides of the scanner on the preset track and return the position information to the processor; The motor brake is used to lock or release the scanner according to the instructions of the processor; The processor is used to determine the position deviation of the scanner on the preset track based on the position information; control the motor brake to start and stop based on the position deviation; and control the indicator light to transmit crank action information based on the position deviation.

3. The system according to claim 2, characterized in that, The scanner is mounted on two tracks, each track being equipped with the indicator light, the first switch, the second switch, the crank handle, the motor brake, and the position sensor.

4. The system according to claim 3, characterized in that, The first and second switches on the two tracks need to be triggered simultaneously.

5. The system according to claim 3, characterized in that, The cranks on the two tracks respectively drive one side of the scanner to move; When driving the scanner to move, the processor determines the moving distance on both sides of the scanner according to the position information, and determines the position deviation according to the moving distance.

6. The system according to claim 3, characterized in that, When the positional deviation does not exceed the first threshold, the processor controls the indicator light to indicate that the cranks corresponding to the two tracks operate normally; When the position deviation is greater than the first threshold but not greater than the second threshold, the processor controls the indicator light to indicate that the crank corresponding to one track moves normally and the crank corresponding to the other track accelerates. When the position deviation is greater than the second threshold, the processor controls the indicator light to stop the crank corresponding to one of the tracks and accelerate the crank corresponding to the other track.

7. The system according to claim 6, characterized in that, When the position deviation is greater than the second threshold, the processor controls the motor brake to lock the scanner.

8. A method for helping patients get rid of malfunctioning scanners, characterized in that, The system based on any one of claims 2-7 comprises: Receives external input scanner fault signals and assistance activation signals; Based on the scanner malfunction signal and assistance activation signal, the assistance process is triggered; After the assistance process is triggered, the positional deviation on both sides of the scanner is calculated; Based on the positional deviation, an indication signal is issued, which is used to indicate whether the assistance action has changed; Receives normal input signals and assistance stop signals from an external input scanner; When the current position difference is determined to be less than a preset threshold, the assistance process ends based on the scanner's normal signal and the assistance stop signal.

9. The method according to claim 8, characterized in that, The assistance action includes two sets of actions; The step of issuing an indication signal based on the position deviation includes: When the position deviation does not exceed the first threshold, the indication signal is used to indicate that the two sets of actions remain unchanged; When the position deviation is greater than the first threshold but not greater than the second threshold, the indication signal is used to indicate that one set of actions remains unchanged while the other set of actions is accelerated. When the position deviation is greater than the second threshold, the indication signal is used to indicate that one set of actions stops and another set of actions accelerates.

10. A storage medium for storing computer-executable instructions, which, when executed, perform the following process: Receives external input scanner fault signals and assistance activation signals; Based on the scanner malfunction signal and assistance activation signal, the assistance process is triggered; After the assistance process is triggered, the positional deviation on both sides of the scanner is calculated; Based on the positional deviation, an indication signal is issued, which is used to indicate whether the assistance action has changed; Receives normal input signals and assistance stop signals from an external input scanner; When the current position difference is determined to be less than a preset threshold, the assistance process ends based on the scanner's normal signal and the assistance stop signal.

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