Medical equipment and anti-collision system thereof

Abstract

The utility model provides medical equipment and an anti-collision system thereof, the system comprises a camera and a radar sensor, the camera is used for being arranged at a preset position of an area where a medical device is located so as to provide visual field information of the area where the medical device is located and first distance information between the medical device and an anti-collision object; the radar sensor is used for being arranged on the portion, with the freedom degree, of the medical device so as to provide second distance information between the medical device and the anti-collision object. Thus, through the cooperation scheme of the camera and the radar sensor, the anti-collision object in the area where the medical device is located can be subjected to full-scene identification and monitoring, the distance between the anti-collision object and the medical device can be subjected to dual monitoring, the detection precision of the radar sensor is high, and the detection accuracy is high. According to the utility model, the anti-collision condition of the medical device can be warned in advance through information provided by the camera and the radar sensor.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and particularly relates to a medical device and its anti-collision system. Background Art

[0002] With the continuous development of medical devices, the medical devices in medical equipment have a high degree of freedom, such as translational freedom and rotational freedom. When the medical device moves, it is necessary to perform anti-collision detection on the medical device to avoid damage caused by collision. Currently, there are mainly three anti-collision solutions in medical devices.

[0003] The first anti-collision solution is to adopt sensor solutions such as pressure sensors, ultrasonic sensors, and photoelectric sensors. However, considering that the anti-collision solution for the medical device needs to be designed more reliably, a large number of sensors must be arranged to achieve full coverage of the movable area range of the medical device, which leads to a relatively high overall cost and also increases the complexity of the overall structure.

[0004] The second anti-collision solution is to adopt a mechanical switch. Based on the working principle of the mechanical switch, the mechanical switch needs to be triggered when the medical device collides, but it cannot control the magnitude of the collision force when the collision occurs, which may cause certain harm to the patient and cannot achieve early warning of anti-collision.

[0005] The third anti-collision solution is to detect the current change of the motor. The movement of the medical device is driven by the motor. When the medical device collides with an obstacle, the current of the motor is greater than the set value. Thus, it can be judged whether the medical device collides according to the detected current of the motor. However, this solution cannot accurately control the magnitude of the collision force, which will cause certain harm to the patient and cannot achieve early warning of the collision.

[0006] Therefore, it is necessary to propose an anti-collision solution for medical devices that is low-cost, simple in structural design, and capable of early warning of collisions. Summary of the Utility Model

[0007] The purpose of the utility model is to provide a medical device and its anti-collision system to solve the problems of high cost, complex structure, and inability to achieve early warning of collisions in the current anti-collision solutions for medical devices of medical equipment.

[0008] To solve the above technical problems, based on one aspect of the utility model, the utility model provides an anti-collision system for a medical device with at least one degree of freedom. The degrees of freedom of the medical device include rotational freedom and translational freedom. The anti-collision system includes a camera and a radar sensor;

[0009] The camera is used to be set at a predetermined position in the area where the medical device is located to provide the visual field information of the area where the medical device is located and the first distance information between the medical device and the anti-collision object;

[0010] The radar sensor is used to be set on the part of the medical device with degrees of freedom to provide the second distance information between the medical device and the anti-collision object.

[0011] Here, the anti-collision object includes but is not limited to medical staff, patients, obstacles, other types of medical equipment, and the walls of the operating room.

[0012] Optionally, the number of the cameras is one or more; the number of the radar sensors is multiple, and the multiple radar sensors are used to be set at different positions of the medical device.

[0013] The medical device includes at least one of a fixed medical device and a mobile medical device. The fixed medical device has at least one moving joint, and the mobile medical device has moving parts. The radar sensor is set at the moving joint of the fixed medical device, and the radar sensor is set at the moving parts of the mobile medical device.

[0014] Optionally, the radar sensor is a lidar sensor, an ultrasonic radar sensor, or a millimeter-wave radar sensor.

[0015] Optionally, the camera is used to correct the first distance information through predetermined reference distance information, and the radar sensor is used to correct the second distance information through the reference distance information.

[0016] Optionally, the anti-collision system further includes a driving device, and the driving device is connected to the medical device to drive the medical device to move.

[0017] Optionally, both the camera and the radar sensor are communicatively connected to the driving device. The driving device is used to plan the anti-collision movement trajectory between the medical device and the anti-collision object through at least one of the visual field information, the first distance information, and the second distance information, and the driving device is used to drive the medical device to move along the anti-collision movement trajectory.

[0018] Optionally, the driving device includes a motor and a processor connected to each other. The motor is connected to the medical device, the processor is communicatively connected to the camera to receive the first distance information and the visual field information, the processor is connected to the radar sensor to receive the second distance information, and the processor is used to plan the anti-collision movement trajectory.

[0019] Optionally, the anti-collision system further includes a display device for displaying the field of view information, and the display device can also visualize the anti-collision movement trajectory. The display device is also used to display the movement state of the medical device, including the movement direction and movement speed.

[0020] Optionally, the driving device is used to plan the anti-collision movement trajectory through the field of view information and the first distance information when the first distance information is greater than or equal to the risk distance threshold.

[0021] The driving device is used to plan the anti-collision movement trajectory through the field of view information and the smaller one of the first distance information and the second distance information when both the first distance information and the second distance information are less than the risk distance threshold and greater than or equal to the warning distance threshold.

[0022] The driving device is used to drive the medical device to decelerate when the first distance information or the second distance information is less than the warning distance threshold and greater than or equal to the alarm distance threshold.

[0023] The driving device is used to stop the medical device when the second distance information is less than the alarm distance threshold.

[0024] Optionally, the driving device is used to generate a first fault prompt signal when the second distance information is less than the risk distance threshold and the first distance information is not received within the first time setting value.

[0025] The driving device is used to generate a second fault prompt signal when the first distance information is less than the risk distance threshold and the second distance information is not received within the second time setting value.

[0026] The driving device is used to stop the medical device when the second fault prompt signal is generated and the first distance information is less than the warning distance threshold.

[0027] Optionally, the first fault prompt signal and the second fault prompt signal include a sound signal and / or a visual signal.

[0028] Based on another aspect of the present invention, the present invention also provides a medical device, which includes a medical device and the anti-collision system as described above, and the medical device has at least one degree of freedom.

[0029] Optionally, the medical device has at least one translational degree of freedom, and / or the medical device has at least one rotational degree of freedom.

[0030] Optionally, the medical device is a digital subtraction angiography (DSA) device, and the medical device is the C-arm device of the DSA device.

[0031] Optionally, the medical device is a mobile DR (Digital Radiography) device, and the medical device is the mobile gantry of the mobile DR device.

[0032] The anti-collision system as described above, through the cooperation scheme of the camera and the radar sensor, can identify and monitor all scenarios of the anti-collision objects in the area where the medical device is located, double-monitor the distance between the anti-collision objects and the medical device, and the detection accuracy of the radar sensor is high. Compared with the prior art, the present utility model only needs to arrange a radar sensor on the medical device, and does not need to arrange a large number and various types of sensors on the medical device, effectively reducing the cost. Compared with the mechanical switch scheme and the motor current detection scheme, the present utility model can avoid the collision of the medical device in advance through the information provided by the camera and the radar sensor respectively, so as to give an early warning of the anti-collision situation of the medical device, greatly reducing the possibility of the medical device colliding.

[0033] It should be noted that since the medical device has the medical device, it also has the technical effects brought by the medical device, which will not be repeated here. Description of the Drawings

[0034] Those of ordinary skill in the art should understand that the provided drawings are used to better understand the present utility model and do not constitute any limitation to the scope of the present utility model. Among them:

[0035] Figure 1 is a schematic diagram of a medical device according to an embodiment of the present utility model;

[0036] Figure 2 is a working flowchart of the anti-collision system according to an embodiment of the present utility model.

[0037] In the drawings:

[0038] 10 - C-arm device; 11 - C-shaped arm; 12 - X-ray tube; 13 - detector; 20 - examination table; 30 - robot; 40 - camera; 50 - radar sensor. Detailed Embodiments

[0039] To make the objectives, advantages and features of the present utility model clearer, the following further elaborates on the present utility model in conjunction with the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are in highly simplified forms and not drawn to scale, merely for the purpose of facilitating and clearly assisting in explaining the objectives of the embodiments of the present utility model. In addition, the structures shown in the accompanying drawings are often part of the actual structures. In particular, the accompanying drawings need to show different focuses and sometimes use different scales.

[0040] As used in the present utility model, the singular forms "a", "an" and "the" include plural objects. The term "or" is generally used in the sense of including "and / or". The term "several" is generally used in the sense of including "at least one". The term "at least two" is generally used in the sense of including "two or more". In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or at least two of such features. "One end" and "the other end", as well as "proximal end" and "distal end" generally refer to two corresponding parts, which not only include the endpoints. The terms "mounted", "connected", "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal communication of two components or the interaction relationship between two components. In addition, as used in the present utility model, when an element is disposed on another element, it generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the two elements may be directly or indirectly connected, coupled, cooperated or transmitted through an intermediate element, and cannot be construed as indicating or implying the spatial position relationship between the two elements, that is, an element may be inside, outside, above, below or on one side of another element in any orientation, unless otherwise clearly specified in the content. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0041] With the continuous development of medical devices, medical devices have a high degree of freedom, so as to be applicable to different medical scenarios. Specifically, the medical devices of medical equipment have a high degree of freedom. For example, they have at least one translational degree of freedom and at least one rotational degree of freedom, so as to have a high range of motion within the spatial range.

[0042] Figure 1 is a schematic diagram of a medical device according to an embodiment of the present utility model. In one embodiment, refer to Figure 1, a medical device such as a DSA device, the DSA device includes a robot 30 and an arm device 10 connected to the robot 30. The robot 30 is fixed relative to the ground. The arm device 10 includes an arm 11 connected to the robot 30, an X-ray tube 12 and a detector 13 respectively disposed at both ends of the arm 11. The robot 30 is used to drive the arm 11 to move within a spatial range, including driving the arm 11 to rotate and move arbitrarily, so that the arm 11 drives the X-ray tube 12 and the detector 13 to move together, suitable for different clinical examination scenarios. The robot 30 can be, for example, a six-axis robot. In addition, the arm 11 itself also has two rotational degrees of freedom, namely rotation around a first motion axis and rotation around a second motion axis. The first motion axis is parallel to the line connecting both ends of the arm 11, and the second motion axis is perpendicular to the line connecting both ends of the arm 11 and parallel to the plane where the arm 11 is located. In some other embodiments, the medical device can also be a suspended DSA device, that is, the arm device 10 is installed on the ceiling of the operating room through a mechanical structure, and the arm device 10 still has the above two rotational degrees of freedom. Of course, the medical device can also be a suspended DR device.

[0043] In some other embodiments, the medical device is a mobile DR (Digital Radiography) device, and the medical device is the mobile rack of the mobile DR device. Thus, the mobile DR device has at least one degree of freedom of movement.

[0044] Continue to refer to Figure 1, Further, the medical device further includes an anti-collision system applied to the above-mentioned medical device, and the anti-collision system is used to monitor the anti-collision of the medical device. Specifically, the anti-collision system includes a camera 40 and a radar sensor 50. The camera 40 can specifically be a wide-angle camera, and the number of cameras 40 can be one or more. The radar sensor 50 can be, for example, a lidar sensor 50, an ultrasonic radar sensor 50, or a millimeter-wave radar sensor 50. The camera 40 is arranged at a predetermined position in the area where the medical device is located to provide the visual field information of the area where the medical device is located (i.e., the image information collected by the camera), and the first distance information between the medical device and the anti-collision object. For example, the camera 40 is arranged at the corner of the ceiling of the operating room, so as to provide a full-scene view of the operating room. It should be noted that the anti-collision object here refers to an object that is likely to collide with the medical device during the movement of the medical device, including but not limited to medical staff, patients, obstacles, other types of medical devices, the walls of the operating room, and the examination bed 20. The radar sensor 50 is arranged on the medical device to provide the second distance information between the medical device and the anti-collision object. The operator can give an early warning of the anti-collision situation of the medical device according to the visual field information, the first distance information, and the second distance information, and can manually stop the medical device, or configure an automatic control system to automatically stop the medical device according to the judgment of the visual field information, the first distance information, and the second distance information.

[0045] The medical device of this embodiment includes at least one of a fixed medical device and a mobile medical device. The fixed medical device has at least one moving joint (active joint), and the mobile medical device has moving parts. The radar sensor is arranged at the moving joint of the fixed medical device, and the radar sensor is arranged at the moving parts of the mobile medical device. For example, the fixed medical device is, for example, a fixed DR or a fixed DSA. The installation of the camera needs to observe the visual field of the entire room. For example, it can be arranged on the ceiling of the room. The radar sensor is arranged at the moving joint (for example, at the joint of the moving axis). The mobile medical device is, for example, a mobile DR or a mobile C-arm device. The installation of the camera needs to observe the situation on the movement path of the medical device. The camera can be installed on the ceiling of the room or on the moving parts of the mobile medical device. The radar sensor is arranged on the moving parts of the mobile medical device, and the moving parts here can be the moving vehicle body of the mobile medical device.

[0046] Thus, through the cooperation of the camera 40 and the radar sensor 50, the present utility model can identify and monitor the environment of the area where the medical device is located in a full-scene manner, identify the types of anti-collision objects, double-monitor the distance between the anti-collision objects and the medical device, and the detection accuracy of the radar sensor 50 is high. Compared with the prior art, the present utility model only needs to arrange the radar sensor 50 on the medical device, and there is no need to arrange a large number and various types of sensors on the medical device, effectively reducing the cost. Compared with the mechanical switch solution and the motor current detection solution, the present utility model can avoid the collision of the medical device in advance through the information provided by the camera 40 and the radar sensor 50 respectively, so as to give an early warning of the anti-collision situation of the medical device, greatly reducing the possibility of the medical device colliding.

[0047] Furthermore, the number of the radar sensors 50 is multiple, and the multiple radar sensors 50 are arranged on the medical device at intervals and can be arranged at different positions of the medical device. For example, radar sensors 50 can be arranged at positions with different orientations on the medical device to achieve full-range anti-collision monitoring of the medical device. Of course, the positions of the radar sensors 50 can also be set according to the movement mode of the medical device. For example, the movement of the moving rack of the mobile DR device includes forward, backward and turning. Therefore, radar sensors 50 can be arranged at the positions corresponding to the front, rear, left and right of the moving rack of the mobile DR device. Exemplarily, in the DSA device, the joint part of the C-shaped arm 11 driven by the robot 30 can move. Therefore, radar sensors 50 can be arranged on the robot 30, specifically on the top and side of the shell of the robot 30. Considering that the main movement of the C-shaped arm 11 is rotation, radar sensors 50 can be arranged at both opposite ends of the C-shaped arm 11 to detect the distance between the C-shaped arm 11 and the anti-collision object during the rotation process. Correspondingly, the number of the cameras 40 can also be multiple and can be respectively arranged at different positions in the area where the medical device is located, such as at different corners of the ceiling of the operating room, to achieve full-scene monitoring of the area where the medical device is located.

[0048] It should be noted that before the camera 40 and the radar sensor 50 work, that is, after the camera 40 and the radar sensor 50 are installed in their respective corresponding positions, the camera 40 and the radar sensor 50 need to be calibrated. That is, the camera 40 is used to calibrate the first distance information through the predetermined reference distance information, and the radar sensor 50 is used to calibrate the second distance information through the reference distance information, ensuring that the information collected by the camera 40 and the radar sensor 50 can be synchronized to the same reference coordinate, which also facilitates the camera 40 and the radar sensor 50 to use the distance information of the two as a reference for calibration with each other in subsequent work. The reference distance information here is generally obtained by manually measuring the distances between the medical device and different types of anti-collision objects in different orientations, or by measuring the distances between the medical device and different types of anti-collision objects in different orientations through the ranging sensors arranged on the medical device.

[0049] Furthermore, the anti-collision system further includes a driving device connected to the medical device. The driving device is connected to the medical device to drive the medical device to move. Both the camera 40 and the radar sensor 50 are communicatively connected to the driving device. The field of view information of the camera 40 can provide the type of the anti-collision object and the orientation of the anti-collision object. The first distance information and the second distance information can provide the distance between the medical device and the anti-collision object. The driving device is used to plan and update the anti-collision movement trajectory between the medical device and the anti-collision object in real time through the field of view information and at least one of the first distance information and the second distance information. The driving device is used to drive the medical device to move along the anti-collision movement trajectory, thereby avoiding the collision between the medical device and the anti-collision object.

[0050] Specifically, the driving device includes a motor and a processor connected to each other. The motor is connected to the medical device. For example, the motor is disposed on the moving rack of the mobile DR device and is used to drive the wheels of the moving rack to rotate, thereby driving the mobile DR device to move. Or, for another example, the motor is disposed at the shaft joint where the robot 30 is connected to the C-shaped arm 11, and the motor drives the corresponding shaft to rotate, thereby driving the C-shaped arm 11 to rotate. The processor is communicatively connected to the camera 40 to receive the first distance information and the field of view information, and the processor is connected to the radar sensor 50 to receive the second distance information. The processor is used to plan the anti-collision movement trajectory according to the field of view information and the first distance information, or to plan the anti-collision movement trajectory according to the field of view information and the second distance information. The processor controls the rotation speed and steering of the motor, so that the motor drives the medical device to move along the anti-collision movement trajectory. Further, the anti-collision system further includes a display device to display the field of view information, and the display device can also visualize the anti-collision movement trajectory. The display device is further used to display the movement state of the medical device, including the movement direction and the movement speed. The setting of the display device can facilitate the operator to grasp the movement state of the medical device in real time and facilitate the timely handling of the medical device in an emergency.

[0051] Figure 2 is the working flowchart of the anti-collision system according to an embodiment of the invention. Refer to Figure 2 A further description is made on the application of the camera 40 and the radar sensor 50 of the anti-collision system of the present utility model in the anti-collision monitoring of the medical device.

[0052] When the first distance information is greater than or equal to the set risk distance threshold, it indicates that the distance between the medical device and the anti-collision object is relatively far at this time, and this distance exceeds the detection range of the radar sensor 50. At this time, only the camera 40 can be used to monitor the medical device. The driving device plans the anti-collision movement trajectory according to the field of view information and the first distance information provided by the camera 40 to avoid the anti-collision object during the movement process.

[0053] When both the first distance information and the second distance information are less than the risk distance threshold and greater than or equal to the warning distance threshold, the camera 40 and the radar sensor 50 cooperate to monitor the medical device at this time. The smaller of the first distance information and the second distance information is used as the detected distance between the medical device and the anti-collision object. The driving device plans the anti-collision movement trajectory through the field of view information and the smaller of the first distance information and the second distance information. In this way, the camera 40 and the radar sensor 50 cooperate to achieve double anti-collision monitoring of the medical device, ensuring the anti-collision reliability of the camera 40 and the radar sensor 50 for the medical device under a single fault. The medical device moves to the target position according to this anti-collision movement trajectory.

[0054] When the first distance information or the second distance information is less than the warning distance threshold and greater than or equal to the alarm distance threshold, at this time, the camera 40 and the radar sensor 50 cooperate to monitor the medical device. The smaller of the first distance information and the second distance information is used as the distance between the detected medical device and the anti-collision object. When the distance between the medical device and the anti-collision object is less than the warning distance threshold and greater than or equal to the alarm distance threshold, the driving device will drive the medical device to decelerate. At this time, the driving device can generate a warning signal to prompt the operator. The warning signal can be an audio signal, a visual signal, or an audiovisual signal combining the two.

[0055] When the second distance information is less than the alarm distance threshold, the driving device stops the medical device. Specifically, when the second distance information is less than the alarm distance threshold, it indicates that the distance between the medical device and the anti-collision object is very close and a collision is extremely likely to occur. Considering the detection accuracy of the camera 40 and the radar sensor 50 respectively, the accuracy of the first distance information fed back by the camera 40 is relatively low at this time. Using the second distance information as the actual distance between the medical device and the anti-collision object, the driving device urgently stops the medical device to avoid a collision. At this time, the driving device can generate an alarm signal to prompt the operator. The alarm signal can be an audio signal, a visual signal, or an audiovisual signal combining the two.

[0056] When the second distance information is less than the risk distance threshold and the driving device does not receive the first distance information within the first-time set value, it indicates that the camera 40 fails to collect the first distance information, or the communication link between the camera 40 and the driving device fails to transmit the first distance information. The driving device will generate a first fault prompt signal. The first fault signal can be an audio signal, a visual signal, or an audiovisual signal combining the two. At this time, the anti-collision planning of the medical device can still be carried out through the second distance information provided by the radar sensor 50.

[0057] When the first distance information is less than the risk distance threshold and the driving device does not receive the second distance information within the second-time set value, it indicates that the radar sensor 50 fails to collect the second distance information, or the communication link between the radar sensor 50 and the driving device fails to transmit the second distance information. The driving device will generate a second fault prompt signal. The second fault signal can be an audio signal, a visual signal, or an audiovisual signal combining the two. Moreover, when the second fault prompt signal is generated and the first distance information is less than the warning distance threshold, the driving device urgently stops the medical device.

[0058] Although the present utility model is disclosed above in preferred embodiments, the above embodiments are not intended to limit the present utility model. For any person skilled in the art, without departing from the scope of the technical solution of the present utility model, many possible changes and modifications can be made to the technical solution of the present utility model by using the technical content disclosed above, or it can be modified into equivalent embodiments with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present utility model without departing from the content of the technical solution of the present utility model still belong to the scope protected by the technical solution of the present utility model.

Claims

1. A collision avoidance system for a medical device having at least one degree of freedom, characterized in that: include: A camera, the camera being arranged at a predetermined position in the area where the medical device is located, so as to provide field of view information of the area where the medical device is located and first distance information between the medical device and an anti-collision object; A radar sensor is disposed at a position of the medical device having a degree of freedom to provide second distance information between the medical device and the anti-collision object.

2. The anti-collision system according to claim 1, characterized in that: The number of the cameras is one or more; the number of the radar sensors is multiple.

3. The anti-collision system according to claim 1, characterized in that: The medical device comprises a fixed medical device having at least one moving joint, and the radar sensor is arranged at the moving joint of the fixed medical device; And / or, the medical device includes a mobile medical device having a moving part, and the radar sensor is arranged at the moving part of the mobile medical device.

4. The anti-collision system according to claim 1, characterized in that: The radar sensor is a laser radar sensor, an ultrasonic radar sensor or a millimeter wave radar sensor.

5. The anti-collision system according to claim 1, characterized in that: The anti-collision system also includes a driving device that is communicatively connected to both the camera and the radar sensor, and the driving device is used to plan an anti-collision motion trajectory between the medical device and the anti-collision object through the field of view information and at least one of the first distance information and the second distance information, and the driving device is used to drive the medical device to move along the anti-collision motion trajectory.

6. The anti-collision system according to claim 5, characterized in that: The driving device is used for planning the anti-collision motion trajectory according to the field of view information and the first distance information when the first distance information is greater than or equal to a risk distance threshold; The driving device is used to plan the anti-collision motion trajectory through the field of view information and the smaller one of the first distance information and the second distance information when the first distance information and the second distance information are both smaller than the risk distance threshold and greater than or equal to the warning distance threshold.

7. The anti-collision system according to claim 6, characterized in that: The driving device is used to drive the medical device to perform deceleration movement when the first distance information or the second distance information is smaller than the warning distance threshold and greater than or equal to the alarm distance threshold.

8. The anti-collision system according to claim 7, characterized in that: The driving device is used to stop the medical device when the second distance information is smaller than the alarm distance threshold.

9. The anti-collision system according to claim 6, characterized in that: The driving device is used to generate a first fault prompt signal when the second distance information is less than the risk distance threshold and the first distance information is not received within a first time setting value; The driving device is used to generate a second fault prompt signal when the first distance information is less than the risk distance threshold and the second distance information is not received within a second time setting value; The driving device is used to stop the medical device when a second fault prompt signal is generated and the first distance information is less than the warning distance threshold.

10. A medical device, characterized in that: The medical equipment includes a medical device and an anti-collision system, the medical device has one degree of freedom, the anti-collision system includes a camera and a radar sensor, the camera is arranged at a predetermined position in the area where the medical device is located, and the radar sensor is arranged at a position of the medical device having a degree of freedom.

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