Building space
By using a lidar sensor as a sensor element in medical devices and designing it as a 3D sensor, the problem of collision prediction in autonomous movement of medical devices is solved, achieving reliable collision avoidance and long sensor life, thus improving the safety of autonomous movement.
Patent Information
- Application Number
- CN202422985339.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2023-12-08
- Filing Date
- 2024-12-04
- Publication Date
- 2026-02-24
- Estimated Expiration
- 2034-12-04
AI Technical Summary
Existing technologies struggle to effectively predict and avoid collisions between medical devices and other objects in space, especially during autonomous movement, where sensor technology suffers from low detection accuracy or can only identify collisions after they occur but cannot prevent them in advance.
Using a lidar sensor as the sensor element, it is designed as a 3D sensor to detect three-dimensional images of space. By connecting with a control device, the control device is programmed to avoid collisions, enabling partial autonomous movement of the medical device.
It enables reliable detection of the position of objects in space, can easily and reliably avoid collisions, reduces sensor wear, and improves the safety of autonomous movement.
Smart Images
Figure CN223930172U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a building space in which objects are arranged, including medical devices, wherein the medical devices have actuators and control devices that enable the medical devices to move at least partially autonomously by means of the actuators and control devices, wherein the space has sensor elements that can detect the area of the space occupied by the objects, wherein the sensor elements are connected to the control devices, and the control devices are programmed to take into account the area of the space occupied by the objects when the medical devices move at least partially autonomously. Background Technology
[0002] Besides medical equipment, the object can also include other facilities and people. At least partially autonomous movement can be the movement of the medical equipment as a whole, such as the movement of the medical equipment on the floor of a space. It can also be the movement of a device component relative to other device components, such as the pivoting or removal of a C-arm.
[0003] This space is known.
[0004] Medical devices, such as imaging modalities and angiography systems, are becoming increasingly mobile. This mobility is sometimes at least partially autonomous.
[0005] In the at least partially autonomous movement of medical devices, it is crucial to pre-identify and avoid the risk of collision between the moving medical device and another object positioned in space. Therefore, the control device considers the area occupied by the object, detected by sensor elements, by defining a corresponding prohibited space, in which the moving medical device must not enter. In certain cases, targeted contact can also be achieved and induced if desired.
[0006] Different technologies are known for sensor elements.
[0007] For example, it is known that object models are implemented within a control device and the prohibited space is derived in a model-supported manner by combining the manipulation of the medical device's actuators, where the control device also determines the movement. This approach has the following drawbacks: it is always necessary to know which objects exist in the space, and the actual positions of the objects must precisely, or at least nearly precisely, match their model-supported positions. Furthermore, the modeling must be complete and accurate.
[0008] It is also known to place contact sensors in the moving parts of medical devices. However, a drawback of this approach is that it can only detect actual collisions, and therefore cannot prevent collisions in advance.
[0009] In addition, other sensor technologies are known that can be used to detect various objects arranged in space. For example, ordinary cameras, 3D cameras, TOF cameras (TOF = Time-of-Flight), ultrasonic sensors, or radar sensors can be used. However, these technologies all have specific drawbacks. Ordinary cameras can only provide two-dimensional images, making it difficult to determine the actual position in three-dimensional space. Although 3D cameras and TOF cameras can avoid this problem, image detection and image evaluation become significantly more complex. Ultrasonic sensors and radar sensors typically only work with relatively low spatial resolution. Utility Model Content
[0010] The purpose of this invention is to propose a possibility for detecting the position of an object more easily and reliably.
[0011] This objective is achieved through the space of the building according to the present invention. The advantageous design of the building's space is the subject of this invention.
[0012] According to this utility model, the space of the type mentioned at the beginning is designed in the following way: the sensor element is designed as a lidar sensor.
[0013] LiDAR is a known technology that works similarly to radar, but is based on lasers.
[0014] Medical devices can be of any nature in principle. In particular, medical devices can include imaging medical devices. Examples of such devices are angiography systems, computed tomography scanners, C-arm devices, ultrasound equipment, etc.
[0015] In its simplest case, the sensor scans only a single line. Preferably, the lidar sensor is designed as a 3D sensor, detecting the distance from the corresponding lidar sensor to the corresponding nearest reflective object within a spatial angular range. Therefore, instead of scanning a single line and detecting the distance to the corresponding nearest reflective object on that line, multiple such lines are scanned and their respective distances are detected. Thus, based on the corresponding lidar sensor, a complete three-dimensional image of space can be detected in a simple manner within the scanned solid angular range.
[0016] Preferably, the lidar sensor is a solid-state sensor without any macroscopically movable elements. Thus, the sensor element can operate virtually without wear for many years.
[0017] Such solid-state sensors are available on the market, for example, from Lumotive and Hypersen Technologies Co, Ltd. in Redmond, Washington, USA.
[0018] Sensor components can be arranged as needed.
[0019] For example, at least one of the sensor elements is arranged at the boundary of the space. The boundary of the space is the wall, ceiling, and floor of the space.
[0020] Alternatively or additionally, at least one of the sensor elements is arranged at a fixed or movable part of the medical device. When the sensor element is arranged at a movable part of the medical device, the respective sensor element is preferably aligned such that the sensor element "observes" that the main direction of movement or (in other words) of the main motion of the respective movable part is within the spatial angular range detected by the respective sensor element. If multiple directions of movement are feasible, then if necessary, multiple such sensor elements can each "observe" along their own main direction of movement.
[0021] Alternatively or additionally, at least one of the sensor elements is positioned at a separate detection station capable of moving in space. This separate detection station can be considered a "supervisor," moving through space like a person and "ensuring everything is working properly" at the required locations. In this case, for accurate evaluation, the control device must also know the current position and orientation of the corresponding sensor element. Attached Figure Description
[0022] The above-described features, characteristics, and advantages of the present invention, as well as the ways and methods of achieving said features, characteristics, and advantages, become clearer and more apparent in conjunction with the following description of the embodiments, which are explained in more detail with reference to the accompanying drawings. Wherein:
[0023] Figure 1 The space is shown from above.
[0024] Figure 2 Showing from Figure 1 View of the space in direction II-II,
[0025] Figure 3 Showing from Figure 1 A view of the space in direction III-III.
[0026] Figure 4 The block diagram is shown.
[0027] Figure 5 The detection area of the sensor element is shown.
[0028] Figure 6 The flowchart is shown. Detailed Implementation
[0029] according to Figures 1 to 3The space within the building is bounded by boundary surface 1. The walls of the space are... Figure 1 As shown in, Figure 2 and Figure 3 The ceiling and floor of the space are shown. Different objects, numbered 2 to 6, are arranged in the space.
[0030] At least one of objects 2 to 6 is a medical device 2, such as an imaging medical device. Specifically, as a medical device 2, in Figures 1 to 3 A C-arm X-ray device is shown. However, this should not be construed as limiting. Other objects 2 to 6 arranged in the space may, for example, be a hospital bed 3, a patient 4, and a testing station 5. The testing station 5 is capable of moving independently (usually entirely autonomously) within the space. The operator 6 may also move within the space. However, the objects 2 to 6 shown and explained are neither exhaustive nor complete, but merely exemplary. Additionally, other objects 2 to 6 of different types may also exist.
[0031] The applicant noted that regardless of the grammatical gender of a particular term (e.g., the term "patient"), it always includes people with both positive and negative gender identities.
[0032] according to Figure 4 The medical device 2 has a driver 7 and a control unit 8. Figure 4 The diagram shows a control unit 8 and its associated actuator 7 for a C-arm X-ray apparatus. With the aid of the actuator 7, the base 9 and thus the C-arm X-ray apparatus as a whole can move along the floor of space. The intermediate element 11 carrying the C-arm 10 can pivot relative to the base 9 about a pivot axis 12, and the C-arm can move relative to the intermediate element 11 along... Figure 2 The device moves in the direction indicated by double arrow 13. By correspondingly manipulating the actuator 7, the control device 8 is able to move the medical device 2 at least partially autonomously. Here, the explanation is purely exemplary. Other autonomous movement possibilities are correspondingly provided for other medical devices 2.
[0033] In order to prevent collisions with objects 2 to 6 (e.g., detection station 5 or operator 6) arranged in the space during at least part of the autonomous movement of the medical device 2, the space has a sensor element 14 by means of which the area of the space occupied by objects 2 to 6 can be detected. Figure 4 Sensor element 14 is connected to control device 8. The sensor element is designed as a lidar sensor. Lidar sensors can, in particular, be solid-state sensors without any macroscopically movable elements. Control device 8 (only...) Figure 4 The control device 8 for the C-arm X-ray equipment shown in the figure is designed to be software programmable and is programmed using a corresponding program 15.
[0034] As from Figures 1 to 3 As can be seen, the sensor elements 14 can be arranged almost arbitrarily. For example, at least one of the sensor elements 14 can be arranged at the boundary surface 1 of the space. This is merely an example for the two walls of the space. Figure 1 As shown in the diagram. Similarly, at least one of the sensor elements 14 can be arranged at a fixed or movable part of the medical device 2. This is in Figures 1 to 3 The different sensor elements 14 at the base 9, the C-arm 10, and the intermediate element 11 of the C-arm X-ray apparatus are shown exemplarily. It is also possible that at least one of the sensor elements 14 can also be arranged at the detection station 5.
[0035] The lidar sensor is preferably designed as a 3D sensor. Therefore, according to Figure 5 In the view shown, sensor element 14 preferably detects the distance 'a' of the corresponding lidar sensor to the nearest reflecting object in a spatial angular range, i.e., in a region extending in the azimuth direction over an effective (i.e., non-infinitely small) angular region α, and also in the height direction over a finite angular range β. For example, sensor element 14 can scan 300 lines 16 in the height direction over the angular range β with an angular resolution of, for example, 0.1°, resulting in an angular range β of 30° in the height direction. Furthermore, lines 16 can extend in the azimuth direction over an angular range α of, for example, 150°, and 1500 scans can be performed on each line, resulting in an angular resolution of 0.1° in the azimuth direction as well. Of course, the values mentioned should be understood purely illustratively. The detected sensor signals are the travel time along each emitted beam 17 to the next object 2 to 6 and back, and correspondingly, the distance 'a' of the corresponding point of the corresponding object 2 to 6 from the corresponding lidar sensor.
[0036] Because it is programmed using program 15, control device 8 executes the combined... Figure 6 The following methods of explanation:
[0037] In step S1, the corresponding control device 8 determines the corresponding at least partially autonomous movement to be performed. It is feasible for the corresponding control device 8 to determine the corresponding movement entirely autonomously, i.e., the timing and the movement itself. It is also feasible for the operator 6 to preset the position or orientation of the corresponding control device 8 to be received. However, in this case, the corresponding control device 8 also autonomously determines the movement itself. Therefore, the control device itself determines at what time what kind of operation of the actuator 7 is performed. Only the result is preset. In this respect, the movement is only partially autonomous. Within the scope of step S1, the following is particularly excluded: the operator 6 directly presets the movement direction for each actuator 7 or the movement associated therewith (e.g., operating the button "rotate intermediate element 11 clockwise about pivot axis 12"), and if and only if the operator 6 presets the movement direction, for example by pressing the corresponding button, the movement is maintained by the corresponding control device 8.
[0038] In step S2, the corresponding control device 8 receives the sensor signals detected by the sensor element 14 or the conditions derived therefrom (specifically, the area of space occupied by objects 2 to 6). In step S3, the corresponding control device 8 checks whether at least partially autonomous movement determined in step S1 can be performed without collision. If so, the corresponding control device 8 transitions to step S4. In step S4, the corresponding control device 8 performs a portion of the at least partially autonomous movement determined in step S1 by manipulating the corresponding actuator 7. Then, in step S5, the corresponding control device 8 checks whether at least partially autonomous movement has been fully performed. If not, the corresponding control device 8 returns to step S2. Otherwise, the corresponding control device 8 transitions to step S6, where it waits to trigger another at least partially autonomous movement.
[0039] If the corresponding control device 8 identifies in step S3 that at least partially autonomous movement determined in step S1 cannot be performed without collision, then the corresponding control device 8 transitions to step S7. In step S7, the corresponding control device 8 performs corresponding error handling. Specifically, the corresponding control device 8 may terminate at least partially autonomous movement (supplement: terminate early) and / or output a corresponding message to operator 6.
[0040] Therefore, the above combination Figure 6 The interpretation of the treatment method specifically ensures that when the corresponding medical device 2 moves at least partially autonomously, the corresponding control device 8 takes into account the area of space occupied by objects 2 to 6.
[0041] In summary, this utility model therefore relates to the following situations:
[0042] Objects 2 to 6 are arranged within a building space. Objects 2 to 6 include a medical device 2, which has an actuator 7 and a control device 8, enabling the medical device 2 to move at least partially autonomously by means of the actuator 7 and the control device 8. The space also includes a sensor element 14, which can detect the area of the space occupied by objects 2 to 6. The sensor element 14 is connected to the control device 8. The control device 8 is programmed to take into account the area of the space occupied by objects 2 to 6 when the medical device 2 moves at least partially autonomously. The sensor element 14 is designed as a lidar sensor.
[0043] This invention has many advantages. In particular, objects 2 to 6 can be detected in a simple and reliable manner, making it possible to reliably avoid collisions. Since no moving parts are required for monitoring, wear and tear is (virtually) absent.
[0044] Although the present invention has been described in detail with reference to preferred embodiments, the present invention is not limited to the disclosed examples, and those skilled in the art can derive other variations therefrom without departing from the scope of the present invention.
Claims
1. A type of building space, Its features are, Objects (2 to 6) are arranged in the space. The objects (2 to 6) include medical devices (2). The medical device (2) has a driver (7) and a control device (8) that enable the medical device (2) to move at least partially autonomously by means of the driver (7) and the control device (8). The space has a sensor element (14) by means of which the area of the space occupied by the objects (2 to 6) can be detected. The sensor element (14) is connected to the control device (8), and the control device (8) is programmed to take into account the area of the space occupied by the objects (2 to 6) when the medical device (2) moves at least partially autonomously. The sensor element (14) is designed as a lidar sensor.
2. The space according to claim 1, Its features are, The medical device (2) includes an imaging medical device.
3. The space according to claim 1 or 2, Its features are, The lidar sensor is designed as a 3D sensor, and the lidar sensor detects the distance (a) of the corresponding lidar sensor to the corresponding nearest reflective object in a spatial angular range.
4. The space according to claim 1 or 2, Its features are, The lidar sensor is a solid-state sensor that does not have macroscopically movable elements.
5. The space according to claim 1 or 2, Its features are, At least one of the sensor elements (14) is arranged at the boundary surface (1) of the space.
6. The space according to claim 1 or 2, Its features are, At least one of the sensor elements (14) is arranged at a fixed or movable part (9, 10, 11) of the medical device (2).
7. The space according to claim 1 or 2, Its features are, At least one of the sensor elements (14) is arranged at a separate detection station (5) that is movable in the space.