Method for contactless motion control and mobile medical device

Abstract

To enable an operator to keep their hands sterile, a method for the non-contact motion control of a motor-driven and / or movable component of a medical device with a handle element, in particular in the form of a handle strip, arranged on the device is provided, comprising the following steps: recording of measured values ​​by sensors arranged on or near the handle element, in particular distance and / or position sensors, while the device is in a first operating mode, wherein the first operating mode excludes non-contact motion control; evaluation of the measured values ​​with regard to the approach of at least one operator's hand; switching the device to a second operating mode if the result of the evaluation fulfills a first preset condition, wherein the second operating mode includes non-contact motion control.and wherein the first condition is a first distance of the operator's hand to the handle element being undercut from a first approach direction.

Description

[0001] The invention relates to a method for contactless motion control of a motor-driven and / or movable component of a medical device according to claim 1 and a mobile medical device for carrying out such a method according to claim 11.

[0002] Mobile X-ray units, such as C-arm X-ray machines mounted on wheeled carts, allow them to be moved across hospital floors and offer exceptional flexibility in their application across various areas and rooms. In operating rooms, mobile X-ray units are used for surgical procedures, such as spinal surgery; in interventional radiology, for minimally invasive procedures like embolizations; and in cardiology, for minimally invasive cardiac procedures. Other applications include trauma and emergency care, orthopedics, and pain management.

[0003] Mobile X-ray units must be easily maneuverable in practice; in particular, the mobile X-ray unit must be steerable, controllable, and brakeable by an operator. Newer mobile, manually operated X-ray units feature motorized maneuverability to facilitate operation and transport.

[0004] To operate or move such a motorized mobile device during surgery, handles and / or control elements with touch controls are used, which are covered with a sterile cover to maintain the sterility of the operator's hands. However, operating and controlling these sterile-covered handles and / or control elements is often prone to errors, the sterile cover is bulky and impractical, and it must be replaced for each use.

[0005] In all cases where imaging is required during surgical procedures, the mobile X-ray unit is operated in a sterile environment. Interaction with the imaging system is often necessary and cumbersome, as the physician / surgeon / operator is wearing sterile clothing and cannot touch the display. Furthermore, in cases where the operator needs to move or reposition the imaging system—for example, if the image plane needs to be changed or the C-arm needs to be moved to a different position—this must be done by someone other than the physician / surgeon / operator.

[0006] The object of the present invention is to provide a method which enables a person performing an interventional procedure to additionally move and / or operate the mobile medical device while maintaining sterility in the operating room; furthermore, it is an object of the invention to provide a medical device suitable for carrying out the method.

[0007] The problem is solved according to the invention by a method for contactless motion control of a motor-driven and / or movable component of a medical device according to claim 1 and of a mobile medical device according to claim 11. Advantageous embodiments of the invention are the subject of the respective dependent claims.

[0008] The inventive method for contactless motion control of a motor-driven and / or movable component of a medical device with a handle element arranged on the device, in particular in the form of a handle strip, comprises the following steps: recording measured values ​​by sensors arranged on or near the handle element, in particular distance and / or position sensors, while the device is in a first operating mode, wherein the first operating mode excludes contactless motion control; evaluating the measured values ​​with regard to the approach of at least one hand of an operator; and switching the device to a second operating mode if the result of the evaluation fulfills a first preset condition, wherein the second operating mode includes contactless motion control.where the first condition is a first distance of the operator's hand to the handle element being undercut from a first approach direction.

[0009] The method according to the invention enables an operator (such as a cardiologist, interventional radiologist, or surgeon) to easily and safely move a mobile medical device during surgery or an interventional procedure without touching non-sterile surfaces with their hands, thus ensuring hand sterility at all times. The operator can "log in" to the operating mode with simple hand movements, i.e., switch the mobile medical device from a first operating mode (non-movable / movable) to a second operating mode (movable / movable) without touching the handle or grip. Once logged in, the mobile medical device can be moved without physical contact, in particular by converting hand movements into control signals for a motor drive.The transition from the first to the second operating mode can be accomplished by simply approaching the device from a predefined initial approach direction. This requires only sensors capable of registering or detecting the approach of hands, such as classic distance or proximity sensors, and possibly also position or image sensors. The procedure is intuitive and easy for the operator to perform, can be carried out very quickly, and meets safety standards. This allows the medical procedure to be performed quickly and gently for the patient, as there is no need for cumbersome re-sterilization of the operator's hands between device movements if contact with non-sterile surfaces (such as the handle) has occurred.

[0010] According to one embodiment of the invention, the contactless motion control is designed such that, for example, measured values ​​acquired by the distance or proximity sensors regarding the movement of at least one of the operator's hands are evaluated and converted into control commands for the automatic motion control of the device. These control commands then trigger a motorized movement of the device. In this way, for example, hand movements of the operator can be used for the motorized movement of the medical device without any need to touch the control module.

[0011] Advantageously, the mobile medical device features a motorized cart, and in the second operating mode, the motion control system directs the cart's movement in two dimensions on a substantially flat surface. This allows, for example, the cart to move forward, backward, and sideways (and / or in combination) on the surface.

[0012] According to a further embodiment of the invention, the motion control is designed such that a movement of the hand in a direction parallel to the surface causes a corresponding automatic movement of the equipment cart. This can be configured, in particular, such that an approach of the hand to the handle element in a direction parallel to the surface causes the equipment cart to move backward in the same direction, and / or a backward movement of the hand away from the handle element in a direction parallel to the surface causes a subsequent movement in the same direction. Sideways hand movements (i.e., along the handle element) parallel to the surface cause a subsequent sideways movement of the equipment cart. Combined hand movements cause combined movements of the equipment cart. In this way, a simple and intuitive control of the equipment cart's movement on the surface is possible for an operator.

[0013] Advantageously, the first approach direction is parallel to the normal of the surface. This means, for example, that the approach can be "from above," i.e., by moving the hand from above the handle element when the mobile device is to move on a flat surface. Because the approach direction essentially has no directional component that could potentially move the device, a clear distinction can be made between a hand movement for logging in and a hand movement for control purposes. This makes it easier for the operator to avoid incorrect operation or accidental device movements.

[0014] According to a further embodiment of the invention, the device returns to the first operating mode when the result of a further evaluation of additional measured values ​​fulfills at least a second preset condition, different from the first. This allows for simple and safe logging out of the device, for example, when operation is to be terminated. In particular, the second condition is exceeding a second distance in combination with the opposite direction of the first approach direction. Logging out can therefore occur, for example, when the operator moves their hand upwards away from the handle. It can also be provided that simply exceeding a second distance between the hand and the handle (regardless of the direction) causes the medical device to return to the first operating mode, in order to fundamentally prevent accidental misuse.

[0015] In a further embodiment of the invention, the currently active operating mode is indicated by means of a visual or acoustic display. This allows both the operator and other persons to quickly and reliably identify the operating mode of the device. For example, the display can be illuminated in a color corresponding to the operating mode, or a symbol or text can be displayed; alternatively, a characteristic tone or sequence of tones can be emitted.

[0016] In a further embodiment of the invention, additional measured values ​​are recorded and evaluated, which trigger gesture control by hand. The gesture control can also control other functions of the device besides its movement, such as display functions, inputs and outputs, or the setting and triggering of measurements.

[0017] The invention further comprises a mobile medical device with a motor-assisted mobile device cart, designed to carry out the method described above, comprising at least one handle element in the form of a handle strip, wherein at least one distance sensor and / or position sensor is arranged on the handle strip or in its immediate vicinity, wherein the sensors are designed to record measured values ​​with regard to the approach of an operator's hand, an evaluation unit which is designed to evaluate the measurement data of the sensors with regard to distance and approach direction of the operator's hand, and a control unit for controlling a transition of the device from a first operating mode to a second operating mode and back as a result of the evaluation result.and also trained to automatically control the movement of the equipment cart on a surface as a result of the operator's hand movement.

[0018] According to one embodiment of the invention, the device is a mobile C-arm X-ray unit. Such a device can include a mobile cart and a movable C-arm, which can also be controlled by the method. According to a further embodiment of the invention, the medical device has at least one distance sensor from the following selection: infrared sensor, light sensor, ultrasonic sensor, capacitive or inductive sensor, radio frequency sensor.

[0019] The invention and further advantageous embodiments according to the features of the dependent claims are explained in more detail below with reference to schematically illustrated exemplary embodiments in the drawing, without thereby limiting the invention to these exemplary embodiments. The drawing shows: Fig. 1 a sequence of steps of a procedure for contactless motion control; Fig. 2 a top view of a handle element with sensors; Fig. 3 a side view of a handle element with sensors, a touchpad and an approaching hand; and Fig. 4. A view of a mobile medical device for carrying out the procedure.

[0020] In the Fig. Figure 1 shows a sequence of steps for the contactless motion control of a motor-driven and / or movable component of a mobile medical device. Such a component is, in particular, a motor-driven cart, which is part of the medical device and by means of which the medical device can be moved, for example, on a substantially level surface. An exemplary medical device in the form of a mobile C-arm X-ray unit 24, which has a cart 23 and can be moved by means of motor-driven wheels in the form of Mecanum or Omniwheels 28, is shown in the Fig. Figure 4 shows that a handle 20 is arranged on the C-arm X-ray unit 24 or the equipment cart 23 to allow the equipment cart 23 to be moved / moved manually, semi-automatically, or automatically using one or more hands (see also Fig. 2) The C-arm X-ray device 24 has a C-arm 25 with an X-ray source 26 and an X-ray detector 27 for taking X-ray images of an object under investigation.

[0021] The procedure can be carried out, for example, during a medical intervention or operation with the medical device, i.e., when touching a non-sterile handle element is not desirable, for example, because the operator's hands should remain sterile due to the operation.

[0022] In a first step 11, measured values ​​21 are recorded by means of sensors 21 arranged on the handle 20 of the medical device. The sensors are, for example, distance or proximity sensors, in particular a multitude of distance or proximity sensors or a sensor array 32, which are arranged on and / or around the handle and detect or monitor the approach of, for example, a hand 22 or several hands 22 of an operator. Position sensors or other types of sensors, e.g., cameras, may also be present, which determine the position of the hand(s) 22. Initially, the medical device is in a first operating mode in which the sensors 21 can record the measured values, but in which contactless motion control is excluded and not supported or is actively prevented.The sensors 21 of the handle 20 generally record measurements continuously and / or "live" during operation of the device in order to monitor all hand movements and / or to immediately detect approaching hands. The measured values ​​are such that they can be used directly or indirectly to determine the approach and / or position of one or more hands.

[0023] In a second step, the recorded measurements are evaluated with regard to whether at least one operator's hand is approaching. This is also performed continuously and "live" to enable immediate actions in response to the evaluation. The respective result of the evaluation can show, for example, whether an operator's hand is approaching, at what distance it is currently located, and from which direction it is approaching the handle 20. The direction of approach can be any direction. The evaluation can be performed, for example, using an evaluation unit that is part of the medical device's control system.

[0024] If the result of the evaluation in the second step 12 fulfills a first preset condition 13, the device is automatically switched to a second operating mode in a fourth step 13. The second operating mode includes the activation of a contactless motion control, which is achieved in particular by means of hand movements of the approaching hand.

[0025] The first preset condition is triggered by the operator's hand falling below a certain distance from the handle (or the sensors or sensor array) from a first approach direction. This could, for example, involve a hand approaching the handle from above (z-coordinate), as shown in the... Fig. Figure 3 illustrates this, particularly when the mobile device is to move on a flat surface. Because the initial approach direction in this example lacks a directional component that would allow for movement of the device, a clear distinction can be made between a hand movement for logging in and a hand movement for control. If the hand falls below a certain preset initial distance from the handle while approaching it from "above," the second operating mode is activated. This can also be described as the operator "logging in" to the second operating mode (with contactless motion control). As long as the second operating mode is activated, contactless motion control by the operator's hand is possible. An example of an initial distance could be 3 cm, 5 cm, or 7 cm.

[0026] Furthermore, it may be stipulated that a second preset condition must be met to return from the second operating mode to the first. If the hand moves away from the handle in the opposite direction to the initial approach direction, e.g., upwards, and exceeds a second distance from the handle, the medical device will revert to the first operating mode. It may also be stipulated that any removal of the hand(s), regardless of direction, triggers a switch to the first operating mode, for example, as a safety precaution.

[0027] In contactless motion control, the operator's hand movements are used to motorize the medical device without requiring a single touch of the control module.

[0028] In the case of a motorized equipment cart, the contactless motion control in the second operating mode enables, for example, two-dimensional movement of the cart on a largely flat surface. This allows, for example, the cart to be moved forwards, backwards, and sideways (and in combination).

[0029] The motion control can be configured, for example, such that a hand movement in a direction parallel to the ground (i.e., x-axis or y-axis: forward, backward, sideways) triggers a corresponding motor movement of the equipment cart. This can be specifically designed so that an approach of the hand to the handle in a direction parallel to the ground causes the equipment cart to retreat in the same direction, and / or a retreat of the hand from the handle in a direction parallel to the ground triggers a follow-up movement in the same direction. In other words, the corresponding control signals for the movement are activated by the system controller as a result of sensor measurements. Sideways hand movements (i.e., along the handle) parallel to the ground cause a follow-up movement of the equipment cart in the same direction. Combined hand movements cause combined movements of the equipment cart, which, for example,In combination with Mecanum wheels on a mobile C-arm X-ray unit's cart, improved maneuverability on the floor is enabled. For example, the cart could be rotated by a counter-rotating hand movement parallel to the floor. In these cases, the approach or departure movements detected by the sensors are registered and converted into control signals to trigger the motor movements.

[0030] Other components of a mobile medical device can also be controlled, such as a C-arm. In this case, a described contactless motion control can be used to adjust the C-arm spatially, for example, to translate or rotate it. After activating the second operating mode as described above, the operator's hand can also cause the component, i.e., the C-arm, to move backward or follow, in this case not only in one plane but also up and down.

[0031] The medical device can indicate its operating mode, for example, on display unit 33. This can be done by color-coding the screen or a portion thereof in a color corresponding to the operating mode, or by displaying a symbol or text representing the respective mode. Alternatively, a characteristic tone or sequence of tones can be emitted. The visual or audible indication can also be provided by a simple light source, microphone, or a device worn by the operator that communicates with the device, such as a beeper or wristband. Haptic feedback (e.g., vibration) can also be provided to the operator, for example, via a wristband worn by the operator. This haptic feedback can be appropriately coded.Such a bracelet can have a wireless, optical, or mechanical communication link to the device.

[0032] It can also be stipulated that the operator must log in to the device before starting the procedure, so that only the logged-in operator can carry it out. This can be done, for example, not only via a user interface but also using a wristband, special gloves, or other devices with a communication link to the device. For instance, the gloves could be designed to be detected by sensors (e.g., through special optical markers, reflectors, ID chips, etc.). Only the operator wearing the special gloves can operate the device; other people wearing "ordinary" gloves cannot log in.

[0033] In the Fig.Figure 2 shows, in addition to the handle strip 20 and the sensors 21, a touch element 31 arranged on the handle strip for additional operation by touch. This is intended for non-sterile operation.

[0034] For evaluating the measurements and controlling the procedure, a digital processing unit (DPU) can be used, for example, which is implemented in the system control of the C-arm X-ray unit. The DPU processes the sensor measurements and ensures that the corresponding control signals are transmitted to the motors of the equipment cart or the C-arm.

[0035] Furthermore, an additional gesture control system can be implemented, in which gestures are recorded using cameras, then analyzed and converted into other control signals to operate the device. An additional voice control system can also be implemented.

[0036] The sensors can be, for example, time-of-flight sensors, which can measure the precise absolute distance of the hands from the handle. Alternatively, other distance or proximity sensors can be used, such as infrared sensors, light sensors, ultrasonic sensors, capacitive or inductive sensors, or radio frequency sensors. Additionally, position sensors, such as cameras, can be used to determine the absolute position of the hands in space.

[0037] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

[0038] The invention can be summarized as follows: To enable an operator to keep their hands sterile, a method for the contactless motion control of a motor-driven and / or movable component of a medical device with a handle element arranged on the device, in particular in the form of a handle strip, is provided, comprising the following steps: Recording of measured values ​​by sensors arranged on or near the handle element, in particular distance and / or position sensors, while the device is in a first operating mode, wherein the first operating mode excludes contactless motion control; evaluation of the measured values ​​with regard to the approach of at least one operator's hand; switching the device to a second operating mode if the result of the evaluation fulfills a first preset condition, wherein the second operating mode includes contactless motion control.and wherein the first condition is a first distance of the operator's hand to the handle element being undercut from a first approach direction.

Claims

[1] Method for contactless motion control of a motor-driven and / or movable component of a medical device with a handle element arranged on the device, in particular in the form of a handle strip, comprising the following steps: • Recording of measured values ​​by sensors arranged on or near the handle element, in particular distance and / or position sensors, while the device is in a first operating mode, wherein the first operating mode excludes non-contact motion control, • Evaluation of the measured values ​​regarding the approach of at least one operator's hand, • Transferring the device to a second operating mode if the result of the evaluation fulfills a first preset condition, wherein the second operating mode includes contactless motion control, wherein the first condition is a first distance of an operator's hand to the handle element from a first approach direction being undercut. [2] Method according to claim 1, wherein the non-contact motion control is designed such that measured values ​​recorded by the sensors with regard to the movement of at least one hand of the operator are evaluated and converted into control commands for the automatic motion control of the device. [3] Method according to claim 1 or 2, wherein the device is returned to the first operating mode if a result of a further evaluation of further measured values ​​satisfies at least a second preset condition different from the first. [4] Method according to claim 3, wherein the second condition is an exceedance of a second distance or an exceedance of a second distance in combination with the opposite direction of the first approach direction. [5] Method according to one of the preceding claims, wherein the current operating mode is indicated by means of an optical or acoustic display. [6] Method according to one of the preceding claims, wherein the device has a motor-driven equipment cart and the motion control in the second operating mode controls a two-dimensional traversing movement of the equipment cart on a substantially flat surface. [7] Method according to claim 6, wherein the motion control is designed such that a movement of the hand in a direction parallel to the ground causes a corresponding automatic movement of the equipment cart. [8] Method according to claim 7, wherein an approach of the hand in a direction parallel to the ground causes a retraction movement of the equipment cart in the same direction and / or a removal of the hand in a direction parallel to the ground causes a follow movement in the same direction. [9] Method according to any of the preceding claims, wherein the first approach direction is parallel to the normal of the plane of the subsurface. [10] Method according to one of the preceding claims, wherein additionally measured values ​​are recorded and evaluated which enable gesture control by the hand. [11] Mobile medical device (24) with a motor-assisted mobile equipment cart (23), configured for carrying out a method according to one of claims 1 to 10, comprising • at least one handle element in the form of a handle strip (20), wherein at least one sensor (21), in particular a distance sensor and / or position sensor, is arranged on the handle strip (20) or in its immediate vicinity, wherein the sensor (21) is designed to record measured values ​​with regard to the approach of a hand (22) of an operator, • an evaluation unit which is designed to evaluate the measurement data of the sensors (21) with regard to distance and approach direction of the operator's hand (22), and • a control unit for controlling a transfer of the mobile medical device from a first operating mode to a second operating mode and back as a result of the evaluation result, and also designed for automatic control of a movement of the device cart on a surface as a result of the movement of the hand (22) of the operator. [12] Mobile medical device according to claim 11, wherein the mobile medical device is formed by a mobile C-arm X-ray device (24). [13] Mobile medical device according to claim 12, comprising a movable C-arm (25) which can also be controlled by the method. [14] Mobile medical device according to any one of claims 11 to 13, comprising at least one distance sensor from the following selection: infrared sensor, light sensor, ultrasonic sensor, capacitive or inductive sensor, radio frequency sensor.

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