Safety device for releasing motion control commands

Abstract

Safety device (1) for releasing motion control commands for controlling a medical device (9) comprising - a control unit (2) for controlling a movement of the medical device (9), in particular a component (3) of the medical device (9), by an operator (4), wherein the control unit (2) includes a dead man's device (10), which is trained to output a dead man information (S) depending on a, in particular momentary, state of the dead man device (10), - an operating sensor unit (18), which is trained to output operating information depending on the operation of the control unit (2) by the operator (4), - one evaluation unit (6), who is trained to check, on the basis of the dead man information (S) and the operating information, the release of a motion control command, in particular for controlling the movement of the medical device (9).

Description

[0001] The invention relates to a safety device for releasing motion control commands for controlling a medical device.

[0002] In the field of medical technology, particularly in medical imaging devices, there is a growing trend towards the automation of processes. This applies not only to stationary devices, such as magnetic resonance imaging (MRI) scanners, but also increasingly to mobile X-ray devices, i.e., those that can be moved around space, such as C-arm X-ray units. Therefore, such devices increasingly feature multiple moving components, especially with suitable drive platforms that enable automated movement of these components.

[0003] To take an X-ray image with a medical imaging device, for example, various components of the X-ray system, such as the X-ray detector and X-ray tube, must be aligned. The X-ray detector and / or X-ray tube can be adjustable, for example, on a ceiling-mounted stand and aligned in various degrees of freedom (usually up to three translational and three rotational axes) so that the X-ray beam emitted by the X-ray tube penetrates the patient at the correct angle, corresponding to the body region being examined, and completely hits the X-ray detector. Positioning the ceiling-mounted stand can be done manually by an operator, but is more commonly done using a motor.However, particularly when the movement is performed manually, there is a fundamental risk that the patient, the operator and / or other persons present in the room, or components of the medical device, such as patient tables, radiation protection devices, assistance devices, ECG or ultrasound devices, IV stands or the like, could be injured or damaged by a collision with the ceiling stand or the X-ray tube.

[0004] The operator of the medical device must therefore release and visually monitor the movement to ensure the safe movement of the component, for example, the X-ray tube, within the operating space. For this purpose, in addition to motion control operator interfaces and / or control units with which the movements of the components can be defined and / or adjusted, release switches, also known as dead man's switches, are particularly well-known. To release a movement, it is known to continuously hold such a release switch in a release position. A collision of components can be reliably prevented by releasing the switch.

[0005] DE 10 2022 204 210 A1 discloses a control system for a medical device for controlling a motor-driven movement of a device component, comprising a control path for controlling the motor movement and a protection path independent of the control path, wherein the protection path is configured to monitor the control path with regard to compliance with a safety criterion for the motor movement, and the protection path includes at least one freely programmable microcontroller.

[0006] DE 10 2016 009 853 A1 relates to a patient positioning device that can be connected to a positioning system, comprising a patient positioning area that includes a front surface comprising a support plane for positioning and / or contacting a patient, and a bottom surface that is substantially turned away from the front surface; and a coupling area that is configured to be coupled to the positioning system; wherein the support plane extends at least partially between the coupling area and the bottom surface.

[0007] DE 10 2015 222 152 A1 shows an electric hand tool with at least one switching device comprising at least one switching element for activating a power supply to a drive unit, with at least one quick-change tool holder designed to accommodate a tool that is different from a tool with an SDS® shank with a maximum transverse extension of 10 mm, and / or with at least one battery interface.

[0008] Due to the large number of components and / or tasks an operator must perform while operating a medical device, it is not always guaranteed that the operator can see all components, especially moving ones. For example, the operator must constantly ensure that the path of movement (trajectory) of, say, a motorized ceiling stand is clear to allow it to move unimpeded from the starting position to the desired target position. To do this, the operator must know and / or be able to estimate the trajectory of the ceiling stand to assess where people or objects can be located in the room without the stand colliding with them during automatic and / or motorized movement. In particular, the operator must be positioned so that they are not standing in the path of movement when the components are moving.However, if this occurs and the operator releases the release switch, the component's movement stops immediately. The operator is thus able to recognize an impending collision, for example, between a ceiling-mounted stand and a person, especially themselves, and avert it by releasing the release button. Furthermore, it is possible that an operator, due to prolonged use of the release switch and / or a critical situation, becomes tense and is no longer able to avert an impending collision by releasing the switch. Due to the increasing automation of processes, it is also possible that the operator does not know the exact trajectory of a component. This leads to a complex environment for the medical device with dynamic obstacles, for which conventional release switches are an inadequate solution.

[0009] The invention is therefore based on the objective of providing an operator of a medical device with a safe release means for controlling the movement of components in an environment with dynamic obstacles and hazards.

[0010] A safety device for releasing motion control commands for controlling a medical device is proposed. The safety device comprises a control unit for controlling the movement of the medical device by an operator. The control unit includes a deadman's switch. The deadman's switch is configured to output deadman's information depending on its state. The safety device also includes an operator sensor unit. The operator sensor unit is configured to output operator information depending on the operator's actions on the control unit. Finally, the safety device includes an evaluation unit. The evaluation unit is configured to verify the release of a motion control command based on the deadman's switch information and the operator information.

[0011] In particular, the control unit can be configured to control the movement of a component of the medical device. The deadman's switch can be configured, in particular, to output deadman's information depending on the current state of the deadman's switch. The evaluation unit is configured, in particular, to use the deadman's switch information and the operating information to check whether a motion control command for controlling the movement, in particular of the component, of the medical device has been released.

[0012] The motion control command enables, in particular, the control of the movement of a component of a medical device. Preferably, the control unit of the medical device is configured to detect the motion control command and control the movement of a component of the medical device according to the motion control command. The control command comprises, in particular, an instruction or signal that is sent to a component of a device, system, or unit to perform specific actions and / or operations. These control commands can, for example, involve starting, stopping, accelerating, or decelerating a component (and are therefore referred to as motion control commands).

[0013] The medical device may, in particular, include a medical imaging device and / or a medical therapy device. Medical imaging systems may include one or more imaging modalities such as computed tomography (CT) scanners, magnetic resonance imaging (MRI) scanners, X-ray machines, ultrasound devices, and the like. In particular, the medical system may be a medical therapy device. Specifically, the medical system may be or include a radiation therapy device.

[0014] In particular, the medical device may include a mobile medical device that can be moved around space by means of suitable (powered) means of movement and thereby change its position in space. For example, a mobile medical device may be a C-arm X-ray imaging machine with (powered) wheels that can be moved from one position in space to another.

[0015] The medical device may, in particular, comprise several components. Several components of the medical device may be movable. Stationary medical devices, in particular, may have components that can be moved between defined spatial positions. For example, one component may be an adjustable and movable patient bed.

[0016] The operator of the medical device may include, in particular, a medically trained person, a person trained to operate the medical device, medical personnel and / or a physician.

[0017] The control of the movement of a medical device, in particular a component of a medical device, can preferably be achieved via an interface, in particular a human-machine interface of the control unit of the medical device and / or a motion control operator interface. In particular, the interface of the control unit can be configured to plan a travel path, display a travel path to the operator, and / or control the movement of a medical device, in particular a component of a medical device. Planning a travel path by an operator can, in particular, include defining a start position and / or a target position. Furthermore, planning a travel path by an operator can preferably include a path, a route, a track, a path, a travel route, and / or a trajectory.The travel path to be displayed to the user, and optionally selected and / or confirmed by the user, is preferably determined automatically by the medical device, in particular the control unit. The control unit can also be referred to as a processing unit and / or evaluation unit, and / or comprise these functions. However, the calculation of the movement and / or travel path of the medical device, in particular of a component, can also be performed in a processing unit outside the medical device, for example, in a room monitoring system. The deadman's switch of the safety device can enable an operator to release the calculated movement, in particular the motion control command.

[0018] The control unit of the safety device preferably comprises, in addition to the deadman's switch, a human-machine interface, in particular the control and / or computing unit of the medical device. The control unit of the safety device can, in particular, be comprised of the control and / or computing unit of the medical device. The control unit of the safety device can preferably be configured to receive a motion control command from a control and / or computing unit of the medical device. Preferably, the control unit of the safety device can also include the evaluation unit.If the release of the motion control command is based on the verification of the dead man information and the motion information, the control unit of the safety device may be specifically designed to issue the motion control command to the relevant component of the medical device and / or a control and / or computing unit of the medical device.

[0019] The dead man's device can, in particular, comprise a motion detector, dead man, dead man alarm, dead man switch, dead man pedal, dead man button, and / or dead man indicator. The dead man's device can preferably include an operating element. The operating element can preferably allow an operator to input a command, in particular by releasing it. The operating element can, for example, include a control knob, button, switch, handle, or pedal. In particular, a dead man's device can be configured to verify whether an operator is present and / or ready to act. Furthermore, the dead man's device can be used by an operator to continuously and / or over the duration of the movement of the medical device confirm and / or monitor it.In other words, the movement of the medical device and / or a component can occur as long as the operator operates the control element of the dead man's switch, for example by pressing it.

[0020] The operating sensor unit can, in particular, comprise a pressure sensor, capacitive sensor, force sensor, Hall effect sensor, and / or optical sensor. In particular, the operating sensor unit can comprise multiple sensors for acquiring operating information. Specifically, the operating sensor unit can be configured to detect the operation of the control device, in particular an operating element of the control device, by the operator, specifically by determining the force with which the operator operates the control device, and to output this information as operating information. The operating sensor unit can, in particular, be included by the deadman's switch. Specifically, the operating sensor unit can be arranged on and / or encompassed by an operating element of the deadman's switch.The operating sensor unit can be configured, in particular, to convert a non-electrical measurement from the operator's operation of the control device into operating information, especially an electrical signal. Specifically, an operating element of the control device can include the operating sensor unit. For example, a capacitive sensor can be used to determine the change in capacitance caused by the operator applying force (pressure) to an operating element of the control device.

[0021] The operating information may, in particular, include information that characterizes and / or describes the operation of the control device. Specifically, the operating information may include a measurement of a force exerted by the operator, especially a force (pressure) exerted on a surface. In particular, the operating information may include directional information about a force exerted by the operator. In other words, the operating information may, in particular, include information that characterizes the force intensity and direction of a force applied by the operator when operating the control device.

[0022] Preferably, the evaluation unit is configured to receive and evaluate the operating information and the deadman information. Preferably, the evaluation unit includes a processing unit configured to perform a release verification procedure. In particular, the processing unit is configured to use the deadman information and the operating information to check whether a hazardous situation exists for the operator and / or other persons, such as a patient.

[0023] Advantageously, the safety device can enable the operator to operate the medical device safely. In particular, the safety device can ensure the operator's safety, especially by preventing collisions between the operator and components of the medical device. Advantageously, the safety device is preferably designed so that the operator can handle it similarly to a known release switch. Furthermore, the safety device can, in particular, facilitate simplified monitoring of a complex, dynamic operating situation.

[0024] In a preferred embodiment, the safety device comprises a motion detection device. The motion detection device is configured to output motion information depending on a movement of the operator. The evaluation unit is configured to additionally verify the release of a motion control command based on the motion information.

[0025] The motion detection device may, in particular, include a motion detector and / or a camera. Specifically, the motion detection device may be configured to detect the operator's movements within an environment, especially a movement area, and to output this information as motion data. The motion detection device may be configured to determine the operator's movement by emitting and / or receiving electromagnetic waves, ultrasound, and / or infrared radiation. Furthermore, acceleration and strain rate sensors may be included in the motion detection device.

[0026] Preferably, the motion information includes the spatial positioning of the operator relative to a reference object or point. The reference object is preferably a stationary component of the medical device. The motion information can, in particular, include two-dimensional and / or three-dimensional motion data, especially of the operator.

[0027] The motion detection device can also be configured to detect the movements of other persons, such as a patient, and / or the medical device, particularly its components. Specifically, the motion detection device can be arranged within the medical device and / or a room in which the medical device is located in such a way that movements within the medical device and / or the room, particularly within a movement zone, can be detected by means of the motion detection device. For example, the motion detection device can be configured as a swiveling camera and mounted on the ceiling in the center of a room containing a medical device.

[0028] Movement can be defined, in particular, as a change in the spatial positioning of a person and / or a component, especially along a movement trajectory and / or path. The motion detection device can be configured, in particular, to detect the movement of the operator and / or the medical device within a movement area. The movement area can, for example, be an area in which an operator can be located to operate the medical device. The movement area can be limited, in particular, by fixed components, so that the motion detection device can be designed and / or arranged according to the extent of the movement area.

[0029] Preferably, the evaluation unit is designed to additionally receive and evaluate the motion information. In particular, the processing unit is designed to use the motion information to check whether a dangerous situation exists for the operator and / or other persons, such as a patient.

[0030] In particular, the safety device can ensure the operator's safety, especially by preventing collisions between the operator and components of the medical device when the operator is moving. Advantageously, the safety device is designed in such a way that operator movement, especially during handling of the safety device, can be detected. Furthermore, the safety device can facilitate simplified monitoring for the operator, particularly when complex, dynamic operating situations require constant movement.

[0031] One embodiment of the safety device provides that the motion detection device is designed to capture three-dimensional motion data of the operator and to output the captured three-dimensional motion data as motion information.

[0032] Three-dimensional motion data can include, in particular, information about the movements of objects and / or people in three-dimensional space. Specifically, this three-dimensional motion data can be dynamic and continuously changing over time.

[0033] Three-dimensional motion data can be determined, in particular, by means of optical motion analysis using the motion detection device. Preferably, information about markers, especially on the operator's clothing, can be detected by the motion detection device, and the operator's movement and / or position can be calculated from this information. However, markerless detection of the operator's movement is also conceivable, particularly based on the analysis of a series of images, especially using a trained function.

[0034] Capturing three-dimensional movement data of the operator with a motion detection device can enable the output of precise movement information. This three-dimensional data capture allows for the comprehensive spatial detection of hazardous situations for the operator. For example, it enables the detection of hazardous situations that are not recognizable using two-dimensional movement data alone.

[0035] In a preferred embodiment of the safety device, the motion detection device comprises a portable sensor unit. The portable sensor unit can preferably be carried by the operator while operating the medical device. The portable sensor unit can, in particular, enable the precise determination of the operator's position in a room and / or the acquisition of three-dimensional motion data. The motion detection device can, in particular, include a further detection sensor unit, for example, a camera. In particular, the combination of different detection sensor units comprised of the motion detection device can enable a precise description of an operator's movement and / or the output of comprehensive motion information.

[0036] One embodiment of the safety device provides that the evaluation unit is configured to receive device position data and to verify the release of the motion control command based on this device position data. The device position data specifically describes a movement of the medical device.

[0037] In particular, the device position data describes a movement of a component of a medical device.

[0038] The device position data can preferably be transmitted from a control and / or processing unit of the medical device to the evaluation unit. In particular, the device position data can be determined by means of one or more sensor units. The sensor unit can be, in particular, attached to the components of the medical device.

[0039] The device may be arranged and / or encompassed by it. Furthermore, a global sensor unit, preferably arranged centrally within the medical device, is conceivable for detecting the movement of the components of the medical device. In particular, device position data may include three-dimensional motion data of the medical device, especially of a component.

[0040] In particular, a motion detection device can be configured to output device position data. Specifically, the motion detection device can be configured to detect the movement of the medical device and / or a component of the medical device.

[0041] The evaluation unit's verification of the motion control command release can include, in particular, a comparison of operator movement information and / or operating information with device position data. Specifically, the evaluation unit can use the device position data to check whether the movement path of one component of the medical device interferes with the movement path of another component of the medical device. Furthermore, the evaluation unit can check whether the operator's movement path interferes with the movement path of the medical device and / or a component of the medical device.

[0042] Advantageously, checking the release of the motion control command based on device position data can allow consideration of the motion paths of the medical device, especially of several components of the medical device.

[0043] One embodiment of the safety device provides that the evaluation unit is designed to detect a hazardous situation for the operator based on the motion information and the device position data. In the event of a hazardous situation, the evaluation unit is designed to issue an emergency stop control command.

[0044] The detection of a hazardous situation for the operator can, in particular, involve the evaluation unit comparing motion information and device position data. Specifically, this comparison can be used to check whether the operator's movement interferes with the movement of the medical device and / or a component of the medical device. Such a conflict between movement paths and / or an imminent collision, for example, between a component and the operator, can be considered a hazardous situation.

[0045] An emergency stop control command can, in particular, include a control command to any, preferably moving, components of the medical device. Specifically, an emergency stop control command can immediately stop all movements of components of the medical system and / or the medical system itself. In other words, the medical device can be configured to switch to a stationary and / or switched-off state upon receipt of an emergency stop control command.

[0046] Detecting hazardous situations can significantly increase the safety of the operator of the medical device. Furthermore, detecting hazardous situations can potentially prevent serious collisions.

[0047] One embodiment of the safety device provides that the dead man's device is designed to generate dead man's information that depends on at least three states of the dead man's device.

[0048] Dead man's devices comprise, in particular, two states, especially switching states and / or positions. Specifically, the states of the dead man's device can enable an operator to operate a medical device. The different states allow an operator, for example, to enable and / or initiate a movement, especially a movement control command, but also to abort a movement, especially a movement control command, and / or to initiate an emergency stop control command.

[0049] In particular, a third state of the dead man's device, or a dead man's device with three states, can improve the operation of the medical device for the operator and increase the operator's safety.

[0050] One embodiment of the safety device provides that the control unit includes an operating element.

[0051] The operator can adjust the intensity of the control element to select one of the following states of the dead man's device: - a state of rest, - a release state, - a locked state.

[0052] The deadman's device is in the idle state when the operating intensity is below a first predefined limit. The deadman's device is in the enabled state when the operating intensity is between the first limit and a second predefined limit. The deadman's device is in the locked state when the operating intensity exceeds the second limit. When the deadman's device is in the locked state, the control unit is configured to issue an emergency stop control command.

[0053] In particular, the deadman's device of the control unit comprises an operating element. The operating element may, in particular, comprise a handle or a knob. The operating intensity may, in particular, describe a force (and / or impulse) with which the operator acts on the operating element of the deadman's device. Preferably, the deadman's device may be configured to determine the operating intensity, in particular as a discrete value. Preferably, the deadman's device may be configured to check whether the operating intensity exceeds and / or falls below predetermined limit values ​​and to switch to a corresponding state. For example, the deadman's device may be configured to determine the operating intensity by means of a mechanical resistance, in particular a spring resistance, and / or an electrical resistance, in particular a capacitive resistance.

[0054] The standby state represents, in particular, a first state, an initial state, a fallback state, and / or a standard state of the dead man's device. The standby state of the dead man's device exists, in particular, when the dead man's device is not being operated by an operator, and especially when no mechanical force is being exerted by the operator on the dead man's device, particularly on its operating element. For example, the dead man's device may be designed so that if the operator no longer holds the operating element and / or does not continuously operate it, the dead man's device immediately switches to the standby state. Specifically, the dead man's device may be deactivated in such a way that it must switch to the standby state after the issuance of an emergency stop control command and / or an emergency shutdown of the medical device.

[0055] The release state represents, in particular, a second state of the dead man's switch. Specifically, the release state is the state in which the operator can release a movement of the medical device, especially a movement control command. The dead man's switch can preferably be designed such that the release state of the dead man's switch can be set by continuous or periodic actuation of the dead man's switch's control element.

[0056] The locked state represents, in particular, a third state of the dead man's device. The locked state of the dead man's device can, in particular, be a state that is not perceived (and / or selectable) by the operator. In other words, the locked state can, in particular, be a state that cannot be selected by the operator during normal operation and / or into which the operator can switch by an atypical operation of the dead man's device, for example, by experiencing muscle spasms. The locked state of the dead man's device can, in particular, be a safety state in which no movement of the medical device occurs. Such a safety state, in particular the locked state, can, for example, detect the operator experiencing muscle spasms and / or the operator's inability to act. In other words, the dead man's device can, in particular, switch to the locked state when a maximum value of the permissible operating intensity is exceeded.

[0057] The dead man's switch's locked state can also be a selectable and / or switchable state. For example, a movement can be enabled by one state, particularly an enabling state, and briefly stopped by a third state, without having to abort the movement, especially of a component of a medical device.

[0058] Advantageously, such a safety device enables comfortable, intuitive, and simplified operation for the operator of the medical device. In particular, the dead man's switch's locking state can advantageously detect any muscle spasms and / or inability of the operator to act, automatically initiating a countermeasure, especially the issuance of an emergency stop control command.

[0059] One embodiment of the safety device provides that the release of the motion control command by the evaluation unit only occurs when the release state of the dead man's device is present.

[0060] By enabling the operator to release the motion control command by setting a release state, the operator is given a simplified handling of the medical device. In particular, the release state, which must be continuously confirmed by the operator, ensures that the operator continues to monitor the movement of the medical device, especially of a component.

[0061] One embodiment of the safety device includes an output unit. When the device is locked, the output unit is designed to send a warning signal to the operator.

[0062] In particular, the warning signal can include a light and / or sound signal. Specifically, the warning signal can inform the operator of the locked state and / or indicate a machine stop and / or a hazardous situation. Specifically, the output unit can be configured to emit an advance warning signal at a specific time interval before the warning signal. In this case, an accidental activation of the locked state can be signaled to the operator and corrected by the operator.

[0063] The warning signal can, in particular, comprise one or more tones and / or sequences of tones. Preferably, the tones can be emitted at different volumes and / or frequencies by a loudspeaker in the output unit. The warning signal can also include a visual signal, in particular a light signal. Specifically, the output unit can include a warning light that can emit a warning signal in the form of a colored light signal.

[0064] In particular, the output unit can include a vibration generation unit. The warning signal can, in particular, include a vibration, preferably of an operating element of the control device, especially the dead man's switch.

[0065] In particular, the output of a warning signal by the output unit enables the transmission of information, especially a warning, to the operator in a dangerous situation, for example, should the operator tense up.

[0066] One embodiment of the safety device provides that the operating element of the deadman's device includes the operating sensor unit. The operating sensor unit is designed to detect the intensity of the operator's application of the operating element. In particular, the sensor unit can include a pressure sensor.

[0067] In particular, the operating sensor unit can be configured to convert (mechanical) pressure and / or force applied by the operator to a surface of an operating element into an electrical output signal. Specifically, the operating sensor unit can be configured as a pressure sensor, particularly a piezoresistive or piezoelectric pressure sensor. Furthermore, the operating sensor unit, and in particular the pressure sensor, can be configured to determine changes in the operator's application intensity of the deadman's switch, especially by measuring pressure differences and / or pressure fluctuations.

[0068] The operating information can preferably include the operating intensity of the deadman's device. Preferably, the operating intensity of the deadman's device can be output by the sensor unit as a discrete value, particularly in Pascals. In particular, the operating sensor unit can be configured to initiate a switching to a specific state of the deadman's device by determining the operating intensity and checking it against predetermined threshold values.

[0069] Determining the operating intensity of the deadman's device via the operating sensor unit can, in particular, enable the deadman's device to be adapted to the operator. For example, the operating intensity thresholds can be adjusted according to the operator. An additional, and especially redundant, measurement of operating intensity by a separate sensor unit can increase operator safety.

[0070] One embodiment of the safety device provides that the deadman's switch includes a capacitive switch. The capacitive switch is designed to detect the operating capacitance of the deadman's switch.

[0071] The dead man's device may alternatively or additionally include a mechanical switch.

[0072] Preferably, the capacitive switch comprises two opposing elements, in particular electrically conductive plates, and / or an arrangement of capacitors. The distance between the opposing elements of the capacitive switch preferably defines the operating capacitance. Furthermore, the capacitive switch can also be referred to as a capacitive sensor. Depending on the operation of the deadman's device by the operator, the distance between the elements, and thus the operating capacitance (in particular an electrical capacitance), and / or a change thereof, can be determined.

[0073] A capacitive switch can, in particular, enable the definition of deadman's device states via a capacitive resistance. Specifically, a capacitive switch can allow the deadman's device to be operated imperceptibly by the operator. This can, in particular, improve and / or simplify the operation of the deadman's device.

[0074] One embodiment of the safety device provides that the evaluation unit is configured to receive motion information, operator information, deadman information, and device position data when checking for the release of the motion control command. Furthermore, the evaluation unit is configured to check for a hazardous situation for the operator based on the motion information, operator information, and device position data when checking for the release of the motion control command. The evaluation unit releases the motion control command if no hazardous situation exists for the operator and the deadman device is in the enabled state.

[0075] In particular, the safety device can advantageously enable the operator to safely operate the medical device, taking into account the movements of both the operator and the medical device. This can simplify operation, especially in complex and / or dynamic operating situations.

[0076] One embodiment of the safety device includes an output unit. The output unit is designed to inform the operator of the release of the motion control command by means of a release signal.

[0077] The release signal can, in particular, comprise a light and / or sound signal. Specifically, the release signal can indicate to the operator that a motion control command has been released and / or that a movement has begun. The release signal can, in particular, comprise one or more tones and / or sequences of tones. Preferably, the tones can be emitted at different volumes and / or frequencies by a loudspeaker element of the output unit. In particular, the output unit can comprise a light source that can emit a release signal in the form of a colored light signal. For example, the output unit can comprise two light sources, each configured to emit a release signal and a warning signal. For example, the output unit can be configured as a traffic light device.

[0078] In particular, the output of a release signal, especially a visual and / or audible signal, by the output unit enables the transmission of information about a movement to the operator. Determining the moment of release via the release signal can allow the operator to improve the operation of the medical device.

[0079] Furthermore, a medical device is proposed which includes a safety device according to one of the embodiments above.

[0080] In particular, the safety device may be included in a component of the medical device. Specifically, the safety device may include two or more safety devices.

[0081] The medical device shares the advantages of one of the embodiments described above. In particular, the medical device incorporating a safety device according to one of the embodiments can increase operator safety.

[0082] One embodiment of the medical device provides that the control unit is designed to stop any movement of the medical device when an emergency stop control command is issued by means of the safety device.

[0083] In particular, the control and / or processing unit of the medical device may include the control unit of the safety device. Specifically, the control unit may be configured to switch off the medical device and / or to switch it to an operating state in which no movements of the medical device occur when an emergency stop control command is issued by means of the safety device.

[0084] In particular, immediately stopping all movements of the medical device can prevent collisions in a hazardous situation. This can especially lead to increased safety of the medical device.

[0085] One embodiment of the medical device provides that the medical device includes a sensor unit designed to determine device position data.

[0086] In particular, a sensor unit of the medical device can enable the determination of the exact device position data at any given time, for example, of a component of the medical device. This can also advantageously allow for more precise, efficient, and safer operation of the medical device.

[0087] Further advantages, features, and details of the invention will become apparent from the exemplary embodiments described below and from the drawings. Corresponding parts are designated with the same reference numerals in all figures. Repeated descriptions of corresponding parts in the respective exemplary embodiments are omitted. The exemplary embodiments may differ essentially in the arrangement of the units.

[0088] They show: Fig. 1. A safety device for releasing motion control commands for controlling a medical device in a schematic representation. Fig. 2. An embodiment of the safety device for releasing motion control commands for controlling a medical device in a schematic representation. Fig. 3 a medical device comprising a safety device for releasing motion control commands for controlling the medical device, Fig. 4. An embodiment of a medical device comprising a safety device, Fig. 5a a schematic representation of a safety device with a capacitive dead man's switch in the resting state, Fig. 5b a schematic representation of a safety device with a capacitive dead man's switch in the enabled state, Fig. 5c a schematic representation of a safety device with a capacitive dead man's switch in the locked state, Fig. 6 A schematic representation of a safety device with a mechanical dead man's switch in the release state, Fig. 7. A representation of the correlation between the dead man information and the operating information of the safety device as a characteristic curve.

[0089] In Fig. Figure 1 is a safety device 1 for releasing motion control commands for controlling a medical device 9, shown schematically. The safety device 1 comprises a control unit 2, which includes a dead man's switch 10 and an interface 15. The interface 15 can, in particular, be the interface to the control unit 5 of the medical device 9, as shown. The control unit 2 of the safety device 1 can enable an operator 4 to operate the medical device 9. The interface 15 of the medical device 9 can include an operator interface that allows the operator 4 to input a motion control command. The safety device 1 also includes an operating sensor unit 18 and an evaluation unit 6. The control unit 2 includes the operating sensor unit 18.The operating sensor unit 18 can be configured to detect the operating information (force intensity and direction with which the operator operates the deadman's device 10) from the operator 4. Depending on the operation by the operator 4, the deadman's device 10 can transmit deadman information to the evaluation unit 6. The evaluation unit 6 can be configured to receive the operating information from the operating sensor unit 18 and deadman information from the deadman's device 10 and to perform a check to determine whether the motion control command has been released to the medical device 9. If the result of the check is that the motion control command has been released, the motion control command can be transmitted to the control unit 5 of the medical device 9 via the interface 15.

[0090] Fig. Figure 2 shows a further embodiment of the safety device 1 for releasing motion control commands for controlling a medical device 9 in a schematic representation. In contrast to Fig. The control unit 2 of the safety device 1 comprises the control unit 5 of the medical device 9. The safety device 1 also comprises a motion detection device 7. The motion detection device 7 can be configured to detect the operator's movements. The motion detection device 7 can transmit the detected movements of the operator 4 as motion information and / or the detected movements of the medical device 9 as device position data to the evaluation unit 6. Furthermore, the evaluation unit 6 and optionally a computing unit 16 can be included in the control unit 5 or the control unit 2. The evaluation unit 6 can be configured to receive the motion information and / or device position data from the motion detection device 7 and a dead man's switch from the dead man's switch 10, and to perform a check of the release of the motion control command to the medical device 9.The medical device 9 comprises two movable components 3a and 3b. The safety device 1 also comprises an output unit 8. The output unit 8 can be a component of the medical device 9 and / or be encompassed by it. The safety device 1 (or, as otherwise shown, the medical device 9) can also comprise a sensor unit 17. The sensor unit 17 can be configured to transmit device position data of components 3a and 3b of the medical device 9 to the evaluation unit 6 or the control unit 5. The sensor unit 17 can be configured to detect the movements of components 3a and 3b of the medical device 9. The processing unit 16 can be configured to determine motion control commands and provide them to the control unit 5.For example, based on an imaging protocol, the processing unit 16 can calculate the movements of components 3a and 3b required for an imaging examination in the case of the medical device 9, acting as an imaging device, and provide this as a motion control command to the evaluation unit 6 of the control unit 5. The evaluation unit 6 can, for example, use the device position data transmitted by the sensor unit 17 and / or the motion information provided by the motion detection device 7, the deadman information provided by the deadman device 10, and the operating information provided by the control sensor unit 18 to check the release of the motion control command. The control sensor unit 18 is included in the deadman device 10.

[0091] Fig. Figure 3 shows a medical device 9, which includes a safety device for releasing motion control commands for controlling the medical device 9. The evaluation unit 6 of the safety device is included by the control unit 5 of the medical device 9. The deadman unit 10, comprising the operating sensor unit 18, of the safety device is included by the control unit 2 of the safety device. The control unit 2 allows the operator 4 to input a motion control command, in particular via an interface 15. The deadman device 10 can be designed so that an operator can hold the deadman device 10 in one hand. Furthermore, the deadman device 10 can include an operating element (not shown) that allows the operator 4 to set a state of the deadman device 10. The operating element (not shown) can include the operating sensor unit 18.A motion control command can be transmitted to the control unit 5 of the medical device 9 via the control unit 2 of the safety device. However, this command can only be executed after the release check has been performed by the evaluation unit 6 and a release result has been obtained. The interface 15 can be included by an output unit 8. The component 3 of the medical device 9 includes a sensor unit 17. The sensor unit 17 is preferably configured to track the movements of the component 3, particularly within a movement range F, and to transmit device position data to the evaluation unit 5. The motion detection device 7 is configured, particularly in a region B, to track the movements of the operator 4, particularly within a movement range G, and to transmit movement information to the evaluation unit 5.The evaluation unit 5 can be configured to determine the operator's (4) range of motion G and / or the component's (3) range of motion F based on motion information and / or device position data. If the ranges of motion G and F overlap, a hazardous situation may exist for the operator 4, in which case the evaluation unit 5 would not release the motion control command. Additionally, in a hazardous situation, the evaluation unit can issue an emergency stop control command. The medical device 9 can include an output unit 8 configured to indicate a hazardous situation and / or the execution of an emergency stop control command to the operator 4.

[0092] For example, the medical device 1 can be an X-ray and / or radiotherapy device comprising a radiation treatment head and / or an X-ray head as a room-adjustable component 3. For example, the radiotherapy device can include a monitor as an output unit 8, which can be adjustable and mounted on the ceiling of a room containing the radiotherapy device. For example, a hazard to an operator 4 of the radiotherapy device can arise if a certain distance to the radiation treatment head is not maintained. The safety of the operator 4 can be increased, for example, by ensuring a safe distance to the radiation treatment head when the operator's movement is detected by the motion detection device 7 and / or the evaluation unit 6.

[0093] Fig. Figure 4 shows a magnetic resonance device as a medical device 9, which includes a safety device for releasing motion control commands for controlling the medical device 9. The medical device 9 comprises three movable components 3a, b, c. The device position data of components 3a, b, c can be determined by the control unit 2 and checked by an evaluation unit 6. The control unit 2 of the safety device can include the evaluation unit 6. After the release of the motion control command by the evaluation unit 6, the control unit 5 of the medical device 9 can be configured to transmit one or more motion control commands to components 3a, b, c of the medical device 9 via a wired and / or wireless connection.The control unit 2 of the safety device can be configured to send a signal to an output unit 8 to trigger the output of a warning signal. In particular, the output unit 8 can output a warning signal in the form of a tone. The output unit 8 can also be configured to output a signal, in particular a tone, when a motion control command is released and / or when the dead man's switch changes state.

[0094] For example, the medical device 9 may be an imaging device, in particular a computed tomography scanner or a magnetic resonance imaging device. The components of the medical device 9 may be, for example, ceiling-mounted and swiveling monitors 3a and / or radiation shielding devices, patient couches 3b and / or the C-arm of a computed tomography scanner and / or a movable imaging component 3c.

[0095] The Fig. Figures 5a to 5c and 6 show schematic representations of the safety device 1 with a deadman's switch 10 in different states and configurations. Fig. 5a to 5c, the deadman's device 10 of the safety device 1 comprises a capacitive switch 13 and a sensor 12 as an operating sensor unit 18. The pressure sensor 12 is integrated into the operating element 11. Fig. Figure 6 illustrates an embodiment of a dead man's switch 10 as a mechanical and / or electronic switch 14. The embodiment also includes a further sensor 19, which is encompassed by the operating sensor unit 18. Fig. Figure 5a shows an example of the standby state of the dead man's switch 10. Fig. 5b is an example of the release state and in Fig. 5c shows the locked state of the deadman's device 10.

[0096] The standby state of the dead man's device 10 can, for example, be set as in Fig. Figure 5a shows that the distance A between two elements of a capacitive switch 13 is defined by the distance A between them. The distance between the elements, for example conductive plates, is proportional to the operating intensity, i.e., the force with which the operator actuates the control element of the deadman's device. When using a capacitive switch 13, the operating intensity can also be referred to as the operating capacitance. The operating capacitance can be determined via the distance A between the elements of the capacitive switch 13. In this state, the deadman's device 10 can transmit deadman information describing this state to the evaluation unit 6. This deadman information could, for example, include an "off" / "0" signal and / or a value describing the electrical capacitance.

[0097] The release status of the deadman device 10 can be, for example, as shown in Fig. As shown in Figure 5b, the distance B between two elements of a capacitive switch 13 is defined. If the distance B between the two elements of the capacitive switch 13 is reached and / or falls below this distance due to operation, the deadman's device 10 is in the enable state. In this state, the deadman's device 10 can transmit deadman information describing this state to the evaluation unit 6. This deadman information can, for example, include an "On" / "1" signal and / or a value describing an electrical current.

[0098] The locked state of the deadman's device 10 can be, for example, as in Fig. 5c shown, defined by a contact and / or distance between two elements of a capacitive switch 13.

[0099] In this state, deadman's information describing this state can be transmitted to the evaluation unit 6 via the deadman's device 10. This deadman's information can include, for example, an "off" / "0" signal and / or a value describing the electrical capacitance. The blocking state can also be defined by the distance C (not shown) between the two elements of the capacitive switch 13 falling below a certain threshold.

[0100] The deadman's device 10 may also include an operating element 11. In particular, this may be a head, handle, and / or switch. The operating element 11 may include a sensor 12, which may be configured to detect information, for example, the intensity of operation. The sensor 12 may be included in the operating sensor unit. For example, the sensor 12 of the operating element 11 may include a pressure sensor that can measure the operating pressure of an operator as the intensity of operation. The deadman's information may include the intensity of operation detected by the sensor 12. The safety device may, as described in Fig. 6, include another sensor 19. For example, this could be an optical sensor. The operating sensor unit 18 can include both a sensor 12 and a sensor 19. The sensors 12, 19 included by the operating sensor unit 18 can include one or more strain gauges, force-sensitive resistors, and / or other sensors.

[0101] Fig. 6 shows how Fig. 5b, the release state of the deadman device 10. However, the deadman device 10 is different from the Fig. 5a to 5c are designed as mechanical switches – for example, as shown, an electrical contact between two elements of a mechanical switch 14 can define the enable state and a contact between two (further) elements can define the locked state. The safety device also includes an additional sensor 19 for acquiring operating information. The sensor 19 is enclosed by the operating sensor unit 18. The sensor 19 can be directly connected to the evaluation unit 6.

[0102] Fig. Figure 7 shows a functional diagram illustrating the correlation between the deadman information S and the operating intensity F of the deadman device. In other words, it illustrates the Fig. 7. The relationship between the states of the dead man's device (and when these occur as a result of the operation of the dead man's device) and the output information of the dead man's device, in particular the dead man information. Fig. 7 is an illustration of the [unclear] in the Fig. In the embodiment shown in Figures 5a-c, the deadman's device is in its rest state below a limit value G1 of the operating intensity F, which is illustrated as force. From limit value G1 up to a second limit value G2 of the operating intensity F, the deadman's device switches to the enable state. From limit value G2 of the operating intensity F, the deadman's device is in the locked state. The deadman's device is designed to output a 0 signal as deadman information in the rest and locked states. In the enable state, the deadman's device returns a 1 signal as deadman information.

[0103] Finally, it should be noted once again that the aspects of the safety device and medical device described in detail above are merely exemplary embodiments, which can be modified in various ways by a person skilled in the art without departing from the scope of the invention. Furthermore, the use of the indefinite articles "a" or "an" does not preclude the possibility that the features in question may be present multiple times. Likewise, the term "unit" does not preclude the possibility that the components in question consist of several interacting sub-components, which may also be spatially distributed.

[0104] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

Claims

[1] Safety device (1) for releasing motion control commands for controlling a medical device (9) comprising - a control unit (2) for controlling a movement of the medical device (9), in particular a component (3) of the medical device (9), by an operator (4), wherein the control unit (2) includes a dead man's device (10), which is trained to output a dead man information (S) depending on a, in particular momentary, state of the dead man device (10), - an operating sensor unit (18), which is trained to output operating information depending on the operation of the control unit (2) by the operator (4), - one evaluation unit (6), who is trained to check, on the basis of the dead man information (S) and the operating information, the release of a motion control command, in particular for controlling the movement of the medical device (9). [2] Safety device (1) according to the preceding claim, wherein the safety device (1) comprises a motion detection device (7) configured to output motion information depending on a movement of the operator (4), and wherein the evaluation unit (6) is designed to additionally check the release of a motion control command based on the motion information. [3] Safety device (1) according to one of the preceding claims, wherein the evaluation unit (6) is configured to receive device position data and to check the release of the motion control command based on the device position data, wherein the device position data describe a movement of the medical device (9). [4] Safety device (1) according to claims 2 and 3, wherein the evaluation unit (6) is designed to recognize, on the basis of the motion information and the device position data, the existence of a dangerous situation for the operator (4) and to issue an emergency stop control command in the event of a dangerous situation. [5] Safety device (1) according to one of the preceding claims, wherein the dead man device (10) is configured to generate dead man information (S) dependent on at least three states of the dead man device (10). [6] Safety device (1) according to any one of the preceding claims, wherein the control unit (2), in particular the dead man's device (10), comprises an operating element (11), wherein by means of an operating intensity (F) of the operating element by the operator (4) one of the following states of the dead man's device (10) can be set: - a state of rest, wherein the dead man's device (10) is in the standby state when the operating intensity (F) is below a first predetermined limit value (G1), - a release state, wherein the dead man's device (10) is in the enabled state when the operating intensity (F) is between the first limit value (G1) and a second predetermined limit value (G2), - a locked state, wherein the dead man's device (10) is in the locked state when the operating intensity (F) exceeds the second limit value (G2), wherein the control unit (2) is designed to issue an emergency stop control command when the dead man's device (10) is in the locked state. [7] Safety device (1) according to claim 6, wherein the release of the motion control command by means of the evaluation unit (6) only takes place when the release state of the dead man's device (10) is present. [8] Safety device (1) according to one of claims 6 or 7, wherein the safety device (1) comprises an output unit (8) which is configured to output a warning signal, in particular a light signal and / or sound signal, to the operator (4) when the locking state is present. [9] Safety device (1) according to any one of the preceding claims, wherein the control unit (2), in particular the dead man's device (10), comprises an operating element (11), wherein the control element (11) comprises the control sensor unit (18), in particular at least one pressure sensor (12). [10] Safety device (1) according to one of the preceding claims, wherein the dead man's device (10) comprises a capacitive switch (13), wherein the capacitive switch (13) is configured to detect an operating capacity of the dead man's device (10). [11] Safety device (1) according to claim 2, 3 and 6 and optionally one of claims 4, 5, 7, 8, 9 or 10, wherein the evaluation unit (6) is configured to receive the motion information, the operating information, the deadman information (S) and the device position data when checking the release of the motion control command, to check for a hazardous situation for the operator (4) on the basis of the motion information, the operating information and the device position data, and the release of the motion control command by the evaluation unit (6) takes place when there is no dangerous situation for the operator (4) and the release state of the dead man's device (10) is present. [12] Safety device (1) according to the preceding claim, wherein the safety device (1) comprises an output unit (8) configured to inform the operator (4) of the release of the motion control command by means of a light signal and / or sound signal. [13] Medical device (9) comprising a safety device (1) according to claims 1 to 12. [14] Medical device (9) according to claim 13, wherein the control unit (2) is configured to stop a movement of the medical device (9) when an emergency stop control command is issued by means of the safety device (1). [15] Medical device (9) according to one of claims 13 or 14, wherein the medical device (9) comprises a sensor unit configured to determine device position data.

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