Medical imaging device with collision bar

Abstract

Medical imaging device (1) comprising a gantry (20), a carriage (F) and a rail system (L), wherein the gantry (20) can be mounted movably by means of the carriage (F) and the rail system (L) such that a translational movement of the gantry (20) can be carried out along the rail system (L), and wherein the carriage (F) has a collision sensor comprising a collision bar (K) following a contour of the carriage (F), which extends at least along a first side of the carriage (F) which is formed perpendicular to an axis of translational movement (AT), wherein the carriage (F) has a set of wheels (R), and wherein the collision bar (K) has an opening (S) in the alignment of each wheel (R) along an axis of translational movement (AT).

Description

[0001] The invention relates to a medical imaging device with a carriage having a collision bar following a contour of the carriage.

[0002] When a gantry of a medical imaging device moves within a treatment room relative to an object, such as a patient positioned on a patient support device of the medical imaging device, it must be ensured that the movement within the room is as collision-free as possible, or, if an object is in the path of movement, that the movement of the gantry is reliably stopped. This applies particularly to a movable gantry, such as a sliding gantry that moves on rails, or a mobile gantry with a wheeled chassis.

[0003] In a sliding gantry, the orientation and movement of the gantry are typically fixed by the rails. However, there are also implementations that allow the gantry to be repositioned and / or rotated for movement in a different direction. In any case, it must be ensured that collisions with objects in the gantry's movement area are reliably detected. At the same time, attention must be paid to the implementation, which avoids unnecessary costs in terms of both provision and maintenance of the device, thus resulting in a cost-optimized solution for the customer. A large number of sensors attached to the medical imaging device for collision detection, for example, can hinder this latter point and also make maintenance more complicated and therefore more expensive.

[0004] Document CN 2 18 870 313 U discloses an obstacle-avoiding mobile medical device, particularly in the field of CT technology, which may include a contour detector, for example in the form of a laser radar group or a visual camera, as an obstacle-avoiding device.

[0005] German patent application DE 10 2012 219 024 A1 discloses a housing cladding module for a medical device for collision detection. The module comprises resistive elements arranged in and / or on the surface, which are designed such that they change their electrical resistance when stretched and are arranged such that they are stretched upon collision with an object.

[0006] The German patent application DE 10 2013 225 575 A1 discloses an arrangement for collision detection of a housing with an object comprising a tubular, circumferential, reversibly deformable, tactile sensor element, which is designed and arranged between two housing shells in such a way that, in the event of a collision between a first and / or second housing shell and the object, it is subjected at least at specific points to pressure caused by the collision.

[0007] Reference is also made to the publications DE 10 2014 224 171 A1, EP 3 851 050 A1 and DE 10 2007 036 583 A1.

[0008] The object of the invention is to provide a mobile medical imaging device that enables cost-effective collision detection.

[0009] The problem is solved according to the invention by the subject matter of the independent claims. Advantageous embodiments with expedient further developments are the subject matter of the dependent claims. Regardless of the grammatical gender of a particular term, persons of male, female or other gender identities are included.

[0010] The invention relates to a medical imaging device comprising a gantry, a carriage and a rail system, wherein the gantry is movable, in particular movable by rolling, by means of the carriage and the rail system in such a way that a translational movement of the gantry can be carried out along the rail system, and wherein the carriage has a collision sensor comprising a collision bar following a contour of the carriage, which extends at least along a first side of the carriage, which is formed perpendicular to an axis of the translational movement.

[0011] In particular, the rail system may be designed to be at rest relative to a base and / or firmly anchored relative to the base. The rail system may form a linear guide for the carriage. The rail system may, in particular, define the axis, i.e., the path, of the translational movement. The rail system may, in particular, comprise one or more pairs of rails.

[0012] For example, the medical imaging system may include an examination table for positioning a subject. The examination table may be stationary relative to the rail system and / or relative to the base, and / or fixed relative to the rail system and / or relative to the base. The subject may be, for example, a person to be examined, particularly a patient, and / or be positioned on the examination table, particularly in a stationary position relative to the examination table.

[0013] The translational movement can occur relative to the rail system, the base surface, the examination table, and / or the object under investigation. The translational movement can be essentially horizontal. For example, the translational movement can occur along a straight path and / or a curved path. The base surface can be essentially horizontal. The base surface can be, for example, a floor, particularly the floor of an examination room, and / or include a base plate and / or a support.

[0014] In particular, the medical imaging device may include a computed tomography (CT) scanner. Accordingly, the gantry is then configured as a CT gantry. The CT gantry may, for example, have a support frame and a rotor rotatably mounted relative to the support frame, with the radiation source and the radiation detector arranged on the rotor. The radiation source and the radiation detector may work together to acquire a projection data set of the object under investigation. The CT gantry may, for example, have an opening. In particular, the rail system, the examination table, and the opening may be arranged relative to each other such that the translational movement of the CT gantry inserts the examination table into the opening, especially together with the object under investigation mounted on the examination table.

[0015] The medical imaging device can, for example, also be selected from the imaging modality group, which, in addition to a computed tomography (CT) scanner, includes an X-ray machine, a C-arm X-ray machine, a molecular imaging (MI) machine, a single-photon emission computed tomography (SPECT) machine, a positron emission tomography (PET) machine, a magnetic resonance imaging (MRI) machine, and combinations thereof, such as a PET-CT machine and a PET-MR machine. Furthermore, the medical imaging device can include a combination of an imaging modality, selected, for example, from the imaging modality group, and a radiation therapy modality. The radiation therapy modality can, for example, include a radiation unit for therapeutic irradiation.

[0016] In particular, the medical imaging device may be provided with a drive mechanism. The drive mechanism may be specifically designed to power the translational movement of the carriage.

[0017] One embodiment provides that the rail system comprises a set of rails, and the carriage comprises a set of wheels, the set of wheels being arranged to roll on the set of rails for translational motion. For example, the carriage can have a direct wheel drive for each wheel of the set of wheels, which interacts with that wheel. The direct wheel drive can, for example, comprise an electric motor, in particular an electric wheel hub motor. In particular, it can be provided that the direct wheel drives of the wheels of the set of wheels together form the drive system.

[0018] In particular, the set of rails and the set of wheels can be configured to form a set of wheel-rail rolling contacts. For example, each rail of the set can be a round rail and / or each wheel of the set can be a concave roller and / or designed to roll on a round rail. The rails and / or the wheels can be made of steel, for example. The round rails can advantageously be integrated into the floor without a cover or drive elements, allowing patient beds and instrument tables to pass over them.

[0019] The driving force for the translational movement can, for example, be transferred from the carriage to the rail system based on a force transmission, in particular a frictional transmission, between the wheels of the set of wheels and the rails of the set of rails.

[0020] The collision strip can be arranged, in particular, at least on one front of the carriage, i.e., positioned in front of the carriage along the axis of translational movement. The collision strip can extend over the entire height of the carriage perpendicular to the base or only partially extend beyond it. Advantageously, it is formed not only along the first side but also on at least one other side of the carriage, so that collisions can be detected on other sides as well. The strip is contour-following, thus ensuring advantageously good coverage for collision detection by means of the collision strip along the contour of the carriage. Furthermore, it is advantageously ensured that only those objects that would actually have caused a collision with the carriage collide with the collision strip. Moreover, this design allows for simple mounting on the carriage.

[0021] In particular, the collision strip can be arranged close to the floor of the carriage. This means that, when the carriage is mounted on the rail system, the distance between the surface beneath the medical imaging device and the underside of the collision strip facing the device can be less than 2 cm, and advantageously less than 10 mm. This ensures that objects near the floor in the path of the medical imaging device can be advantageously detected by means of the collision strip. In particular, the collision strip can be designed such that the distance between the underside of the collision strip and the surface beneath the carriage is less than 8 mm when the carriage is mounted on the rail system. This also advantageously ensures that maximum distances, for example to prevent crushing hazards, are maintained by means of the collision strip on the carriage.If the collision bar extends across multiple sides of the cart, the safe deployment of the medical imaging device can be ensured on these additional sides as well. In particular, the collision sensor can include, in addition to the collision bar following the contour of the cart, a first set of collision sensors that detect any deflection of the collision bar, especially a deflection of the collision bar relative to the cart. This first set of collision sensors can consist of a single collision sensor or several sensors distributed along the collision bar or the cart. The deflection of the collision bar can involve a change in its position relative to the cart, for example, parallel or perpendicular to the first side of the cart.This can include the collision bar changing its position at specific points or partially, i.e., only over a limited section of the collision bar, or as a whole, i.e., being deflected relative to the carriage.

[0022] Advantageously, the collision bar can be designed as such a rigid element that, upon contact with the collision bar—i.e., a collision of an object with the collision bar—the collision bar is deflected relative to the carriage over a large part of its extent, in particular over its entirety. In this way, advantageously, only a few collision sensors can be used in combination with the collision bar, while still enabling the detection of collisions over a large area of ​​the collision bar.

[0023] The collision strip can, for example, comprise a metal, a plastic such as rigid PVC, or a composite material such as a laminate or a fiber-reinforced plastic composite.

[0024] In particular, the collision strip can be mechanically connected to the carriage via a second set of brackets, i.e., one or more. These second sets of brackets can be flexible, for example, spring-loaded. This allows the collision strip to deflect relative to the carriage via the brackets. Alternatively, rigid brackets can be used, in which case deflections of the collision strip between each pair of brackets can be detected by means of a dedicated collision sensor. It is also possible to measure the deflection of the collision strip resulting from a collision using the brackets themselves, for example, with the aid of a pressure-sensitive piezoelectric sensor integrated into one of the brackets.

[0025] The collision detection probes can be configured to detect the deflection of the collision strip either tactilely or non-contact, for example, by including a pressure-sensitive piezoelectric sensor or a laser-based optical distance sensor. Other configurations are also possible. In particular, the collision detection probe can be configured to detect both deflections of the collision strip that occur perpendicular to the first side and those that occur parallel to the first side. The latter can be particularly advantageous if the collision strip extends beyond the first side, i.e., also beyond at least one further side of the carriage adjoining the first side.In this case, for example, a collision measuring probe located on the first side of the carriage can also detect collisions that occur on the far side of the carriage, leading to a deflection of the collision bar parallel to the first side.

[0026] In particular, the collision sensor can be configured to trigger a change in the state of the medical imaging device upon detection of a collision with the collision bar, specifically to stop the movement and / or an image acquisition sequence. This advantageously avoids damage to the colliding object and / or the medical imaging device and / or unnecessary radiation exposure.

[0027] In particular, the collision sensor can be configured to trigger a visual or audible warning signal upon detecting a collision with the collision bar, especially in addition to a previously described change in state. This allows medical personnel to be alerted to such an event and react accordingly in a timely manner.

[0028] Advantageously, the contour-following collision strip according to the invention enables the detection of collisions on the carriage, particularly with objects located in the path of movement of the medical imaging device in the area of ​​the carriage, in a particularly simple and cost-effective manner. Advantageously, the risk of injury to a patient or medical personnel can be avoided. Damage to the medical imaging device or the colliding object can also be avoided.

[0029] According to the inventive implementation of the medical imaging device, the carriage has a set of wheels, as previously described, wherein the collision strip has an opening in the alignment of each wheel of the set of wheels along the axis of translational movement. The opening can extend at least over the dimensions of a respective wheel parallel to the first side of the carriage. In particular, the collision strip can restrict access to a region of the wheels or a respective wheel-rail contact. Advantageously, a provided opening in the collision strip can allow access to a respective wheel and / or the region of a wheel-rail contact and / or any other components present on the carriage which are arranged in the region of the wheel or a respective wheel-rail contact.Such a component could, for example, include a scraper or brush unit positioned in line with each wheel along its translational movement. This can serve to keep the wheel-rail contact area clear or reduce contamination. This can advantageously facilitate maintenance, cleaning, and / or replacement. In particular, if the collision strip extends over more than the first side, access to a wheel or the surrounding area can be further hampered. An opening in this area can advantageously allow improved access.

[0030] For example, in advantageous designs, the collision strip can have a continuous frame extending across its entire length. The openings can then extend over a portion of the collision strip's height. In this case, it may be advantageous to omit supports between the collision strip and the carriage, which are located on both sides of each opening. However, it is also possible for the openings to extend the full height of the collision strip. An uninterrupted collision strip can then be achieved in combination with a cover as described below. In the latter case, however, supports must be provided between the collision strip and the carriage on both sides of each opening.

[0031] In particular, it may be further provided that each of the openings described above is fitted with a cover. The cover may, in particular, be made of the same material as the collision strip. However, a different material may also be used. Advantageously, this avoids even a partial interruption of the collision strip or a reduced area for collision detection caused by the openings. In particular, the cover may fit snugly against the collision strip. This can also be advantageous for facilitating the cleaning of the medical imaging device, especially the collision strip.

[0032] The cover can be attached to the collision strip via fasteners that require a tool, such as screws, to remove and attach the cover in front of the opening. Preferably, however, the cover has fasteners that interact with corresponding fasteners on the collision strip in such a way that repeated opening and closing of the opening—i.e., repeated removal and attachment of the cover—is possible without the need for a tool. This is advantageous because no special tool is required, and it facilitates operation, even for untrained personnel.

[0033] According to one training variant, the cover is hinged and attached to the collision strip. In this case, the connecting elements and counter-connecting elements can each be represented as interacting hinge components located on the cover and the collision strip, respectively. This design offers the advantage of simple operation and implementation.

[0034] According to another design variant, the cover can be attached to the collision strip using a spring-and-groove mechanism. For example, the cover can simply be inserted into a recess on the collision strip. Here, too, ease of use and implementation is advantageously ensured.

[0035] Furthermore, there may be other ways to attach the cover to the collision strip, which avoid the need for tools to repeatedly open and close the opening.

[0036] In particular, it can be provided that the cover is rigidly connected to the collision strip during operation of the medical imaging device and / or secured against unintentional opening, for example, in the event of a collision in the area of ​​the cover. This can be ensured by the design of the connecting and counter-connecting elements themselves or by additional fixing means, such as a latch or fixing hook. The latter are advantageously designed in such a way that opening and closing is possible repeatedly and without the use of tools.

[0037] In one design variant, the collision strip, particularly one that follows the contours of the device, extends over at least part of one and / or both of the subsequent sides of the carriage that adjoin the first side and are parallel to the axis of translational movement. Advantageously, collisions on other sides of the medical imaging device can also be detected using a collision strip. The collision strip can, for example, be L-shaped or U-shaped and follow the contours of the carriage. Advantageously, a contour-following design along multiple sides allows for uninterrupted collision detection across the entire length of the collision strip, including, for example, the corners.

[0038] In connection with the previously described training variant, it can be provided that the first set of collision sensors assigned to the collision bar, which detect a deflection of the collision bar, are located only on one side of the carriage, specifically only on the first side of the carriage or only on one of the subsequent sides. In this training variant, collisions with the collision bar that occur on a side of the carriage other than the side with the first set of collision sensors are therefore also detected. This means, for example, that collisions with the collision bar that occur on a side of the carriage parallel to the axis of translational movement are also detected by one or more collision sensors located on the first side.Collisions occurring on the first side are detected by one or more collision sensors located on one of the subsequent sides. This can be advantageously cost-effective, as only one or more collision sensors are needed on one side of the vehicle, rather than on all sides.

[0039] In particular, the collision strip can be designed to be so rigid that a deflection of the collision strip caused by a collision on one side of the carriage also leads to a deflection of the collision strip on another side of the carriage. For example, a deflection of the collision strip perpendicular to a side adjoining the first side can also lead to a deflection of the collision strip parallel to the first side of the carriage, or vice versa. Specifically, the first set of collision sensors can be configured to detect both deflections of the collision strip that occur perpendicular to the side on which they are located and deflections of the collision strip that occur parallel to that side.

[0040] Furthermore, it can be provided that the collision bar comprises a second set of brackets which mechanically connect the collision bar to the carriage, and wherein at least one collision measuring probe of the first set of collision measuring probes is integrated into a bracket of the second set of brackets. This can include the presence of only one bracket which also includes the collision measuring probe. This can include the presence of several brackets, but only one bracket of the plurality of brackets also includes a collision measuring probe. This can also include the presence of a first plurality of collision measuring probes integrated into a second plurality of brackets, different from the first plurality. Likewise, this can include the presence of a collision measuring probe integrated into each bracket. This can correspond to an advantageously simple implementation.However, there can also be training variants in which the collision measuring probe(s) and the holder(s) are located separately on the collision strip or the carriage.

[0041] According to a further development of the medical imaging device, it also features a second collision sensor, comprising a second collision bar that follows the contour of the trolley and extends at least along one of the trolley's opposite sides. The second collision sensor can be designed in the same way as the first collision sensor. Advantageously, collisions occurring on the opposite side can also be detected.

[0042] This second collision bar can also extend over at least part of one and / or both of the sides of the carriage adjoining the first side, which are parallel to the axis of translational movement.

[0043] According to a further development of the medical imaging device, the medical imaging device also includes a lifting device, wherein the carriage and the gantry can be lifted from a bearing on the rail system by means of the lifting device and rotated about a vertical axis of rotation.

[0044] For example, the rail system comprises a first pair of rails arranged parallel to each other and a second pair of rails arranged parallel to each other, wherein the carriage and the gantry can be moved from a bearing on the first pair of rails to a bearing on the second pair of rails by means of the lifting device. For example, the axis of translational movement is then along one pair of rails when supported on the first pair of rails and along the second pair of rails when supported on the second pair of rails. For example, the rail system comprises only one pair of rails, wherein the medical imaging device can be rotated 180° and placed back onto the same pair of rails.The latter may be necessary in connection with the use of the medical imaging device in combination with two examination tables arranged along the pair of rails, although a front and back of the medical imaging device must be taken into account.

[0045] Particularly when the collision bar extends over more than one initial side, especially when contour-following and extending over at least one subsequent side, the collision bar can advantageously detect collisions that do not occur along the axis of translational movement. This can be especially important when the degrees of freedom of movement of the medical imaging device extend beyond movement along a single axis.

[0046] Within the scope of the invention, features described in relation to different embodiments of the invention can be combined to form further embodiments of the invention. The use of the indefinite article "a" or "an" does not preclude the possibility that the feature in question may be present multiple times.

[0047] The invention is explained below with reference to exemplary embodiments and the accompanying figures. The representation in the figures is schematic, greatly simplified, and not necessarily to scale. The Fig. Figure 1 schematically shows a carriage of a medical imaging device with a contour-following collision bar in a top view. Fig. Figure 2 schematically shows a carriage of a medical imaging device with a contour-following collision bar in a top view according to a further training variant, Fig. 3 and Fig. Figure 4 schematically shows different design variants of a cover for openings in the collision strip. Fig. Figure 5 schematically shows a section of a medical imaging device with a contour-following collision bar in a side view according to a training variant. Fig. Figure 6 schematically shows a section of a medical imaging device with a contour-following collision bar in a side view according to a further training variant, and Fig. Figure 7 schematically shows a carriage of a medical imaging device rotatable along a rotation axis with a contour-following collision bar according to a training variant in a top view.

[0048] Fig. Figure 1 schematically shows a carriage F of a medical imaging device 1 with a contour-following collision bar K in a top view.

[0049] The medical imaging device 1 according to the invention comprises a gantry 20 (not shown here for clarity), a carriage 2 and a rail system L, wherein the gantry 20 can be mounted in such a way as to be movable by means of the carriage F and the rail system L such that a translational movement of the gantry 20 can be carried out along the rail system L, and wherein the carriage F has a collision sensor comprising a collision bar K following a contour of the carriage F, which extends at least along a first side of the carriage F, which is formed perpendicular to an axis of the translational movement AT.

[0050] The medical imaging device 1 can, for example, be configured as a computed tomography device comprising a computed tomography gantry 20, comprising a support frame and a rotor rotatable relative to the support frame, with a radiation source and a radiation detector. The medical imaging device 1 can further comprise an examination table (not shown here) arranged such that the translational movement of the computed tomography gantry 20 inserts the examination table into the opening of the gantry 20, in particular together with an examination object placed on the examination table.

[0051] The rail system L is rigidly anchored beneath the medical imaging device 1 relative to a base surface U, for example, the floor of an examination room, and forms a linear guide for the carriage F. In the example shown here, the rail system L comprises, in particular, a pair of rails arranged parallel to each other. The translational movement occurs relative to the rail system L or the base surface U and is essentially horizontal.

[0052] The carriage F further comprises a set of wheels R, which are arranged to roll on the rail system L, i.e., the set of rails, here the rail pair, for translational motion. For example, each wheel R of the set has a wheel direct drive, such as an electric motor, which interacts with that wheel R. In particular, it may be provided that the wheel direct drives of the wheels R of the set of wheels together form a drive unit for powering the translational motion of the carriage F. Together with the set of rails, the set of wheels forms a set of wheel-rail rolling contacts RL (see also Fig. 5 and Fig. 6) The driving force for the translational movement can then be transferred from the carriage F to the rail system L based on a force transmission between the wheels R and the rails L.

[0053] In particular, the variant shown here has two identically designed collision sensors, a first and a second collision bar K, wherein the first collision bar K, which follows the contour of the carriage F, extends along the first side of the carriage F and the second collision bar K, which follows the contour of the carriage F, extends on a second side of the carriage F opposite the first side.

[0054] The collision strips K are arranged upstream of the carriage F along the axis of translational movement AT in both directions of translational movement. Furthermore, both the first and the second collision strip K extend over at least a portion of one and / or both of the additional sides of the carriage F adjoining the first side, which are parallel to the axis of / direction of translational movement. In this exemplary embodiment, the first and second collision strips K are each U-shaped and extend over a portion of both of the additional sides of the carriage F adjoining the first side. In other embodiments of the collision strip K, which advantageously extend over more than one side, each collision strip K can be configured differently.For example, a collision strip K can also be L-shaped and extend only over two sides of the carriage F. For example, in an L-shaped configuration, the first collision strip K can extend along the first side and only one other side, for instance, over the entire other side. The second collision strip K can be configured accordingly. However, a U-shaped configuration of the respective collision strip K can be advantageous for uninterrupted collision detection, even at the corners of the carriage F. This can be particularly advantageous, for example, with regard to a rotatable version of the medical imaging device, as in [reference]. Fig. Figure 7 is shown schematically, where the range of motion of the medical imaging device extends beyond a purely translational movement.

[0055] The collision sensor comprises, in addition to the collision bar K, at least an initial number of collision measuring probes KS, in this case only one, which is configured to detect a deflection of the collision bar K. However, several collision measuring probes are also possible, with a small number being advantageously cost-effective. The number of collision measuring probes KS is specifically configured to detect the deflection of the respective collision bar K tactilely or without contact, for example, comprising a pressure-sensitive piezoelectric sensor or a laser-based optical distance sensor.

[0056] Furthermore, each collision strip K comprises a second set of brackets H, which mechanically connect the collision strip K to the carriage F. In the example shown here, one collision measuring probe KS is integrated into a bracket H of the second set of brackets H. There are also configurations in which the collision measuring probe KS and the bracket H are located separately on the collision strip K and the carriage F, respectively. In these configurations, the second set of brackets differs from the first set of collision measuring probes KS. However, there are also configurations in which each bracket contains a collision measuring probe KS.

[0057] In the example shown here, the first number of collision measuring probes KS of a respective collision sensor is located on only one side of the carriage F according to an advantageously cost-effective variant, in particular on the first or, for the second collision strip, on the side of the carriage F opposite the first side.

[0058] Furthermore, the collision bar K is advantageously designed to be rigid such that, upon contact with the collision bar K, i.e., a collision of an object with the collision bar K, particularly across its entirety, it is deflected relative to the carriage F. This means, for example, that a collision on the first side of the carriage F leads to a deflection of the collision bar K in its entirety parallel to the axis of translational movement, i.e., perpendicular to the extent of the first side, and a collision on a side of the carriage F adjoining the first side leads to a deflection of the collision bar K in its entirety perpendicular to the axis of translational movement, i.e., parallel to the extent of the first side.

[0059] Furthermore, the collision measuring probe KS is designed to detect both deflections of the collision bar K that occur perpendicular to the first side and deflections of the collision bar K that occur parallel to the first side.

[0060] With such an implementation, it is advantageously achieved that, despite the arrangement of the collision measuring probe KS on only one side of the carriage F and a small number of collision measuring probes KS, collisions can still be detected over the entirety of the collision bar K and also on the other sides over which the collision bar K extends.

[0061] In the example shown here, the collision measuring probe KS is located on the first side. It could equally well be located on one of the sides of the carriage F adjoining the first side, which extend parallel to the translational movement.

[0062] The collision strip can, for example, comprise a metal, a plastic such as rigid PVC, or a composite material such as a laminate or a fiber-reinforced plastic composite.

[0063] The collision sensor can be configured, in particular, to cause a change in the state of the medical imaging device 1 upon detection of a collision with the collision bar K, for example, to stop the movement and / or an image acquisition sequence, and / or to trigger a visual or audible warning signal. This advantageously prevents damage to the colliding object and / or the medical imaging device 1 and / or unnecessary radiation exposure, and allows medical personnel to be alerted to such an event in a timely manner and to react accordingly.

[0064] Fig. Figure 2 schematically shows a carriage F of a medical imaging device 1 with a contour-following collision bar K in a top view according to an embodiment of the invention. In the embodiment shown here, the collision bar K or collision bars K are essentially the same as in Fig. 1 formed, however, each wheel R has an opening S in the alignment of the axis AT of the translational movement.

[0065] The opening S can extend at least across the dimensions of a respective wheel R parallel to the first side of the carriage F and allow access to a respective wheel R and / or the area of ​​a wheel-rail contact RL and / or any other components located on the carriage F in the area of ​​the wheel or a respective wheel-rail contact RL. This can advantageously facilitate maintenance.

[0066] For example, in advantageous embodiments, the collision strip K can have a continuous frame which extends over the entire extent of the collision strip K, with the openings S extending only over a partial height of the collision strip K (see e.g. Fig. 5) In this case, it may be advantageous to omit the supports H between the collision strip K and the carriage F, which are located on both sides of each opening S. However, it may also be provided that the openings S extend the entire height of the collision strip (see, for example, Fig. 6) In the latter case, however, brackets H must be provided between the collision strip K and the carriage F on both sides of the respective openings S (see dashed brackets H), whereby the latter could also be arranged on one of the other sides of the carriage F. An uninterrupted collision strip K can then be achieved in combination with a cover A as described below.

[0067] According to an advantageous embodiment, each opening S of the collision strip K is provided with a cover A, preferably a form-fitting one. The cover A can, in particular, be made of the same material as the collision strip K. In particular, the cover A can advantageously have connecting elements which interact with corresponding connecting elements on the collision strip K in such a way that repeated opening and closing of the opening S is possible without the use of tools.

[0068] Examples of a possible implementation of a cover are in the Fig. 3 and Fig. 4 shown schematically. This can be done as in Fig. Figure 3 shows that the cover A can be picked up on the collision strip K by means of a tongue-and-groove mechanism FN. In this case, the connecting means and counter-connecting means can each comprise the interlocking tongue and groove, respectively. The cover A can also be, as shown in Fig. Figure 4 shows a hinge SR that can be folded on the collision strip K. In this case, the connecting elements and counter-connecting elements can each represent interacting hinge parts located on the cover and the collision strip, respectively.

[0069] Fig. 5 and Fig. Figure 6 shows a section of a medical imaging device 1 with a contour-following collision strip K extending at least along the first side of the carriage F in a side view according to two embodiments according to the invention, with openings S aligned with each wheel R along the axis of translational movement AT and covers A. The gantry 20 of the medical imaging device 1 is also indicated here, which is movably mounted by means of the carriage F and via the wheel-rail contacts RL such that a translational movement along the axis AT can be carried out along the rail system L. According to the embodiments shown above, the collision strip K can also extend contour-following over one or both of the sides of the carriage F adjoining the first side.

[0070] The collision bar K shows in the Fig. In the variant shown in Figure 5, a continuous frame extends across the entire length of the collision bar K, as in an exemplary variant. Other versions are possible. In contrast, in the version shown in Figure 5, the frame extends across the entire length of the collision bar K. Fig. In variant 6, the openings S extend over the entire height of the collision strip K. An uninterrupted collision strip K can still be ensured in combination with a respective cover A.

[0071] This view also shows that the collision strip K is advantageously arranged close to the floor on the carriage F. This can also be said for the designs in Fig. 1 and Fig. 2. This means that the distance between the underside of the collision strip K facing the base U under the medical imaging device 1 and the base U can be less than 2 cm, and advantageously less than 10 mm, when the carriage F is mounted on the rail system L. In particular, the collision strip K can be designed such that the distance between the underside of the collision strip K and the base U under the carriage is less than 8 mm when the carriage F is mounted on the rail system L, in order to advantageously ensure maximum distances, for example with regard to the risk of crushing.

[0072] Fig.Figure 7 shows a medical imaging device 1 comprising a lifting device HV, wherein the carriage F and the gantry 20 can be lifted from a bearing on the rail system L by means of the lifting device HV and rotated about a vertical axis of rotation RT. For clarity, only the carriage F and not the gantry 20 is illustrated here. The embodiment of the collision bar K can essentially correspond to the examples in the previously described figures and may include openings S or be designed without openings S. According to the invention, the collision bar K includes openings S.

[0073] In particular, the rail system L here exemplifies a first pair of rails arranged parallel to each other and a second pair of rails arranged parallel to each other, wherein the carriage F and the gantry 20 can be moved from a bearing on the first pair of rails to a bearing on the second pair of rails by means of a lifting device HV. Each axis of translation is then oriented along the respective pair of rails on which the carriage F is mounted. In particular, by extending the collision bar K over more than one side, it is advantageously possible to detect collisions that do not occur along the respective axis of translation and, in particular, also during rotation.

Claims

[1] Medical imaging device (1) comprising a gantry (20), a carriage (F) and a rail system (L), wherein the gantry (20) can be mounted movably by means of the carriage (F) and the rail system (L) such that a translational movement of the gantry (20) can be carried out along the rail system (L), and wherein the carriage (F) has a collision sensor comprising a collision bar (K) following a contour of the carriage (F), which extends at least along a first side of the carriage (F) which is formed perpendicular to an axis of translational movement (AT), wherein the carriage (F) has a set of wheels (R), and wherein the collision bar (K) has an opening (S) in the alignment of each wheel (R) along an axis of translational movement (AT). [2] Medical imaging device according to claim 1, wherein each opening (S) is provided with a cover (A). [3] Medical imaging device according to claim 2, wherein the cover (A) has connecting means which interact with counter-connecting means on the collision strip (K) in such a way that repeated opening and closing of the opening (S) is possible without the use of tools. [4] Medical imaging device according to one of claims 2 or 3, wherein the cover (A) is hinged on the collision strip (K) via a hinge (SR). [5] Medical imaging device according to one of claims 2 or 3, wherein the cover (A) can be picked up on the collision strip (K) by means of a spring-groove mechanism (FN). [6] Medical imaging device (1) according to one of the preceding claims, wherein the collision bar (K) extends over at least a part of one and / or both further sides of the carriage (F) adjoining the first side, which are designed parallel to the axis of translational movement (AT). [7] Medical imaging device (1) according to claim 6, wherein the collision sensor comprises at least a first number of collision measuring probes (KS) which detect a deflection of the collision bar (K), and wherein the first number of collision measuring probes (KS) are only located on one side of the carriage (F). [8] Medical imaging device (1) according to one of the preceding claims, wherein the collision sensor comprises at least a first number of collision measuring probes (KS) and wherein the number of collision measuring probes (KS) are configured to detect the deflection of the collision bar (K) tactilely or non-contactly. [9] Medical imaging device (1) according to one of claims 7 or 8, wherein the collision bar (K) comprises a second number of holders (H) which mechanically connect the collision bar (K) to the carriage (F), and wherein at least one collision measuring probe (KS) of the first number of collision measuring probes (KS) is integrated into a holder (H) of the second number of holders (H). [10] Medical imaging device (1) according to one of the preceding claims, further comprising a second collision sensor, comprising a second collision bar (K) following the contour of the carriage (F), which extends at least on a second side of the carriage (F) opposite the first side. [11] Medical imaging device (1) according to claim 10, wherein the second collision bar (K) extends over at least a part of one and / or both of the sides of the carriage (F) adjoining the first side, which are formed parallel to the axis of translational movement (AT). [12] Medical imaging device (1) according to one of the preceding claims and comprising a lifting device (HV), wherein the carriage (F) and the gantry (20) can be lifted from a bearing on the rail system (L) by means of the lifting device (HV) and can be rotated about a vertical axis of rotation (RT). [13] Medical imaging device (1) according to one of the preceding claims, wherein the gantry (20) is a computed tomography gantry.

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