Protective device for mounting on an omnidirectional wheel for a mobile medical device and medical equipment

Abstract

For effective collision monitoring even with very small obstacles, a protective device for mounting on an omnidirectional wheel of a mobile medical device is provided, comprising a substantially ring-shaped frame with a top, a bottom, and a plurality of deformable or deflectable deflecting elements attached to the bottom of the frame, which frame can be mounted on the omnidirectional wheel perpendicular to the wheel plane such that it surrounds the omnidirectional wheel in a ring shape, the bottom facing the ground, and the deflecting elements extending along their longitudinal axis, in particular substantially perpendicularly, towards the ground, and wherein at least one sensor is arranged on the bottom of the frame and is designed to detect a deformation or deflection of at least one of the deflecting elements by moving at least one deflecting element, in particular by an external force, from a first,can be brought from a non-deformed or deflected position into a second, deformed or deflected position, in which second position the deflecting element touches the sensor, e.g., makes contact or exerts pressure.

Description

[0001] The invention relates to a protective device for arrangement on an omnidirectional wheel for a mobile medical device according to claim 1 and a medical device according to claim 10.

[0002] A major problem with the automated, motorized movement or operation of a mobile medical device, such as a mobile C-arm X-ray unit, in an examination or operating room is the potential for collisions with other equipment or objects. To prevent this, it is common practice to implement a collision detection system, for example, with proximity sensors mounted on the cart, to detect obstacles before a collision occurs. However, small objects like cables can easily be overlooked. With such small objects, there is a high risk that the wheels of the medical device cart will strike a cable, causing it to become entangled under or in the wheels. In such cases, the cable or the wheel can be damaged, or the cart can become tangled in the cable, thus impeding its movement.In the worst-case scenario, this can lead to serious damage to equipment or endanger people. To prevent this, an operator checks the planned path of the medical device, or this is done using cameras, although this is time-consuming and should be avoided, especially with autonomous devices.

[0003] It is an object of the present invention to provide a device for a mobile medical device which is able to avoid hazards even from small obstacles; furthermore, it is an object of the invention to provide a corresponding medical device.

[0004] The problem is solved according to the invention by a protective device for arrangement on an omnidirectional wheel for a mobile medical device according to claim 1 and a medical device with a protective device according to claim 10. Advantageous embodiments of the invention are the subject of the respective dependent claims.

[0005] The protective device according to the invention, for arrangement on an omnidirectional wheel movable on a surface (e.g., the floor of an examination room) for a mobile medical device, comprises a substantially ring-shaped frame with a top, a bottom, and a plurality of deformable or deflectable deflecting elements attached to the bottom of the frame. This frame can be mounted on the omnidirectional wheel perpendicular to the wheel plane such that it surrounds the omnidirectional wheel in a ring shape, with the bottom facing the surface and the deflecting elements extending along their longitudinal axis, in particular substantially perpendicularly, towards the surface. At least one sensor is arranged on the bottom of the frame and is designed to detect a deformation or deflection of at least one of the deflecting elements by moving at least one deflecting element, in particular by an external force, from a first,The deflecting element can be moved from a non-deformed or deflected position to a second, deformed or deflected position, in which second position the deflecting element touches the sensor, e.g., by making (electrical) contact or exerting pressure on the sensor. The protective device can be arranged on one or (in multiple versions) several omnidirectional wheels of a medical device's equipment cart. Due to the deformability or deflectability of the deflecting elements located on the underside of the frame, the sensitivity of the protective device is ensured even with small obstacles such as cables.

[0006] If the omnidirectional wheel encounters a cable (or other small obstacle) that cannot be easily moved aside, at least one or more deflecting elements are deformed or deflected from a first position to a second position and pressed against the sensor. This contact or pressure triggers detection of the obstacle. As a result, automatic measures can be initiated to indicate the hazard, such as a warning signal or notification to an operator, or to eliminate the hazard, such as stopping or reversing the movement of the wheel(s) (equipment cart). Thus, the protective device enables collision detection even for small obstacles that are otherwise difficult to detect. The risk of damage to cables, other objects, and the medical device itself is significantly reduced by the protective device.In the case of very light obstacles, the deflecting elements can alternatively remove the obstacle from the path of the omnidirectional wheel, thus ensuring free and undisturbed movement.

[0007] According to one embodiment of the invention, the frame is essentially flat, and when mounted on the wheel, the frame plane is arranged essentially parallel to the surface on which the omnidirectional wheel is movable. The frame can thus be manufactured and assembled in a simple manner.

[0008] According to a further embodiment of the invention, the deflection elements are elongated, for example cylindrical or column-shaped, and extend perpendicular to the frame plane. The deflection elements can also have a (e.g. laterally arranged) extension.

[0009] The invention further comprises a medical device comprising a cart with at least two, in particular four, omnidirectional wheels, each of which is fitted with a protective device as described above. In particular, the medical device includes a control unit, the control unit being configured to control an action of the medical device. Such an action could be, for example, the output of an (optical or acoustic) display, an emergency stop, or a reverse movement of the device.

[0010] The medical device is advantageously designed as a mobile C-arm X-ray unit. In particular, the medical device has four motor-controlled omnidirectional wheels, each with a protective device, and is self-propelled when controlled by the control unit.

[0011] According to one embodiment of the invention, the sensor is configured as a contact sensor and / or pressure sensor. These types of sensors represent a simple and effective design of the sensor element for detecting contact by at least one of the deflecting elements. A pressure sensor can, for example, be formed by a switching strip surrounded by a protective element. This switching strip is pressed when force / pressure is applied by the deflecting element, thereby detecting the collision. Contact sensors can also be configured, for example, based on capacitive or inductive sensors, which are activated accordingly.

[0012] According to a further embodiment of the invention, the protective device includes a signal transmission unit which, upon detection, is configured to transmit a signal to a control unit of a medical device. Signal transmission occurs when the respective sensor detects touch. The signal transmission unit can, for example, be configured for wireless signal transmission, e.g., based on radio, WLAN, Bluetooth, or other known methods.

[0013] According to a further embodiment of the invention, the sensor is ring-shaped, for example, in a form similar to or adapted to the frame. The sensor element can also be ring-shaped, and the corresponding ring can be arranged on the underside of the frame slightly spaced from the deflection elements in a first position. Alternatively, a plurality of individual sensor elements can be provided, which together fulfill the function of the sensor. For example, there can be one sensor element for each deflection element. These can then be arranged along the frame such that at least one sensor element detects an obstacle (e.g., by touch, electrical contact, or pressure) when a deflection element is deformed into a second position.

[0014] In a further embodiment of the invention, the frame is designed as a closed unit. This allows it, for example, to easily enclose and be mounted on an omnidirectional wheel. The frame is particularly circular or rectangular in shape. The rectangular shape can have rounded corners.

[0015] According to a further embodiment of the invention, the deflection elements are arranged distributed along the frame. This enables seamless monitoring, ensuring that no obstacle remains undetected. Few or no deflection elements are arranged in the area of ​​the axle, while a particularly large number are arranged in the area of ​​the rolling surface or the rollers of the omnidirectional wheel, as these are always the first to encounter an obstacle. In particular, the deflection elements are elongated and attached to the frame in such a way that they extend perpendicular to the plane of the frame and just barely do not touch the floor of the inspection chamber.

[0016] The invention and further advantageous embodiments according to the features of the dependent claims are explained in more detail below with reference to schematically illustrated exemplary embodiments in the drawing, without thereby limiting the invention to these exemplary embodiments. The drawing shows: Fig. 1 a perspective top view of the top of a protective device; Fig. 2 a perspective top view of the underside of a protective device; Fig. 3 a top view of a protective device arranged on an omnidirectional wheel; Fig. 4 a side view of a protective device arranged on an omnidirectional wheel; Fig. 5 a deflection element in a first position; Fig. 6 a deflecting element in a second position; and Fig. 7 a view of a mobile C-arm X-ray unit with four wheels, each wheel having a protective device.

[0017] In the Fig. 1 is a perspective top view from above and in the Fig. Figure 2 shows a protective device 9 for an omnidirectional wheel of a medical device from below. The protective device 9 comprises a frame 11 having a top 14 and a bottom 15, with a plurality of deflection elements 12 and a sensor 13 arranged on the bottom 15. The frame 11 is annular, for example, in a rounded rectangular shape, and can be flat, so that the frame has a frame plane. The deflection elements 12 are arranged on the bottom 15 of the frame 11, for example, by means of a fastening element 25 (screw, nail, clamp, etc.) or inserted into it. The deflection elements 12 are, for example, cylindrical or columnar and extend along their longitudinal axis preferably substantially perpendicular to the frame plane of the frame 11. The deflection elements 12 can also be arranged at an angle to the frame plane.In the example shown, the deflection elements 12 also have an attached extension 26, which is advantageous for improved activation of the sensor 13 and thus increases the sensitivity of the protective device. When the protective device 9 is mounted on an omnidirectional wheel 10, the deflection elements 12 extend longitudinally towards the surface 17 (e.g., the floor of the test chamber), but do not touch it – see, e.g., in [reference]. Fig. 4. During assembly, the omnidirectional wheel is located in the mounting opening of the frame. The frame plane is, in particular, parallel to the surface 17. Preferably, the deflection elements 12 have a small distance to the (flat) surface, e.g., between 1 and 5 mm, to prevent deformation or deflection by accidental contact with the ground and to allow unimpeded travel over steps and thresholds. The undeformed or undejected basic shape of the respective deflection element 12 corresponds to a first, undeformed position, shown in Fig. 5 on a single deflection element 12. The cable 16 shown here is still sufficiently far away from the deflection element 12 to avoid causing any deformation or deflection.

[0018] The deflection elements 12 are arranged distributed along the frame 11. Preferably, several deflection elements 12 are mounted in close succession along the side(s) of the frame 11 that are mounted in front of the rolling surface of the omnidirectional wheel 10, in order to ensure particularly good monitoring even with very small obstacles. In contrast, fewer deflection elements 12 are arranged along the side(s) of the frame 11 that are mounted in the area of ​​the axles of the omnidirectional wheel 10. An omnidirectional wheel 10 with a protective device 9 mounted on it is in the Fig. Figure 3 shows that the protective device 9 can be mounted on the omnidirectional wheel 10, for example, by screwing, clamping, gluing, or using another fastening method to the wheel itself or the wheel axle.

[0019] The deflection elements 12, in addition to their cylindrical or column shape, each have an attached extension 26. The sensor 13, which is arranged on the underside 15 of the frame 11, can, for example, also be ring-shaped, partially ring-shaped, or adapted to the shape of the frame 11. A plurality of sensor elements can also be provided. The sensor 13 is arranged relative to the deflection elements 12 such that a deformation or deflection of at least one deflection element 12 causes contact between the deflection element 12 and the sensor 13, or pressure on the sensor 13, particularly in the area of ​​the extension. This generally means that the sensor 13 is arranged behind the deflection elements 12 or closer than the deflection elements 12 to the receiving opening in the frame intended for the wheel. The extension 26 (if present) is arranged on the side of the respective deflection element 12 facing the sensor 13. Depending on the type of sensor 13, for example,A signal can be generated by touch, electrical contact, or pressure. In the . Fig. Figure 6 shows a deflection element 12 in a second, deformed position, in which contact with the sensor 13 occurs. This corresponds to the detection of an obstacle, here in the form of the cable 16, which has collided with or is at least touching the deflection element 12.

[0020] The deflection elements 12 are designed to be flexibly deformable, for example, made of a rubber compound or a deformable plastic. Depending on the requirements, an appropriate degree of deformability can be used for the respective protective device 9. The deflection elements should have a sufficient degree of stability (not be too soft) to avoid unnecessary false alarms, to allow the protective device to push away light obstacles, and, for example, to exert the necessary pressure in the case of a pressure sensor. At the same time, sufficient flexibility must be ensured so that, in the case of more robust obstacles, the corresponding deflection element 12 can be deformed into a second position by an external force (the obstacle) in order to detect the obstacle. Additionally, the deflection elements can also be designed or arranged to be deflectable, for example,by arranging a spring element as a fastening to the frame.

[0021] Sensor 13 can be configured, for example, as a touch sensor, contact sensor, and / or pressure sensor. The pressure sensor can, for example, comprise a switching strip surrounded by a protective element. This switching strip is pressed when force / pressure is applied by the deflecting element, thereby detecting an obstacle. Contact sensors can also be based, for example, on capacitive or inductive sensors, which are activated accordingly, or, for example, by closing an electrical circuit upon contact with the deflecting element.

[0022] The protective device also includes a signal transmission unit designed to forward a signal upon detection of an obstacle, for example, to a control unit of a medical device. The control unit can then, as a result of the forwarded signal, initiate appropriate actions, such as stopping or reversing the movement of the medical device and / or issuing a visual or audible warning.

[0023] In the Fig.Figure 7 shows a medical device in the form of a mobile C-arm X-ray unit 20 with a trolley 19 having four omnidirectional wheels 10, for example Mecanum wheels, and protective devices 9 attached to each of the omnidirectional wheels. The trolley 19 carries a C-arm 21 on which an X-ray detector 22 and an X-ray source 23 are adjustable. The mobile C-arm X-ray unit 20 also has a control unit 18, which controls all actions. The mobile C-arm X-ray unit 20 is self-propelled, meaning that the omnidirectional wheels 10 have drives that can be controlled by the control unit 18 to perform any desired movement. Thus, the mobile C-arm X-ray unit 20 can, for example, be moved from one examination room to another or to a desired position within an examination room.In the event of an obstacle detection, the signal transmission units of the respective protective devices 9 send a signal to the control unit 18, which then triggers the corresponding action, e.g. a stop or reversal of the movement of the mobile C-arm X-ray device 20 or an output of a warning on a display unit 24 or by means of a microphone.

[0024] For assembly, the frame 11 is placed around the omnidirectional wheel 10 and attached, for example, to the omnidirectional wheel or its axle. When connected to the wheel, the underside 15 of the frame 11 faces the surface 17. The frame 11 has flexible deflectors, for example made of rubber, which, for example, deflect a small obstacle out of the way and detect a larger one. Flexibility is important to ensure that crossing a threshold or step is unimpeded. To prevent the wheel from running into a cable, a conductive sensor, for example, is positioned directly behind the deflectors. Thanks to its special geometry, the sensor is activated upon collision and sends a signal to the central control unit, which can, for example, initiate an emergency stop. In this way, small obstacles such as cables can be detected, preventing damage to the cables and hindering the movement of the medical device.

[0025] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

[0026] The invention can be summarized as follows: For effective collision monitoring, even with very small obstacles, a protective device is provided for mounting on an omnidirectional wheel for a mobile medical device. This device comprises a substantially ring-shaped frame with a top, a bottom, and a plurality of deformable or deflectable deflecting elements attached to the bottom of the frame. The frame can be mounted on the omnidirectional wheel perpendicular to the wheel plane in such a way that it surrounds the omnidirectional wheel in a ring shape, with the bottom facing the ground and the deflecting elements extending along their longitudinal axis, in particular substantially perpendicularly, towards the ground. At least one sensor is arranged on the bottom of the frame and is designed to detect deformation or deflection of at least one of the deflecting elements by...in particular by an external force, from a first, undeformed or deflected position to a second, deformed or deflected position, in which second position the deflecting element touches the sensor, e.g. contacting it or exerting pressure.

Claims

[1] Protective device (9) for arrangement on an omnidirectional wheel (10) movable on a base (17) for a mobile medical device (20), comprising a substantially ring-shaped frame (11) with a top (14), a bottom (15) and a plurality of deformable or deflectable deflection elements (12) attached to the bottom (15) of the frame (11), the frame (11) being mountable on the omnidirectional wheel (10) perpendicular to the plane of the wheel such that it surrounds the omnidirectional wheel (10) in a ring-like manner, the bottom (15) facing the base (17) and the deflection elements (12) extending along their longitudinal axis, in particular substantially perpendicularly, towards the base, and wherein at least one sensor (13) is arranged on the bottom (15) of the frame (11) and is designed to detect a deformation or deflection of at least one of the deflection elements (12) by at least one deflection element (12),in particular by an external force, from a first, undeformed or deflected position to a second, deformed or deflected position, in which second position the deflecting element (12) touches the sensor (13). [2] Protective device (9) according to claim 1, wherein the sensor (13) is designed as a touch sensor or pressure sensor. [3] Protective device (9) according to one of the preceding claims, comprising a signal transmission unit which, upon detection, is configured to transmit a signal to a control unit of a medical device (20). [4] Protective device (9) according to one of the preceding claims, wherein the sensor (13) is ring-shaped. [5] Protective device according to one of the preceding claims, wherein the frame (11) is essentially planar and the frame plane is arranged parallel to the substrate (17). [6] Protective device according to one of the preceding claims, wherein the deflection elements (12) are elongated and extend perpendicular to the frame plane. [7] Protective device (9) according to one of the preceding claims, wherein the frame (11) is designed to be closed. [8] Protective device (9) according to one of the preceding claims, wherein the deflection elements (12) are arranged distributed along the frame (11). [9] Protective device (9) according to one of the preceding claims, wherein the frame (11) is circular or rectangular in shape. [10] Medical device comprising a trolley with at least two, in particular four, omnidirectional wheels (10), on each of which a protective device (9) according to one of claims 1 to 9 is arranged. [11] Medical device comprising a control unit (18) wherein the control unit (18) is designed to control an action of the medical device. [12] Medical device according to claim 10 or 11, which is designed as a mobile C-arm X-ray device (20). [13] Medical device according to one of claims 11 or 12, comprising four motor-controlled omnidirectional wheels (10) each with a protective device (9), wherein the medical device is designed to be self-propelled by the control unit (18).

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