Supplementary collision detection and avoidance system for medical imaging device

Abstract

To provide a preferable supplementary collision detection and avoidance system for a medical imaging device.SOLUTION: The present invention relates to a collision detection and prevention system for medical X-ray equipment, in particular a supplementary system that augments an existing safety system, which is useful when the X-ray equipment includes an auxiliary apparatus, such as a radiation shield, which may interfere with the existing collision detection and avoidance system.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Application No. 62 / 787,644, filed Jan. 2, 2019 (Attorney Docket No. 46125-707.101), the contents of which are incorporated herein by reference. FIELD OF THEINVENTION

[0002] The present invention relates to a collision detection and prevention system for medical x-ray equipment, and in particular to a supplemental system that augments an existing safety system, which is useful when the x-ray equipment includes auxiliary devices, such as radiation shields, that may interfere with the existing collision detection and prevention system. [Background technology]

[0003] Medical equipment that may move during operation, particularly X-ray equipment and X-ray fluoroscopy systems, may include collision prevention mechanisms that typically include multiple proximity sensors for safe operation and positioning of movable radiological imaging components (e.g., the X-ray source and / or detector of an X-ray "C-arm"), which may be important to protect the patient and to protect expensive medical equipment.

[0004] For safe positioning and movement of mobile radiological imaging medical equipment (e.g., X-ray equipment), proximity / collision detection means may be placed on or around parts of the imaging equipment to prevent collisions with the patient and / or other objects (such as an X-ray table or procedure table).

[0005] However, in some situations, particularly when auxiliary equipment such as radiation shields are installed, the original collision detection means may be blocked or partially blocked and therefore rendered ineffective or limited.

[0006] Exemplary related disclosures include U.S. Pat. No. 8,767,920 (Siemens), U.S. Pat. No. 7,029,175 (GE Medical), U.S. Pat. No. 7,837,385 (Siemens), U.S. Pat. No. 6,830,375 (GE Medical), U.S. Pat. No. 8,439,564 (Radguard), U.S. Pat. No. 8,113,713 (Radguard), U.S. Pat. No. 9,907,519 (Radiaction), and U.S. Pat. No. 2018 / 249972 (Radiaction), all of which are incorporated by reference in their entirety as if fully set forth herein. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] U.S. Patent No. 8,767,920 Summary of the Invention [Problem to be solved by the invention]

[0008] In particular, the present disclosure relates to a system and method for enabling safe and effective X-ray imaging when the imaging equipment's native proximity / collision detection means are rendered at least partially ineffective due to auxiliary devices (e.g., radiation shields). This is achieved by providing a proximity and collision detection system that serves to back up, complement, and / or improve upon the existing (native) collision prevention means of the X-ray imaging equipment (e.g., C-arm).

[0009] The present supplemental collision detection and prevention system provides collision avoidance between moving parts of a medical x-ray device and a patient or other object (hereinafter used synonymously with the term "entity").

[0010] The supplemental system may include one or more sensors that may be configured to provide a layer of protection, in particular one or more combinations of (a) at least one proximity and / or contact sensor that may include a distance measuring sensor for determining proximity, (b) at least one inertial and / or gyroscopic sensor for determining movement, rate of movement towards the entity, and / or direction of movement, (c) at least one operator detection sensor for determining, for example, whether an operator is actively moving the C-arm (e.g., in a manner that may lead to a collision with the patient or patient table) or whether he or she intends to move the C-arm, and (d) at least one current sensor for measuring current consumption in one or more units of the X-ray system (e.g., the motor of the C-arm) and determining such movement that may lead to a collision.

[0011] The system is configured to be added to existing medical X-ray equipment and to mechanically and / or electronically interface with the X-ray equipment's native collision prevention means (e.g., with its C-arm). Alternatively or additionally, the sensor is added to an add-on system (e.g., a radiation shielding system) of the X-ray system. [Means for solving the problem]

[0012] Aspects of the invention relate to a collision detection and prevention system that may be coupled onto the X-ray equipment and includes one or more collision sensors, and / or one or more inertial sensors, and / or one or more current sensors, and / or one or more motion detection sensors, and a trigger or triggering mechanism that triggers or activates the X-ray equipment's inherent collision prevention mechanisms / means. The trigger / triggering mechanism may be mechanical or electrical (including wireless).

[0013] Aspects of the invention relate to an add-on system for an X-ray device (e.g., for a radiation shielding apparatus) that includes at least one supplemental sensor including one or a combination of one or more proximity and / or collision sensors, one or more inertial motion / gyroscopic sensors, one or more operator detection sensors, and one or more current sensors, and a triggering mechanism that triggers or activates the X-ray system's inherent collision prevention mechanism / means or part thereof (e.g., the X-ray system's inherent collision sensor).

[0014] Aspects of the present invention relate to a system for supplementing with additional crash sensors in accordance with the disclosure herein above.

[0015] Avoiding a collision may include ceasing movement of a component (e.g., a radiation shield) and / or moving the component away from an entity (patient, object, etc.) based on proximity of the sensor within a predetermined distance to or contact with the entity, or unsafe movement of the component as determined, for example, by an inertial sensor, or an operator action as determined by an operator detection sensor.

[0016] The trigger mechanism may include a mechanical trigger configured to activate an inherent proximity or contact sensor in the x-ray equipment.

[0017] The mechanical trigger may include a trigger motor or other actuator configured to contact or apply pressure to an inherent contact sensor or to be proximate to an inherent proximity sensor of the x-ray equipment's inherent anti-collision mechanism.

[0018] The trigger mechanism may include an electrical trigger that employs an electrical / electronic connection with the anti-collision means and / or radiation shield of the X-ray equipment to activate the inherent collision safety system of the X-ray equipment.

[0019] The refill sensor may be a contact sensor. The refill sensor may be a proximity sensor. The refill sensor may be a pressure sensor. The refill sensor may be a strain sensor. The refill sensor may be an infrared sensor. The refill sensor may be an ultrasonic sensor. The refill sensor may be a laser sensor. The refill sensor may be a radio frequency sensor. The refill sensor may be an electro-optical sensor (e.g., a camera) that may be configured to identify an activity by an operator, such as touching an operator handle. The refill sensor may be a heat or temperature sensor (e.g., including or consisting of a thermocouple). The refill sensor may be a current sensor that measures current flowing in an electrical wire.

[0020] In one or more embodiments, the trigger mechanism and / or the sensor are coupled to the interface. In one or more embodiments, the interface is disposed at one or more locations around and / or on the X-ray system. In one or more embodiments, the interface is disposed at one or more locations around and / or on the X-ray radiation shielding system of the X-ray equipment. In one or more embodiments, the collision detection system activates the inherent X-ray collision prevention means upon detection of a possible collision with an object or patient (entity). In one or more embodiments, the collision detection system ceases activating the inherent X-ray equipment collision prevention means when proximity or contact of the sensor to the patient or object is no longer detected. In one or more embodiments, the collision detection system further includes an alarm unit operative to alert medical staff upon detection of a possible collision with an entity.

[0021] An aspect of the present invention is a supplemental collision detection and prevention system for use in combination with medical imaging equipment that includes an inherent collision avoidance mechanism having an inherent sensor and an add-on system that limits the functionality of the inherent collision avoidance mechanism, comprising: a plurality of supplementary sensors, the plurality of sensors being any one of a proximity sensor and / or a contact sensor and / or an inertial motion sensor and / or an operator detection sensor and / or a current sensor configured to facilitate prevention of or protection from a collision with an entity; and an interface configured to receive communication from at least one of the plurality of supplementary sensors and to transmit a signal to activate an anti-collision operation of the medical imaging equipment and / or an add-on system thereof to avoid or mitigate a collision; The present invention relates to a supplemental collision detection and prevention system comprising:

[0022] In one or more embodiments, the interface communicates with the medical imaging equipment's inherent collision avoidance mechanism and / or with the system's triggering mechanism that activates at least one of the inherent sensors.

[0023] In one or more embodiments, the system further comprises a command controller configured to activate an anti-collision operation of the add-on system or the medical imaging equipment.

[0024] In one or more embodiments, the add-on system is a radiation blocking shield and at least one of the supplemental sensors is associated with the radiation blocking shield.

[0025] In one or more embodiments, the radiation blocking shield extends from a radiation shield support base, the support base including one or more of the plurality of supplemental sensors.

[0026] In one or more embodiments, the radiation shield is a retractable shield configured to retract in response to a signal.

[0027] In one or more embodiments, at least one of the plurality of supplemental sensors is selected from the group consisting of a pressure sensor, a strain sensor, an infrared sensor, an ultrasonic sensor, an ultrasonic sensor, a laser sensor, a radio frequency sensor, an electro-optical sensor, and a thermal sensor, or any combination thereof.

[0028] In one or more embodiments, the electric motor current sensor is configured to measure current consumption in one or more units of the medical imaging equipment and detect motion thereof that may lead to a collision with an entity.

[0029] In one or more embodiments, the operator detection sensor is configured to detect activity by the operator that may result in a collision with the entity.

[0030] In one or more embodiments, the operator detection sensor is associated with a foot pedal or motion control panel of the medical imaging equipment.

[0031] In one or more embodiments, the operator detection sensor is selected from the group consisting of a proximity sensor, a contact sensor, an infrared sensor, an optical sensor, and combinations thereof.

[0032] In one or more embodiments, the inertial motion sensor is an accelerometer or a gyroscope sensor.

[0033] In one or more embodiments, the inertial motion sensor is configured to detect movement of a moving part of the medical imaging equipment.

[0034] In one or more embodiments, the entity is a patient, a patient table, an operator, or medical imaging equipment.

[0035] Aspects of the present invention include at least one radiation shield positioned around an X-ray source or an X-ray detector of the medical imaging device, the medical imaging device having an intrinsic anti-collision detection mechanism including at least one intrinsic sensor; a supplemental collision detection and prevention system configured to avoid collision of an entity with an X-ray source, an X-ray detector, and / or an X-ray radiation shield, a plurality of supplemental sensors, the sensors being any one of proximity sensors and / or contact sensors and / or inertial motion sensors and / or operator detection sensors and / or current sensors configured to facilitate prevention or protection from collisions with entities; a command controller configured to receive communications from the supplemental sensors and to mechanically and / or electrically activate anti-collision operations of the medical imaging equipment and / or the radiation shielding device to avoid or mitigate a collision; A supplementary collision detection and prevention system, The present invention relates to a radiation shielding device comprising:

[0036] In one or more embodiments, the device further comprises a mechanical trigger configured to actuate at least one of the inherent sensors in response to mechanical and / or electrical operation, thereby activating an inherent anti-collision mechanism of the medical imaging equipment.

[0037] In one or more embodiments, the electrical anti-collision operation includes an electrical trigger that activates the original anti-collision mechanism.

[0038] In one or more embodiments, at least one of the supplemental sensors is associated with a radiation blocking shield.

[0039] In one or more embodiments, the radiation blocking shield extends from a radiation shield support base, the support base including one or more of the supplemental sensors.

[0040] In one or more embodiments, the radiation shield, or a portion thereof, is configured to retract in response to an electrical anti-bumper operation.

[0041] In one or more embodiments, at least one of the supplemental sensors is a sensor selected from the group consisting of a pressure sensor, a strain sensor, an infrared sensor, an ultrasonic sensor, an ultrasonic sensor, a laser sensor, a radio frequency sensor, an electro-optical sensor, and a thermal sensor, or any combination thereof.

[0042] In one or more embodiments, the current sensor is configured to measure current consumption in one or more units of the medical imaging equipment and detect motion thereof that may lead to a collision with an entity.

[0043] In one or more embodiments, the operator detection sensor is configured to detect activity by the operator that may result in a collision with the entity.

[0044] In one or more embodiments, the operator detection sensor is associated with a foot pedal or motion control panel of the medical imaging equipment.

[0045] In one or more embodiments, the operator detection sensor is selected from the group consisting of a proximity sensor, a contact sensor, an infrared sensor, an optical sensor, and combinations thereof.

[0046] In one or more embodiments, the inertial motion sensor is a gyroscope sensor.

[0047] In one or more embodiments, the inertial motion sensors are located on the radiation blocking shield, and / or the X-ray source, and / or the X-ray detector.

[0048] In one or more embodiments, the entity is a patient, a patient table, an operator, or a C-arm machine.

[0049] The present invention relates to a method for detecting and / or avoiding collisions of moving parts of medical imaging equipment having an inherent collision prevention mechanism and a radiation blocking shield or auxiliary device that limits the functionality of an inherent collision prevention sensor of the inherent collision prevention mechanism, comprising: Sensing proximity and / or contact with an entity and / or detecting operator actions and / or sensing electrical current in medical imaging equipment and / or radiation shielding and / or ancillary devices; communicating the sensing to a command controller of the radiation shield or auxiliary device; Mechanically and / or electrically actuating the anti-collision action of medical imaging equipment, radiation shielding, and / or auxiliary equipment to avoid or mitigate a collision; The present invention further relates to a method comprising:

[0050] In one or more embodiments, the method further includes mechanically triggering at least one of the intrinsic sensors in response to the mechanical and / or electrical actuation.

[0051] In one or more embodiments, the method further includes transmitting a signal to an electrical trigger that activates an inherent anti-collision mechanism.

[0052] In one or more embodiments, activating the anti-collision operation includes retracting a radiation blocking shield.

[0053] In one or more embodiments, the method further includes stopping or slowing down a moving part of the medical imaging equipment.

[0054] Unless otherwise defined, all technical or / and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the present invention, exemplary methods and / or materials are described below. In case of conflict, the present patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not necessarily intended to be limiting. The present invention provides, for example, the following: (Item 1) A supplemental collision detection and prevention system (110) for use in combination with a medical imaging device, the medical imaging device comprising an inherent collision avoidance mechanism having an inherent sensor and an add-on system that limits the functionality of the inherent collision avoidance mechanism; The system comprises: a plurality of replacement sensors, the plurality of replacement sensors being any one of a proximity sensor (141), a contact sensor (121), an inertial motion sensor (131), an operator detection sensor (161), and / or a current sensor (151) configured to facilitate prevention or protection from collisions with an entity; Interface and Equipped with The interface includes: receiving a communication from at least one of the plurality of replenishment sensors; avoiding or mitigating a collision by transmitting a signal to activate an anti-collision operation of said medical imaging equipment and / or a signal to activate said add-on system; A system configured to: (Item 2) 2. The system of claim 1, wherein the interface communicates with an inherent collision avoidance mechanism of the medical imaging equipment and / or with a trigger mechanism of the system that activates at least one of the inherent sensors. (Item 3) Item 1 , the system further comprising a command controller configured to activate an anti-collision operation of the add-on system or an anti-collision operation of the medical imaging equipment. (Item 4) 2. The system of claim 1, wherein the add-on system is a radiation shield and at least one of the supplemental sensors is associated with the radiation shield. (Item 5) 5. The system of claim 4, wherein the radiation blocking shield extends from a radiation shield support base, the support base including one or more of the plurality of supplemental sensors. (Item 6) Item 5. The system of item 4, wherein the radiation shield is a retractable shield configured to retract in response to the signal. (Item 7) 2. The system of claim 1, wherein at least one of the plurality of replenishment sensors is selected from the group consisting of a pressure sensor, a strain sensor, an infrared sensor, an ultrasonic sensor, an ultrasonic sensor, a laser sensor, a radio frequency sensor, an electro-optical sensor, and a thermal sensor, or any combination thereof. (Item 8) Item 2. The system of item 1, wherein the electric motor current sensor is configured to measure current consumption in one or more units of the medical imaging equipment and detect motion thereof that may lead to a collision with the entity. (Item 9) 2. The system of claim 1, wherein the operator detection sensor is configured to detect activity by an operator that may result in a collision with the entity. (Item 10) 2. The system of claim 1, wherein the operator detection sensor is associated with a foot pedal or motion control panel of the medical imaging equipment. (Item 11) Item 10. The system of item 1, wherein the operator detection sensor is selected from the group consisting of a proximity sensor, a contact sensor, an infrared sensor, an optical sensor, and combinations thereof. (Item 12) 2. The system of claim 1, wherein the inertial motion sensor is an accelerometer or a gyroscope sensor. (Item 13) Item 2. The system of item 1, wherein the inertial motion sensor is configured to detect movement of a moving part of the medical imaging equipment. (Item 14) 2. The system of claim 1, wherein the entity is a patient, a patient table, an operator, or medical imaging equipment. (Item 15) A radiation shielding device, comprising: at least one radiation shield positioned around an X-ray source or an X-ray detector of a medical imaging device, said medical imaging device having an intrinsic collision prevention and detection mechanism including at least one intrinsic sensor; an additional collision detection and prevention system configured to avoid collision of an entity with the X-ray source, the X-ray detector, and / or the X-ray radiation shield; Equipped with said supplemental collision detection and prevention system comprising: a plurality of replacement sensors, the plurality of replacement sensors being any one of a proximity sensor and / or a contact sensor, and / or an inertial motion sensor, and / or an operator detection sensor, and / or a current sensor configured to facilitate prevention or protection from collision with the entity; Command Controller Equipped with the command controller is configured to receive communications from the supplemental sensors and to mechanically and / or electrically activate anti-collision actions of the medical imaging equipment and / or radiation shielding device to avoid or mitigate a collision. Radiation shielding device. (Item 16) Item 16. The system of item 15, further comprising a mechanical trigger configured to actuate at least one of the inherent sensors in response to the mechanical and / or electrical action, thereby activating an inherent anti-collision mechanism of the medical imaging equipment. (Item 17) Item 16. The system of item 15, wherein the electrical anti-collision operation includes an electrical trigger that activates the original anti-collision mechanism. (Item 18) Item 16. The system of item 15, wherein at least one of the supplemental sensors is associated with the radiation blocking shield. (Item 19) Item 16. The system of item 15, wherein the radiation blocking shield extends from a radiation shield support base, the support base including one or more of the supplemental sensors. (Item 20) Item 16. The system of item 15, wherein the radiation shield or portion thereof is configured to retract in response to the electrical anti-collision operation. (Item 21) Item 16. The system of item 15, wherein at least one of the supplemental sensors is a sensor selected from the group consisting of a pressure sensor, a strain sensor, an infrared sensor, an ultrasonic sensor, an ultrasonic sensor, a laser sensor, a radio frequency sensor, an electro-optical sensor, and a thermal sensor, or any combination thereof. (Item 22) Item 16. The system of item 15, wherein the current sensor is configured to measure current consumption in one or more units of the medical imaging equipment and detect motion thereof that may lead to a collision with the entity. (Item 23) Item 16. The system of item 15, wherein the operator detection sensor is configured to detect activity by an operator that may result in a collision with the entity. (Item 24) Item 16. The system of item 15, wherein the operator detection sensor is associated with a foot pedal or motion control panel of the medical imaging equipment. (Item 25) Item 16. The system of item 15, wherein the operator detection sensor is selected from the group consisting of a proximity sensor, a contact sensor, an infrared sensor, an optical sensor, and combinations thereof. (Item 26) Item 27. The system of item 15, wherein the inertial motion sensor is a gyroscope sensor. 16. The system of claim 15, wherein the inertial motion sensor is disposed on the radiation blocking shield, and / or the X-ray source, and / or the X-ray detector. (Item 28) 16. The system of claim 15, wherein the entity is a patient, a patient table, an operator, or a C-arm device. (Item 29) 1. A method for detecting and / or avoiding collisions of moving parts of a medical imaging device, the medical imaging device comprising an inherent collision avoidance mechanism and a radiation blocking shield or auxiliary device that limits the functionality of an inherent collision avoidance sensor of the inherent collision avoidance mechanism, the method comprising: sensing proximity and / or contact with an entity and / or detecting operator actions and / or sensing electrical current in said medical imaging equipment and / or said radiation shielding and / or said auxiliary device; communicating said sensing to a command controller of said radiation shield or auxiliary device; mechanically and / or electrically activating anti-collision actions of said medical imaging equipment, radiation shielding, and / or auxiliary equipment to avoid or mitigate a collision; A method comprising: (Item 30) 30. The method of claim 29, further comprising mechanically triggering at least one of the intrinsic sensors in response to the mechanical and / or electrical actuation. (Item 31) 30. The method of claim 29, further comprising transmitting a signal to an electrical trigger that activates the intrinsic collision prevention mechanism. (Item 32) 30. The method of claim 29, wherein activating the collision prevention operation includes retracting the radiation blocking shield. (Item 33) 30. The method of claim 29, further comprising stopping or slowing down moving parts of the medical imaging equipment. [Brief description of the drawings]

[0055] Some embodiments of the present invention are herein described, by way of example only, with reference to the accompanying drawings. The details shown are given by way of example and for purposes of illustrative discussion of embodiments of the present invention. In this regard, the drawings and the resulting description will make clear to those skilled in the art how embodiments of the present invention may be practiced.

[0056] In the drawings,

[0057] [Figure 1] FIG. 1 is a schematic side view of a typical prior art C-arm of an X-ray machine.

[0058] [Diagram 2] FIG. 2 is a schematic perspective view of the prior art X-ray equipment of FIG. 1 coupled to an auxiliary radiation shielding device.

[0059] [Diagram 3] FIG. 3 is a schematic diagram of a supplemental collision detection and prevention system associated with the x-ray machine and radiation shielding apparatus of FIG. 2, and also associated with the motion control panel and elements of the x-ray machine.

[0060] [Figure 4] 4 and 5 are perspective views of an exemplary refill sensor of the present system. [Diagram 5] 4 and 5 are perspective views of an exemplary refill sensor of the present system.

[0061] [Figure 6] 6A and 6B are schematic diagrams of an exemplary mechanical trigger mechanism of the present system in a position that does not communicate / interface with the original anti-collision sensor (FIG. 6A) and in a position that does communicate / interface with the original anti-collision sensor (FIG. 6B).

[0062] [Figure 7A] FIG. 7A is a perspective schematic diagram of another exemplary mechanical trigger mechanism of the present system.

[0063] [Figure 7B] 7B and 7C are enlarged schematic perspective views of the mechanical trigger mechanism of FIG. 7A in an untriggered position (FIG. 7B) and a triggered position (FIG. 7C). [Figure 7C] 7B and 7C are enlarged schematic perspective views of the mechanical trigger mechanism of FIG. 7A in an untriggered position (FIG. 7B) and a triggered position (FIG. 7C).

[0064] [Figure 8] FIG. 8 is a schematic perspective view of the inertial motion sensor of the present system.

[0065] [Figure 9] FIG. 9 is a perspective view of an operative connection of the system to a C-arm and / or to the native collision prevention means of the C-arm.

[0066] [Figure 10] FIG. 10 is a flowchart depicting safety outcomes associated with activation of an operator detection sensor.

[0067] [Figure 11] FIG. 11 is a flowchart depicting safety outcomes associated with inertial motion sensors.

[0068] [Figure 12] FIG. 12 is a flow chart depicting safety outcomes associated with an imminent collision or collision of an entity with the radiation shield of the C-arm detector.

[0069] [Figure 13] FIG. 13 is a flow chart depicting safety outcomes associated with a collision or imminent collision of an entity with the radiation shield of the C-arm X-ray source.

[0070] [Figure 14] FIG. 14 is a flow chart depicting safety outcomes associated with a collision or imminent collision of an entity with the C-arm, or radiation shielding device, or part thereof. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0071] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale, and further, where considered appropriate, reference numerals have been repeated among the figures to indicate similar elements.

[0072] It is to be understood that the present invention is not limited to the specific methodologies, devices, items, or products, etc. described herein, as these may vary as one of ordinary skill in the art would recognize. It is also to be understood that the terms used herein are used only for the purpose of describing certain embodiments, and are not intended to limit the scope of the present invention. The following exemplary embodiments may be described in the context of an exemplary proximity and / or collision detection system for ease of explanation and understanding. However, the present invention is not limited to the specifically described products and methods, and may be adapted for various applications without departing from the overall scope of the present invention. All ranges disclosed herein are inclusive. Use of the term "or" shall be construed to mean "and / or" unless the specific context indicates otherwise.

[0073] The present supplemental collision detection and prevention system may be implemented as a multi-layered safety system, including multiple safety mechanisms that may operate simultaneously with parallel redundancy between layers. The purpose of these safety mechanisms is to ensure patient safety and smooth, safe operation of the C-arm, etc., when used in conjunction with ancillary devices such as radiation protection shields.

[0074] Aspects of some embodiments of the present invention relate to additional or supplemental collision detection and prevention systems for medical X-ray equipment or associated devices. In some embodiments, a sensor is added to an existing medical X-ray device or part thereof, and / or a sensor is integrated into the X-ray collision prevention system. In some embodiments, a sensor is added to an add-on system of the X-ray system. Exemplary add-on systems include, but are not limited to, radiation shielding devices, teachings of which are provided in the following disclosures: U.S. Patent Nos. 8,439,564 and 8,113,713, U.S. Patent Application No. 2018 / 0168525, International Patent Application No. WO2017 / 083437, and U.S. Patent Application No. 2018 / 0249972, the contents of which are incorporated by reference as if fully set forth herein. In some embodiments, a sensor is added to an X-ray radiation shielding system / apparatus of the X-ray system.

[0075] With reference to FIG. 1 (PRIOR ART), angiography and fluoroscopy equipment (e.g., full size fixed and mobile C-arms) often have mechanisms to prevent collision of the detector / image intensifier and / or collimator / X-ray source with the patient, table, or other objects. This X-ray equipment often employs proximity or contact sensors. When triggered, these sensors may activate collision prevention or avoidance measures (hereinafter the C-arm's "intrinsic collision safety measures" or "intrinsic collision safety mechanisms"). For example, the collision prevention measures may stop the C-arm's motion and provide an audible and / or visual warning (e.g., an alarm light) of such a collision or its imminent occurrence to the operator.

[0076] Some embodiments of additional or supplemental collision detection and prevention systems may provide additional safety and / or collision prevention. For example, additional collision detection may be used when the C-arm's inherent collision safety measures are not accessible, are inactive, and / or do not operate properly. Such cases may occur when the C-arm's collision prevention sensors are obscured by auxiliary and / or add-on equipment and / or by other equipment or devices that may interfere. For example, additional collision detection may be used when an add-on system protrudes from the X-ray equipment or parts thereof, increasing the area / equipment requiring collision monitoring and protection.

[0077] FIG. 1 is an example of a prior art C-arm 10, which is a typical element of X-ray equipment such as angiography and fluoroscopy equipment. This equipment often includes mechanisms to prevent collision of the detector 12 (image intensifier) ​​and / or collimator or X-ray source 14 with a patient, table, or other equipment / object (hereafter "entity"). These collision prevention mechanisms typically employ proximity and / or contact sensors, which for clarity will be referred to as intrinsic sensors 16 (FIGS. 1 and 7A), and activate a collision prevention or avoidance system (existing / intrinsic collision prevention means, diagrammatically illustrated in FIG. 7A). For example, intrinsic collision prevention means may stop the motion of the C-arm 10 and provide an audible warning and / or visual indication to the operator in response to a collision or imminent collision (proximity exceeding a pre-determined threshold). If a collision or possible collision is detected at the height of the X-ray detector 12, the detector can be lifted upwards to prevent a collision with the entity.

[0078] FIG. 2 shows the C-arm 10 with an exemplary auxiliary radiation shielding apparatus 100, which includes an upper radiation shield 108a (synonymous with “detector radiation shield”) and a lower radiation shield 108b (synonymous with “source radiation shield”), which are attached to a shield support base 103 that covers / attaches the radiation source detector 12 and the radiation source 14, respectively. The radiation shields 108a and 108b may be used to protect medical staff or operators from radiation emitted by the C-arm 10 and / or scattered radiation. Examples of radiation shields are discussed in US 2018 / 249972, US 8,113,713, and US 9,907,519. Such radiation shields and / or other auxiliary devices may interfere with (e.g., block) the inherent collision prevention mechanism, particularly its sensors, such as inherent sensor 16 (FIG. 1). Radiation shields 108a and 108b include multiple sequentially positioned radiation shield stacks or segments 107 that may be independently controllable to extend or retract to a selected length relative to an object, such as a patient or an x-ray table.

[0079] 3 illustrates an exemplary supplemental collision detection and prevention system 110 of the present invention. System 110 may form part of radiation shielding apparatus 100 or may be a separate supplemental system with sensors and may be coupled to an X-ray system (e.g., C-arm 10), a portion thereof, and / or a radiation shielding apparatus (e.g., apparatus 100). System 110 includes one or more supplemental sensors that may cooperate with its command controller 112 (shown located in a radiation shield operation control panel 111, but may be provided as a separate component or coupled to an alternative location within radiation shielding apparatus 100 or C-arm 10).

[0080] The system 110 can include a variety of sensors, non-limiting examples include proximity sensors, optical sensors (e.g., infrared, laser optics, etc.), ultrasonic sensors, contact sensors, acceleration sensors, electromagnetic sensors, current sensors, etc.

[0081] The system 110 can operate standalone or in combination with other sensors or components of the X-ray system 10 or radiation shielding device 100 and can include one or more sensors monitoring various parts of the C-arm 10 or radiation shielding device 100 motion platform (e.g., pedestal mounted control panel, foot pedals, buttons, etc.). The sensors can be fully or partially integrated into these motion platforms, such as by placing a contact sensor 161 in the foot pedal 21 to sense an operator pressing the pedal 21. Another sensing option is by using a current sensor 151, which is a sensor configured to measure the current in the electrical wires and provide an output of the measured current. Such an exemplary sensor can be coupled to one or more designated locations, such as in the C-arm unit or a part thereof, such as the motor of the C-arm, the electrical cabinet of the C-arm (not shown), a part in the C-arm itself where the electrical wires are located, and can also be coupled to the C-arm motion platform (e.g., control panel 11, foot pedal 21, motion handle 19, etc.). These current sensors detect current flowing in the electrical wires and / or electric motors, thereby inferring that an operator has activated these functions. If activation of one or more units of the C-arm may lead to a collision, a supplemental collision prevention system may be initiated to avoid the collision. Additionally, a current sensor 151 may be coupled to one or more conductors of the C-arm motor to monitor the current therein.

[0082] System 110 includes at least one supplemental sensor, which may be, but is not limited to, a proximity sensor 141 and / or a contact sensor 121, which may be disposed in one or more locations on radiation shields 108a and 108b and / or on shield support base 103. For example, the sensors may be located on or near the edges of radiation shields 108a and 108b.

[0083] The system 110 may further include one or more current sensors 151 operatively connected to the C-arm motors to indicate current flow in the motors and thereby detect C-arm movement or an impending collision with an entity. Although not shown, various alternative locations for the current sensor 151, such as in the foot pedal 21, in the handle 19, etc., are envisioned to detect movement of the C-arm and avoid or minimize collisions if activation of those units may lead to a collision.

[0084] The system 110 may further include one or more inertial motion sensors 131 configured to detect movement of the C-arm which are illustrated as being located on the support base 103, but which may be located at one or more locations on the radiation shields 108a and 108b and / or at one or more locations within the C-arm 10.

[0085] The system 110 may optionally include one or more operator detection sensors 161 configured to detect intended or actual motion (i.e., movement) of the C-arm 10. The operator detection sensors 161 are illustrated as being located on and / or on one or more operating elements of the control panel 11 of the C-arm 10 and / or the foot pedals 21 of the C-arm 10. Various types of operator detection sensors 161 are envisioned, such as proximity sensors, contact sensors, IR sensors, optical sensors, etc.

[0086] The radiation shield operation control panel 111, which controls the operation of the system 100 (eg, extension and retraction of the shields 108a and 108b), may further be equipped with one or more supplemental sensors (eg, an operator detection sensor 161 and a current sensor 151).

[0087] As explained above, the sensors 121, 131, 141, 151 and 161 may trigger the native sensors 16 and / or native anti-collision mechanisms of the C-arm 10 and / or communicate with the command controller 112 of the supplemental radiation shielding device 110. The command controller 112 is configured to receive signals detected by the supplemental sensors and can cooperate with / transmit signals to i) one or more native sensors 16 of the C-arm 10, ii) native anti-collision mechanisms of the C-arm 10, iii) a motion control unit of the C-arm 10 (e.g. controlling the movement of the C-arm (motion control unit of the C-arm 10 is not shown)), and / or iv) a motion control unit of the radiation shielding device 100 (e.g. controlling the movement of the radiation shield 108 (motion control unit of the device 100 is not shown)). The supplemental sensors may alternatively communicate directly with the C-arm 10 or parts thereof. For example, the supplemental sensor may activate the inherent anti-collision mechanism of the C-arm 10 (optionally via, for example, a trigger mechanism as shown in 5-7) or communicate with a motion control unit of the C-arm 10 (for example, which controls the movement of the C-arm).

[0088] As the radiation shields 108a and 108b and their support bases 103 are assembled around the detector 12 and the X-ray source 14, access to at least some of the native sensors 16 (FIG. 1) is partially or completely limited or blocked or otherwise interfered with. To mitigate the risk of collision, both the upper and lower radiation shields 108a, 108b are preferably heavily covered with sensors. These sensors include proximity 141 and / or contact sensors 121 (which may use capacitive sensing or any other type of proximity or contact sensor) and preferably face all possible collision directions (illustrated by the arrows in FIG. 4). The inertial sensor 131 may be located almost anywhere on the radiation shield apparatus 100 (e.g., the upper and lower shields 108a and 108b) or on the C-arm 10. Regardless, since the upper shield 108a has two degrees of motion, it may be preferable to mount the inertial sensor 131 on the upper shield 108a rather than the lower shield 108b.

[0089] In some cases, potentially unsafe movements of the C-arm 10 (which may warrant halting of C-arm movement or may activate the inherent anti-collision mechanisms of the C-arm 10) may be indicated via the operator detection sensor 161, such as by foot pedal 21 or other operator control mechanism (e.g., handle 19) on the motion control panel 11. Operator actions (e.g., moving the C-arm via handle 19, or activating the C-arm radiation emission via foot pedal 21) that may cause the operator detection sensor 161 to trigger the C-arm's anti-collision means and abort its movement add a further arrangement of protection for the C-arm 10 movement.

[0090] Figure 4 shows multiple supplemental sensors 121, 141 connected to one of the primary sensors 16. As illustrated in the expanded view of Figure 4, the supplemental sensors 121, 141 can be positioned to face all directions of potential collisions to provide comprehensive detection of inappropriate proximity or contact with an entity such as a patient or x-ray table.

[0091] 5 illustrates the intrinsic anti-collision mechanism of the C-arm 10, in particular the mechanical interface or trigger 120 configured to actuate one of the intrinsic sensors 16. An exemplary configuration of the trigger 120 is shown that is attached to or includes a trigger motor 124 (or other actuation mechanism). The trigger motor 124 is actuable by a supplementary sensor 121, 141 upon unsafe / inappropriate proximity or contact of the radiation shield 108a, 108b or support base 103 with an entity to interface (typically mechanically) with one of the intrinsic sensors 16. The trigger 120 is exemplified by an L-shaped member, e.g., a short portion of an L-shaped member, having a distal end configured to contact the intrinsic sensor 16 upon actuation of the trigger 120. The trigger motor 124, in this design, is located at the proximal end of the L-shaped trigger 120 and is configured to receive a signal from a supplemental sensor 121, 141 or from the command controller 112 of the radiation shielding device 100, thereby pivoting the trigger into contact with the original sensor 16. The trigger motor 124 may also be configured to move the trigger 120 away from the original sensor 16 when a crash situation or a threat has passed. It should be understood that any of the sensors 121, 131, 141, 151, and 161 may activate the trigger 120 depending on the operating situation.

[0092] In case of a potential collision of the radiation shield 108a, 108b and / or support base 103 with an entity, the proximity 141 and / or contact sensor 121 detects the potential collision (preferably prior to its occurrence) and physically mimics the proximity or contact with the detector 12 and / or X-ray source 14 of the C-arm 10 in order to activate existing / native collision prevention mechanisms, in particular the sensor 16. In some implementations, a supplemental collision detection and prevention system 110 interfaces with the C-arm's software or electronics, thereby triggering the inherent safety mechanisms.

[0093] The supplemental sensors 121, 141, 131, 151, 161, for example, on the radiation shields 108a, 108b, or on the support base 103, or on the control panel 11, the handle 19, or the foot pedal 21, can actuate the trigger motor 124, bringing the trigger 120 into physical contact with the native sensor 16. Additionally or alternatively, the trigger 120 can operatively interface with the native sensor 16 by other mechanisms (electrically, wirelessly, etc.) and thereby actuate it; or can mimic an inappropriate proximity, in particular a proximity closer than a threshold distance, which may also take into account the speed of the supplemental sensor in its approach to the entity. Thus, the trigger 120 actuates at least one C-arm native sensor 16, thereby activating the native collision prevention mechanism. According to some features, the supplemental sensors 121, 141, 131, 151, 161 actuate one or more of the original sensors 16 through movement to a proximal location (e.g., via trigger 120) to cause one of the original sensors 16 to activate an original anti-collision mechanism.

[0094] 6A and 6B show another example configuration of trigger 120, which has an egg-shaped or oval trigger member 126 that can be rotated to interface with native sensor 16. In other words, based on a signal from the supplemental sensor 121 and / or 141, trigger 120 moves trigger member 126 to contact native sensor 16 or to move closer to the native sensor to mimic improper proximity thereto.

[0095] Figure 6A illustrates the trigger 120 in an unactuated state indicating safe operation of the C-arm 10, where the trigger does not trigger the native sensor 16. Figure 6B illustrates the trigger 120 in an actuated state indicating unsafe operation of the C-arm 10 (e.g., excessive proximity of and / or contact with the radiation shield 108 to an entity), whereby the trigger interfaces with the native sensor 16.

[0096] 7A-7C depict yet another exemplary configuration of the trigger 120, in which a trigger motor 124 rotates and moves the trigger 120 back and forth in a generally linear motion. In FIG. 7A, the trigger 120 is rotated, which causes the trigger pin 128 to translate downward to interface with (i.e., contact or mimic improper proximity to) the native sensor 16. FIGS. 7B and 7C show the trigger 120 operated such that the trigger pin retaining element 130 is translated back and forth (upward and downward in the figures) such that the trigger pin 128 is spaced from a portion of the native sensor 16 (FIG. 7B) and does not activate the native sensor; or is in contact with the native sensor 16 so as to activate the native sensor (FIG. 7C). FIG. 8 shows an example arrangement of an inertial motion sensor 131 connected to the support base 103 of the radiation shielding device 100 and / or connected to one or both of the radiation shields 108a, 108b. The inertial motion sensor 131 is configured to sense improper or dangerous movement of the radiation shields 108a, 108b and / or the C-arm 10. For example, the inertial motion sensor 131 may be coupled to one or more locations of the support base 103 of the detector 12 of the C-arm or the radiation shields 108a, 108b. The inertial motion sensor 131 may be particularly useful in that it may help detect movement / rotation of the C-arm 10. If the C-arm 10 is moving, accelerating or decelerating, or changing course / direction, this information can be used in the algorithm of the command controller 112 of the radiation shielding device 100 to determine how quickly, if at all, to activate the original sensor 16. The inertial sensor 131 (like all of the supplemental sensors 121, 131, 141, 151, 161) may be operatively interfaced with the command controller 112 of the device 100, such that upon improper and / or incorrect movement, the inertial sensor 131 sends feedback to the command controller 112 to activate (optionally via the trigger 120) the inherent collision prevention measures of the C-arm 10.Alternatively or in addition, the inertial sensor 131 (like all of the supplemental sensors 121, 131, 141, 151, 161) may communicate and send feedback directly to the inherent collision avoidance means of the C-arm 10 upon detecting improper and / or incorrect movement.

[0097] 9 illustrates a contact sensor 121 and a capacitance / proximity sensor 141 electrically connected to the C-arm 10 via an interface (herein a wire or cable 134). The sensors 121 and 141 may communicate directly (i.e., without triggering the trigger 120) with the inherent collision prevention mechanism of the C-arm. The sensors 121 and 141 may communicate with the inherent collision prevention mechanism via an electrical and / or software interface that transmits a signal to activate the inherent collision prevention mechanism.

[0098] 10-14 show a flow chart illustrating possible unsafe scenarios that may arise during an X-ray using a C-arm, and further illustrate example safety outcomes / steps when utilizing this supplemental collision detection.

[0099] FIG. 10 is a flow chart depicting a scenario in which the shields 108a, 108b are fully deployed or are being deployed and the operator intends to move the C-arm or X-ray table. To move the table / C-arm, the operator typically operates the C-arm motion control panel 11, specifically the handle 19. By doing so, an operator detection sensor 161 (e.g., a proximity or contact sensor) coupled to the handle 19 will sense the hand and then activate the anti-collision operation of the system 110. Optionally, a supplementary sensor of the lower shield is activated, thereby stopping the movement or preventing the C-arm from moving. Optionally, a warning light is activated. The native C-arm anti-collision safety mechanism is activated, prompting the activation of the C-arm warning sound. The C-arm 10 stops moving due to the native C-arm anti-collision safety mechanism activation. Operation may continue when the sensor does not detect an entity contacting or in proximity to or exerting pressure on the sensor.

[0100] FIG. 11 is a flow chart depicting a scenario in which the shields are partially or fully deployed and the operator moves the C-arm 10 or the C-arm platform without fully retracting one or both shields 108a, 108b. An inertial motion sensor 131 coupled to one of the shields 108a, 108b or the support base 103 of the radiation shielding device 100 detects movement of the C-arm 10 when one or both shields 108a, 108b are in the partially or fully extended position. This scenario illustrates a situation in which the operator detection sensor 161 is disabled. The anti-collision operation of the system 110 is activated. For example, data from the sensor 131 that movement has occurred when the shields are deployed or partially deployed is transmitted to the command controller 112, which activates the inherent anti-collision means of the C-arm 10 (optionally via the trigger 120) to stop the movement of the C-arm. The command controller 112 may also transmit commands to retract the shields 108a, 108b. Optionally, one or more sensors on the lower shield are activated, thereby stopping the movement of the C-arm. Optionally, a warning light is operated. An anti-collision safety mechanism of the native C-arm is activated, prompting the activation of an audible warning sound on the C-arm. Operation may continue when the sensor does not detect an entity in contact with or in close proximity to or exerting pressure on the sensor.

[0101] FIG. 12 is a flow chart depicting a typical X-ray imaging procedure in which a C-arm, such as C-arm 10, and a shielding device, such as device 100, are used. In such a typical case, during an X-ray procedure, radiation shields 108a, 108b are deployed or at least partially deployed. The flow chart depicts a situation in which sensors 131 and 161 are disabled. An entity (e.g., a patient or an operator) touches or approaches upper radiation shield 108a or a portion thereof (e.g., a segment of upper shield 108a, such as segment 107 (FIG. 2)). As a result, one or more supplemental sensors (e.g., sensors 121 or 141) of upper shield 108a are activated, triggering retraction of upper shield 108a or a portion thereof (e.g., segment 107 associated with an impending or actual collision). Optionally, activation of the upper shield sensor includes activation of a warning light (not shown). An anti-collision safety mechanism of the original C-arm is also optionally activated by trigger 120 and / or by command controller 112, thereby activating an audible warning of the C-arm and retraction of detector 12 of C-arm 10. Operation of the C-arm 10 may continue when the sensor does not detect an entity in contact with or in close proximity to or exerting pressure on the sensor.

[0102] FIG. 13 is a flow chart depicting a typical imaging procedure in which the lower radiation shield 108b is deployed or at least partially deployed and an entity (e.g., a patient or an operator) touches or approaches the lower radiation shield or a portion thereof (e.g., a segment of the lower shield 108b, such as segment 107 in FIG. 2). The flow chart depicts a situation in which sensors 131 and 161 are disabled. One or more supplemental sensors (e.g., sensors 121, 141) of the lower shield 108b are activated to trigger retraction of the lower shield or a portion thereof (e.g., a segment associated with an impending or actual collision). Optionally, activation of the lower shield sensor includes activation of a warning light. An anti-collision safety mechanism of the original C-arm is optionally further activated by trigger 120 and / or by command controller 112 to activate an audible warning of the C-arm. Operation of the C-arm 10 may continue when the sensor does not detect an entity contacting or in close proximity to or exerting pressure on the sensor.

[0103] FIG. 14 is a flow chart depicting a scenario in which the radiation shields 108a and / or 108b are retracted and the operator moves the C-arm 10 or the C-arm platform to touch or approach a supplementary sensor, i.e., a contact or proximity sensor. The lower and / or upper supplementary sensor is activated, i.e., depending on whether the upper or lower shield 108a, 108b sensor is activated. Optionally, a warning light is activated. The original C-arm anti-collision safety mechanism is optionally activated by the trigger 120 and / or by the command controller 112, prompting activation of the C-arm warning sound. The C-arm stops moving. Operation may continue when the sensor does not detect an entity in contact with it or in close proximity to it or exerting pressure on it.

[0104] Thus, as will be appreciated, when one of the supplemental sensors 121, 131, 141, 151, or 161 detects a possible collision or detects relevant operator activity, the interface may trigger the inherent collision prevention mechanisms or procedures of the C-arm 10 to stop its motion, to alert the operator, and / or to prevent a collision. The interface may be the command controller 112 or may be direct communication (via a wire, e.g., wire 134, or wirelessly) between the supplemental sensors and the inherent collision prevention mechanisms of the C-arm.

[0105] In some implementations, one or more of the supplemental sensors 121, 131, 141, 151, and 161 surround a portion of the C-arm 10, e.g., the detector 12, the collimator, the X-ray source 14. Optionally, the supplemental sensors may be directed to sensing a collision of the C-arm 10 or a portion thereof and / or an add-on system to the C-arm. Thus, the supplemental sensors may be mounted on the X-ray machine or the X-ray add-on system. For example, additional sensors may be installed at one or more locations around and / or on the C-arm and / or parts thereof, e.g., surrounding the detector / image intensifier, surrounding the collimator / X-ray source, among other locations. Optionally, the additional sensors may be directed to sensing possible collisions within a range of at least about 90°, or at least about 180°, or more, less, or values ​​therebetween. In an exemplary embodiment, one or more contact sensors 121 may be installed / mounted at one or more locations in the support base 103 and / or the radiation shield 108. In an exemplary embodiment, one or more proximity sensors 141 may be installed / mounted at one or more locations in the support base 103 and / or radiation shield 108. In an exemplary embodiment, one or more inertial motion sensors 131 may be installed / mounted at one or more locations in the support base 103 and / or radiation shield 108. In an exemplary embodiment, one or more current sensors 151 may be installed / mounted at one or more locations in the motor or other locations in the C-arm to sense the operation of the motor of the C-arm. In an exemplary embodiment, one or more inertial motion sensors 131 may be installed / mounted at one or more locations in the support base 103 and / or radiation shield 108. In an exemplary embodiment, one or more operator detection sensors 161 may be installed / mounted at one or more locations in the foot pedal 21 of the C-arm 10. In an exemplary embodiment, one or more operator detection sensors 161 may be installed / mounted at one or more locations in the motion control panel 11 of the C-arm 10.

[0106] Additional sensors may be connected to the interface, which actuates / mediates the anti-collision operation. The interface may further include a trigger mechanism (such as trigger 120) that, when actuated, activates the anti-collision safety means of the X-ray machine. The interface may be a mechanical support structure mounted on or in close proximity to the X-ray machine or an add-on thereto. For example, the interface / mechanical support may be mounted on / in close proximity to a detector or collimator of a C-arm. Alternatively or in addition, the interface may be an electrical wire that communicates with the anti-collision safety mechanism or a part thereof (e.g., trigger 120). Alternatively or in addition, the interface may be a command controller that communicates with the anti-collision safety mechanism (e.g., trigger 120).

[0107] Alternatively or additionally, the sensor and / or trigger mechanism may be mounted directly on the X-ray equipment without requiring any interface or mechanical support structure. The trigger mechanism may include mechanical and / or electrical activation means.

[0108] The actuation (e.g., trigger) can be located either by directly interfacing with the intrinsic sensor or by an element for actuating the intrinsic sensor of the X-ray equipment. For example, a motor / actuator actuates an element detectable by the intrinsic sensor through the application of pressure or through contact or close proximity with the intrinsic sensor of the C-arm.

[0109] Additionally or alternatively, the interface may directly interact with the inherent anti-collision mechanism (i.e., bypassing the C-arm's collision sensor 16). For example, an electrical trigger employs an electrical connection to the C-arm 10 and / or a portion thereof to activate the C-arm's anti-collision safety procedure. For example, activation may be by a direct electrical signal to the control system and / or electrical system of the X-ray machine.

[0110] The interface may include one or more triggers located at one or more locations around and / or on the x-ray machine. For example, multiple triggers may be used to provide redundant protection (e.g., if one of the x-ray machine's sensors connected to a mechanical trigger malfunctions, a second trigger may trigger crash protection regardless).

[0111] The interface may include a wireless connection to the X-ray's inherent safety features. For example, a remote sensor may be positioned on, near, and / or directed toward a piece of fragile equipment not directly attached to the patient and / or moving components (e.g., C-arm, detector, collimator, etc.). Optionally, when the supplemental sensor detects that the moving component is approaching a patient, obstacle, and / or fragile object, the supplemental sensor transmits a wireless signal to the interface that activates the X-ray system's collision prevention system. For example, the remote sensor may include a proximity sensor as described above, and / or a contact and / or pressure sensor, and / or a strain sensor, and / or a heat sensor, etc., to detect the proximity and / or contact of the X-ray device with the patient, obstacle, and / or fragile object. Alternatively or in addition, the remote supplemental sensor may include a visual or optical means (e.g., a video camera, and / or a laser, and / or a radar, etc.) directed at a sensitive location to detect when the X-ray equipment enters and / or approaches a sensitive area. Alternatively, or in addition, a remote sensor may be connected to the interface by a wire.

[0112] The present supplemental collision detection and prevention system 110 may cease activating the C-arm's intrinsic collision safety measures when there is an indication that a potential or actual collision has ceased and it is safe to operate the C-arm and / or its components and / or add-on devices such as radiation shields. For example, the supplemental system may cease activating the C-arm's intrinsic collision safety features when a patient, table, or other object is no longer detected by the supplemental system's sensors. Ceasing the activation and / or operation of the C-arm's intrinsic collision safety measures may include retracting a mechanical trigger such that it no longer interfaces with (is no longer in contact with, applies pressure to, is no longer located in close proximity to) the C-arm's intrinsic collision prevention safety sensor. Alternatively or additionally, ceasing the activation and / or operation of the C-arm's intrinsic collision safety features may include sending a direct electrical signal to the C-arm and / or its control and / or electrical system.

[0113] Additionally or alternatively, the supplemental collision detection and prevention system 110 may be a stand-alone system, or may be integrated into the C-arm 10, or may be part of the radiation shielding apparatus 100, or may be part of a different system that is stand-alone or integrated with the C-arm. The supplemental collision detection and prevention system 110 may serve as an accessory or auxiliary system to the C-arm and may be a stand-alone system or may be partially or fully integrated with the C-arm system or radiation shielding apparatus.

[0114] The replacement sensors may duplicate the job of the original sensors, and / or they may be placed in addition to the original sensors, for example, to cover spaces not covered by the original sensors, and / or the replacement sensors may use different technology than the original sensors. Optionally, the replacement sensors may be used to back up the existing or original sensors. Optionally, the additional / replacement sensors back up the existing or original sensors when the crash safety features of the x-ray equipment are inaccessible, obscured, inactive, and / or not operating properly.

[0115] Various locations of the additional collision sensor, actuator, and / or mechanical trigger on the X-ray device may be implemented. Optionally or additionally, the location of the supplementary collision sensor, actuator, and / or mechanical trigger on the X-ray device dictates the direction of collision prevention. For example, when the additional / supplementary sensor is on the right side of the detection prevention mechanism / X-ray device, the actuator may activate the original collision sensor on the right side, causing collision avoidance for collisions from the right side, for example.

[0116] The following terms, "includes," "including," "has," "having," "comprises," and "comprising," and each of their linguistic variations, as used herein, mean "including, but not limited to" and are to be interpreted as defining a stated component, feature, property, parameter, integer, or step, and do not preclude the addition of one or more additional components, features, properties, parameters, integers, steps, or groups thereof.

[0117] The words "consisting of" and "consists of," as used herein, each mean "including and limited to."

[0118] As used herein, the term "consisting essentially of" means that the scope of the claims is limited to the defined elements and that do not materially affect the basic and novel characteristics of the claimed devices and materials.

[0119] The term "method" as used herein refers to steps, procedures, modes, means, or / and techniques for accomplishing a given task, including, but not limited to, those steps, procedures, modes, means, or / and techniques that are either known to one of ordinary skill in the art of the disclosed invention or readily developed from known steps, procedures, modes, means, or / and techniques by one of ordinary skill in the art.

[0120] Throughout this disclosure, numerical values ​​of parameters, features, characteristics, objects, or dimensions may be described or explained in terms of a numerical range format. Such numerical range formats, as used herein, illustrate the implementation of some exemplary embodiments of the present invention, and do not rigidly limit the scope of the exemplary embodiments of the present invention. Thus, a described or explained numerical range also refers to and encompasses all possible subranges and individual numerical values ​​(wherein the numerical values ​​may be expressed as whole numbers, integers, or fractions) within the described or explained numerical range. For example, a described or explained numerical range "1-6" also refers to and encompasses all possible subranges such as "1-3", "1-4", "1-5", "2-4", "2-6", "3-6", and individual numerical values ​​such as "1", "1.3", "2", "2.8", "3", "3.5", "4", "4.6", "5", "5.2", "6", and the like within the described or explained numerical range of "1-6". This applies regardless of the numerical category, degree, or size of the described or explained numerical range.

[0121] Additionally, for the purposes of describing or illustrating a numerical range, the phrase "in the range between about a first numerical value and about a second numerical value" is considered equivalent to and means the same thing as the phrase "in the range between about a first numerical value and about a second numerical value," and thus the two equivalently-meaning phrases may be used interchangeably.

[0122] The term "about" in some embodiments refers to ±30% of the numerical value stated. In further embodiments, the term refers to ±20% of the numerical value stated. In yet further embodiments, the term refers to ±10% of the numerical value stated.

[0123] It should be fully understood that certain aspects, properties, and features of the invention that are, for clarity, illustratively described and presented in the context or form of multiple separate embodiments, may also be illustratively described and presented in any suitable combination or subcombination in the context or form of a single embodiment. Conversely, various aspects, properties, and features of the invention that are illustratively described and presented in a combination or subcombination in the context or form of a single embodiment may also be illustratively described and presented in the context or form of multiple separate embodiments.

[0124] While the present invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the spirit and broad scope of the appended claims.

[0125] All publications, patents, and patent applications mentioned in this specification are incorporated herein by reference in their entirety to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent section headings are used, they should not be construed as necessarily limiting.

Claims

1. A radiation shielding system, comprising: (a) at least one radiation blocking shield configured to be positioned around an x-ray source or an x-ray detector of a medical imaging device, the medical imaging device including an intrinsic collision prevention and detection mechanism including at least one intrinsic sensor; (b) a supplemental collision detection and prevention system configured to avoid collision of an entity with the X-ray source and / or X-ray detector of the medical imaging equipment, the supplemental collision detection and prevention system including a plurality of supplemental sensors, the plurality of supplemental sensors being any one of a proximity sensor and / or a contact sensor, and / or an inertial motion sensor, and / or an operator detection sensor, and / or a current sensor configured to facilitate prevention of collision with or protection against collision with the entity; (c) a command controller configured to receive communications from the supplemental sensors and to mechanically and / or electrically activate anti-collision operations of the medical imaging equipment to avoid or mitigate a collision; and a mechanical trigger configured to actuate at least one of the intrinsic sensors in response to the mechanical and / or electrical actuation, thereby activating the intrinsic anti-collision mechanism of the medical imaging equipment; A radiation shielding system comprising:

2. The system described in claim 1, wherein the electrical collision prevention operation includes an electrical trigger that activates the original collision prevention mechanism.

3. The system described in claim 1, wherein at least one of the supplemental sensors is associated with the radiation blocking shield.

4. The system of claim 1, wherein the radiation shield includes a radiation shield support base, and further comprising one or more of the supplemental sensors mounted on the radiation shield support base.

5. The system of claim 1, wherein at least one of the replenishment sensors is a sensor selected from the group consisting of a pressure sensor, a strain sensor, an infrared sensor, an ultrasonic sensor, an ultrasonic sound sensor, a laser sensor, a radio frequency sensor, an electro-optical sensor, and a thermal sensor, or any combination thereof.

6. The system of claim 1, wherein the current sensor is configured to measure current consumption in one or more units of the medical imaging equipment and detect movement thereof that may lead to a collision with the entity.

7. The system of claim 1, wherein the operator detection sensor is configured to detect activity by an operator that may lead to a collision with the entity.

8. The system of claim 1, wherein the operator detection sensor is associated with a foot pedal or motion control panel of the medical imaging equipment.

9. The system of claim 1, wherein the operator detection sensor is selected from the group consisting of a proximity sensor, a contact sensor, an infrared sensor, an optical sensor, or a combination thereof.

10. The system described in claim 1, wherein the inertial motion sensor is a gyroscope sensor.

11. The system described in claim 1, wherein the inertial motion sensor is disposed on the radiation blocking shield, and / or the X-ray source and / or the X-ray detector.

12. The system of claim 1, wherein the entity is a patient, a patient table, an operator, or a C-arm device.

13. A method for detecting and / or avoiding collisions between (a) a moving part of a medical imaging device and (b) an entity, the medical imaging device including an inherent collision avoidance mechanism, the method comprising: placing a radiation blocking shield over at least a portion of the medical imaging device, the original collision avoidance mechanism including an original collision avoidance sensor, the radiation blocking shield limiting functionality of the original collision avoidance sensor of the original collision avoidance mechanism; disposing a plurality of supplemental sensors on the radiation blocking shield; sensing proximity and / or contact between the entity and the moving part of the medical imaging equipment with the plurality of supplemental sensors; communicating the sensing of the proximity and / or contact between the entity and the moving part to a command controller of the radiation shield; mechanically and / or electrically activating an anti-collision action of said medical imaging equipment to avoid or mitigate collision between said entity and said moving part; A method comprising:

14. The method of claim 13, further comprising mechanically triggering at least one of the original sensors in response to the mechanical and / or electrical action.

15. The method of claim 13, further comprising transmitting a signal to an electrical trigger that activates the inherent collision prevention mechanism.

16. The method of claim 13, wherein activating the collision prevention operation includes retracting the radiation blocking shield.

17. The method of claim 13, further comprising stopping or slowing down the moving parts of the medical imaging equipment.

Images