Safety system for detecting collisions of a medical table

Abstract

A system (200) for detecting a collision between a patient support device (18) and an object, the ground, or a part of an operating table, the system (200) comprising: a patient support device (18) that can be used as a part of an operating table; a load sensor device having at least one load sensor that issues sensor values; a load determination unit that determines a load using the sensor values, the load including a load acting on the load sensor device or a load acting on the patient support device (18); and a detection unit that detects a possibility that the patient support device (18) collides with an object, the ground, or a part of an operating table when the load determined by the load determination unit falls below a specified first threshold while the patient support device (18) or at least one segment of the patient support device (18) is moving downward.

Description

Technical Field

[0001] This application claims the priority of German Patent Application No. 102022115287.1, filed with the German Patent and Trademark Office on June 20, 2022. The disclosure content of German Patent Application No. 102022115287.1 is incorporated into the disclosure content of this application.

[0002] Technical Field The present disclosure relates to medical and surgical tables in which the top plate and / or segments of the top plate are movable. In particular, the present invention relates to a system capable of detecting collisions of the table. For example, while descending, the top plate may collide with an object or segment of the top plate and may collide with the legs of the table while descending.

Background Art

[0003] Background of the Disclosure Operating tables are useful, for example, for supporting patients during surgical interventions. Currently, nurses and doctors have to consider many important aspects for the flexibility in setting up the operating table, the number of accessories, and the various possibilities of patient positions provided by the operating table in order to be able to use the operating table correctly. For example, the equipment used and its configuration should be adapted to the patient's weight. Also, the patient support device on which the patient is placed should only be displaced, tilted, or inclined within an acceptable range. When adjusting the operating table, it should be ensured that the patient is properly fixed and does not fall or slip off the operating table. Furthermore, when adjusting the operating table, it is necessary to prevent the operating table from colliding with external objects, such as a C-arm.

[0004] During operation, the operating table is often covered with a cover. When the patient support device is electrically displaced to position the patient, the patient support device may easily collide with surrounding objects. The operating table itself or the cover placed on the operating table may affect the vision of the user moving the operating table. This may lead to a collision with an object not within the user's field of vision. Carelessness of the user may also cause a collision.

[0005] The patient support device of the operating table can have segments that are replaceable and removably connectable. In many cases, some or all of the replaceable segments are movable. By using different replaceable segments, a single operating table can be reconfigured in different ways for different patients and medical procedures. Further, the individual segments or the patient support device as a whole can be adjusted in different ways. For example, the individual segments or the patient support device as a whole can be tilted or inclined or displaced longitudinally or transversely. When displacing the individual segments or the patient support device as a whole, the segment or the patient support device may hit another part of the operating table, such as the legs of the operating table. Further, the patient support surface or its segments may also collide with the floor on which the operating table is placed.

[0006] When the patient support device collides with an external object, the floor, or another part of the operating table, expensive equipment may be damaged. Further, due to the collision, a person may be injured, such as a part of the body being pinched.

[0007] In order to limit the force or pressure applied at the collision point, it is necessary to recognize the occurring collision and quickly stop the movement of the patient support device. Thereby, damage to external devices, people, and the operating table itself can be significantly avoided.

[0008] U.S. Patent No. 10,646,191 discloses a collision avoidance system and method for a bed that can be used for medical purposes. The system includes a stress sensor that measures the stress generated by supporting the bed surface of the bed regardless of the presence or absence of a load on the bed surface and issues corresponding stress data. Further, a collector is provided that communicates with the stress sensors and collects the stress data issued by each stress sensor. An evaluation processor is connected to the collector and determines whether the collected stress data gradually increases or gradually decreases within a preset period, and a gradual increase or gradual decrease in the load data collected within the preset period indicates that the bed surface has hit an object. The system also includes a controller that controls the bed surface to stop operating when the evaluation processor determines that the detected stress data has gradually increased or decreased within a preset period. U.S. Patent No. 10,646,191 does not disclose a collision detection system that detects the possibility of a collision between a patient support device and an object when the load determined by a load determination unit is below a specified threshold while at least one segment of the patient support device moves downward. U.S. Patent No. 10,646,191 also does not teach a system that temporarily stops the collision detection function in response to a sudden weight increase. SUMMARY OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] SUMMARY OF THE DISCLOSURE An object of the present disclosure is to provide a system that is advantageously designed to detect the possibility of a patient support device colliding with an object.

[0010] Furthermore, the system can be embodied to stop the movement of the patient support device when a collision is detected. MEANS FOR SOLVING THE PROBLEMS

[0011] According to a first aspect of the present disclosure, a system is provided that is adapted to detect a collision between a patient support device and an object, the ground, or a part of an operating table. The system can include a patient support device, a load sensor device having at least one load sensor, and a detection unit.

[0012] The patient support device can be used as part of an operating table and can serve to support a patient. In some designs, the patient support device can be a surgical patient support device on which a patient is held during surgery. Additionally, the patient support device can serve to secure accessories. The patient support device can be formed modularly and can have a main support surface section that can be extended by coupling various support surface sub-sections. The main support surface section and the support surface sub-sections can have mechanical connection elements that can removably connect the main section and the sub-sections of the support surface. The support surface sub-sections can be, for example, legs, leg sections, or head sections. Additionally, the support surface sub-section can be, for example, an extension section or an intermediate section inserted between the main section of the support surface and the head section. Slide rails or lateral rails can be attached to the sides of the main section and the sub-sections of the support surface. Accessories can be removably secured to the slide rails or lateral rails.

[0013] In some designs, the patient support device can be firmly connected to the column of the operating table. The operating table can be movable. The legs or base of the operating table can have wheels or rolls that can move the operating table on the ground. Alternatively, the legs or base can be fixed to the ground.

[0014] In some designs, the patient support device can be designed to be removably connectable to the movable surgical patient transporter and the column of the operating table. The patient support device can be attached to the patient transporter before the surgical procedure. The patient can be transported to the operating table by the patient transporter. Thus, the patient support device can be fixed to the operating table column and separated from the patient transporter. Most of the surgical preparation can be done while the patient support device is attached to the patient transporter. For example, the patient support device can be assembled from individual segments and accessories, and the patient can be prepared for surgery. Only when the preparation is complete can the patient support device be fixed to the operating table column.

[0015] The load sensor device can have one or more load sensors. If only the load is to be determined, a single load sensor may be sufficient. However, the load sensor device can also include several load sensors, for example two, more than two, three, more than three or four load sensors, or additional load sensors. This is particularly useful when, in addition to the load, the center of the load is to be determined. If a 6D force measurement sensor is used, the center can also be calculated with a single load sensor. At least one load sensor can issue a sensor value that can determine the load acting on the load sensor device and, furthermore, the load acting on the patient support device. The load acting on the load sensor device can include, in particular, the magnitude of all external forces acting on the load sensor device, i.e., forces and torques.

[0016] The load sensor can be, for example, a force sensor that measures the force acting on each sensor, in particular a load cell. The force sensor can issue each electrical signal, for example a voltage, as an output signal from which each measured force can be derived. Furthermore, the force sensor can be made to issue, for example in digital form, as a sensor value, the respective specific magnitude of each force measured by the force sensor.

[0017] Furthermore, it is conceivable that the load sensor device determines the total force resulting from the sensor values of several load sensors, and the resulting total force results from the individual forces acting on different force sensors.

[0018] The loads acting on the load sensor device include, for example, the load caused by the components of the operating table arranged above the load sensor device and the load caused by the patient supported on the patient support device or other objects arranged on the patient support device. Furthermore, a person standing next to the operating table can also cause a load on the patient support device, for example, by supporting themselves on the patient support device with their hand or other body part. Furthermore, external forces generated in another way can potentially generate a load on the patient support device. Such loads can also be measured by the load sensor device.

[0019] The load sensor device can be arranged at different positions within the operating table. In some designs, the load sensor device can be integrated into the column of the operating table or the patient support device. Furthermore, the load sensor device can be arranged on or adjacent to the interface formed by the column with the patient support device or the legs (e.g., the base). Thus, the load sensor device can be arranged, for example, between the patient support device and the column. Alternatively, the load sensor device can be arranged, for example, between the column and the legs.

[0020] In some designs, the load sensor device can be integrated into the patient transporter. The load sensor device can be integrated into the operating table or the patient transporter such that the entire load flows through or is transmitted by the load sensor device. In particular, the load occurring above the load sensor device can flow through or be transmitted by the load sensor device.

[0021] The load determination unit is coupled to the load sensor device and can acquire sensor values issued by one or more load sensors. Using the sensor values, the load determination unit can determine the load and, if necessary, the center of the load in a defined coordinate system. The load can include the load acting on the load sensor device or the load acting on the patient support device. The load can be indicated by the load determination unit, for example, in the form of weight, especially in kilograms, or in the form of force, especially gravity, for example in newtons. In some designs, the load determined by the load determination unit can be the load acting on the load sensor device or the load acting on the patient support device or the total load of the operating table or the total load of the patient transport device to which the patient support device is attached. The center of the load can be indicated relative to a defined point on the patient support device or the operating table. Furthermore, the center of the load can also be indicated, if necessary, in a coordinate system that does not refer to the patient support device or the operating table, but whose origin is linked to an external point, for example a defined point in the operating room. Thus, the absolute position of the center of the load can be indicated.

[0022] The load acting on the load sensor device can also be called the measured load. The measured load corresponds to the load generated by all persons, objects, and forces on the operating table or the patient transport device above the load sensor. The measured load corresponds to the load value measured by the load sensor device.

[0023] The load acting on the patient support device can be referred to as an active load and corresponds to the load generated by components not assigned to the patient support device or the operating table or the patient transport device, as well as the people and external forces acting on the patient support device. The components assigned to the patient support device can be components recognized by the detection system, such as support surface sections or segments and / or other accessories. The active load does not take into account the influence of components assigned to the patient support device or the operating table or the patient transport device. Only other components contribute to the active load, i.e., components not assigned to the patient support device or the operating table or the patient transport device. These can be, for example, accessories not recognized by the detection system, or other objects placed on the patient support device. Furthermore, the patient located on the patient support device contributes to the active load. Furthermore, all external forces acting on the patient support device from outside, such as those applied to the patient support device by people and / or objects outside the patient support device, contribute to the active load.

[0024] When the patient support device is attached to the column of the operating table or the patient transport device, the total load of the operating table or the patient transport device can also be determined. The total load of the operating table or the patient transport device is the load resulting from the measured load and the load resulting from components assigned to the operating table or the patient transport device and located under the load sensor device. Thus, the total load takes into account the load from components located below the load sensor device and not measurable by the load sensor device and thus not contributing to the measured load. Thus, the total load is the load resulting from the entire operating table or the patient transport device, the patient, the components assigned to the operating table or the patient transport device, the components not assigned to the operating table or the patient transport device, and other external forces.

[0025] The detection unit can be coupled to the load determination unit and can include the magnitude determined by the load determination unit, i.e., the load and optionally the load center. The detection unit can detect the possibility that the patient support device collides with an object, the ground, or a part of the operating table during downward movement of the patient support device or at least one segment of the patient support device. Such a collision causes a decrease in the load determined by the load determination unit. The detection unit detects the possibility or potential collision that the patient support device collides with an object, the ground, or a part of the operating table when the load determined by the load determination unit falls below a specified first threshold while the patient support device or at least one segment of the patient support device moves downward.

[0026] As described herein, the collision detected by the detection unit also includes a collision between an accessory fixed to the patient support device and an object, the ground, or a part of the operating table. For example, the accessory may be fixed to a slide or a lateral rail and may collide with another article during downward movement of the patient support device. Such a collision causes a decrease in the load determined by the load determination unit.

[0027] When the possibility of a collision is recognized, the movement of the patient support device can be quickly stopped, and the force or pressure on the collision point can be limited. Thereby, damage to external devices, people, and the operating table itself can be significantly avoided. The faster the movement of the patient support device is stopped, the more the pressure on the collision site can be limited.

[0028] Movement of the patient support device or a segment of the patient support device downward is movement in which at least a part of the patient support device or segment moves downward, i.e., in the direction of the floor on which the operating table is placed. The downward movement can be performed in various ways. For example, the patient support device can be inclined or tilted. The inclination of the patient support device is also called the Trendelenburg inclination in which the patient is supported such that the patient's head is down and the patient's pelvis is further up. The anti-Trendelenburg inclination is where the patient's head is in a high position while the pelvis is further down. Tilt means that the patient support device is inclined laterally. The inclination of the patient support device is with respect to one or more joints. A part of the patient support device on one side of the one or more joints can move downward and a part on the other side of the joint can move upward.

[0029] The patient support device can be inclined as a whole. Further, only one or more segments of the patient support device can be moved downward, for example, by adjusting one or more segments, particularly by inclining or tilting. For example, the leg section of the patient support device can be inclined downward.

[0030] Furthermore, the patient support device can be moved downward as a whole by a lift column. When there is no inclination or tilt at the same time, the inclination and tilt angle of the patient support device are maintained during the downward movement.

[0031] During the downward movement of the patient support device or a segment of the patient support device, a collision with an article may occur. The article can be, for example, an object under the patient support device. Further, the patient support device may collide with the floor on which the operating table is located. Further, the patient support device may hit another part of the operating table. For example, the inclination of the whole patient support device or a segment, for example, only the leg section, can result in the patient support device or segment colliding with the legs of the operating table.

[0032] As described, the detection unit monitors the load determined by the load determination unit and can detect whether the load falls below a specified first threshold during downward movement of the patient support device or at least one segment of the patient support device. A collision of the patient support device or a part thereof causes such a decrease in load. However, there can be other reasons for the decrease in load. For example, an article can be removed from the patient support device during downward movement. This also causes a decrease in load. As a result, it can be concluded from only the decrease in load that a collision may have occurred.

[0033] The specified first threshold can refer to a reference value. In some designs, the reference value can be the load determined by the load determination unit immediately before the start of downward movement. The first threshold can be defined to be lower than the reference value and have a specified distance from the reference value. The value of the first threshold or the distance of the first threshold from the reference value is a measure of the sensitivity of collision detection. The smaller the distance of the first threshold from the reference value, the higher the sensitivity of collision detection. The larger the distance of the first threshold from the reference value, the more load reduction is required to trigger collision detection. As a result, the greater the distance of the first threshold from the reference value, the greater the pressure generated at the collision point or the greater the force acting at the collision point. Conversely, the smaller the distance of the first threshold from the reference value, the higher the probability of false collision detection.

[0034] The system described herein can optionally also be designed to detect the possibility that the patient support device collides with an object, the ground, or a part of the operating table not only during downward movement of the patient support device but also during upward movement of the patient support device or at least one segment of the patient support device. Such detection during upward movement can be performed, for example, by the described detection unit or an additional detection unit.

[0035] The load determination unit and / or the detection unit may be integrated into the operating table or the patient transport device, or may be outside the operating table or the patient transport device. For example, the load determination unit and / or the detection unit may be outside the operating table or the patient transport device and integrated into a computing unit connected to the operating table or the patient transport device by wireless or fixed wiring or the like.

[0036] For example, when an additional load is applied to the patient support device during downward movement by a person supporting themselves on the patient support device or by an article being placed on or fixed to the patient support device, the load determined by the load determination unit increases. Further, a pushing force from above can be applied to the patient support device. As a result, even though no collision has occurred, there is a possibility of falling below the first threshold value due to load vibration. To avoid such false detection or to reduce the possibility thereof, in some designs, the detection unit can be designed such that after the load determined by the load determination unit exceeds a specified second threshold value, the detection unit does not temporarily indicate the possibility of a collision or temporarily interrupts the collision detection.

[0037] The second threshold value can be made larger than the first threshold value. The second threshold value can be defined to be larger than a reference value and have a specified distance from the reference value, where the reference value is the load determined by the load determination unit immediately before the start of downward movement. In some designs, the amount of the distance of the first threshold value from the reference value can be made equal to or approximately equal to the distance of the second threshold value from the reference value. The amount of the distance of the first threshold value from the reference value and the distance of the second threshold value from the reference value can also be made not to differ by more than 10% or 20% or 30%.

[0038] After the load determined by the load determination unit exceeds the second threshold value, the detection unit cannot indicate the possibility of a collision for a certain period of time to prevent false collision detection. This time can be called the "snooze time" and has a specified duration within a range of, for example, 0.5 to 10 seconds or more.

[0039] In some designs, false collision detection can be avoided by specifying a third threshold that is smaller than the first threshold. The collision detection can be interrupted after the load determined by the load determination unit exceeds a specified second threshold. The second threshold can be designed as described above. The detection unit temporarily detects the possibility of a collision only when the load determined by the load determination unit is below the third threshold. Since the third threshold is lower than the first threshold, the load reduction has to be greater in order to enable the detection of the possibility of a collision. Thus, false collision detection can be avoided in the time window after exceeding the first threshold, while an actually occurring collision can be detected.

[0040] The time window during which the detection unit detects the possibility of a collision only when it is below the third threshold can have a specified duration within a range, for example, of 0.5 to 10 seconds or more.

[0041] In some designs, the first threshold and / or the second threshold and / or the third threshold can be specified individually for at least a part of the central axis about which at least one segment of the patient support device or the patient support device can be biased or tilted during downward movement, and / or for the lowering of the patient support device by the lift column. As a result, one or more of the three different thresholds can be specified for each or a part of each joint that causes the bias or tilt of the patient support device or segment. Thus, in particular, the sensitivity of the collision detection can be set individually for each or a part of the joints.

[0042] The load detection unit can determine different loads as a function of the trend and / or inclination of the patient support device. In some designs, one or more or all of the thresholds from a group of a first threshold, a second threshold, and a third threshold can each be variable. For example, each threshold can depend on the trend angle and / or the inclination angle of the patient support device or at least one segment of the patient support device. Thus, it is possible to at least partially compensate for the dependence of the load determined by the load determination unit on the trend and / or the inclination angle. Each threshold can depend on the adjustment or position of one or more joints. If the position of one or more joints changes continuously during downward movement, the threshold can also be changed continuously.

[0043] In some designs, the amount of the distance of the first threshold from the load determined by the load determination unit immediately before the start of downward movement can be made approximately equal to the distance of the second threshold from the load determined before the start of downward movement. If the thresholds are variable, the first and second thresholds can be adjusted in the same way during downward movement such that their distances are always equal.

[0044] As described above, the load determined immediately before the start of downward movement can, in particular, function as a reference value to which the first and second thresholds refer. Alternatively, the output of a super-low-speed sliding average filter for the load determined by the load determination unit can also be used as the reference value.

[0045] In some designs, the detection unit monitors the load determined by the load determination unit during downward movement, and sets the first threshold and / or the second threshold such that the distance from the load determined by the load determination unit to the first threshold and / or the distance to the second threshold remains constant or at least substantially constant during downward movement. In other words, the detection unit can track the threshold of the changing load during downward movement. However, these should be only minor changes to the threshold so that an actual collision can be detected.

[0046] As described above, when the load determined by the load determination unit is below a specified first threshold while the patient support device or at least one segment of the patient support device moves downward, the detection unit detects the possibility that the patient support device collides with an object, the ground, or a part of the operating table. Just because the load is below the first threshold does not necessarily mean that a collision has occurred. The reason for the load being below the first threshold may be due to other reasons. Therefore, the detection unit can be designed to consider additional conditions in addition to the specified conditions so that it can determine whether there is a possibility of a collision. Additional conditions regarding the possibility of the patient support device colliding with an object, the ground, or a part of the operating table are described below. The additional conditions can be combined with each other in any form. It is also conceivable that only one of the conditions described below is used for detecting the possibility of a collision.

[0047] Apart from the load, in some designs, the load determination unit can further determine the center of the load using sensor values. While the patient support device is moving without collision, the center of the load changes in a slowly predictable manner with respect to the axis of movement, the direction of movement, and the speed of movement. When a collision occurs, the center changes abruptly, especially around one or more axes. Therefore, as an additional condition for the possibility that the patient support device collides with an object, the ground, or a part of the operating table, the detection unit can determine whether the center of the load determined by the load determination unit changes abruptly during the downward movement of the patient support device or at least one segment of the patient support device. An abrupt change can be determined, for example, when the center of the load changes by at least a specified amount, such as at least 3 cm or 5 cm or 10 cm or 15 cm or 20 cm within a specified duration, such as less than 2 seconds or 1 second or 0.5 seconds or 0.3 seconds or 0.1 seconds.

[0048] Since the center of the load constantly changes during the movement of the patient support device, it can be difficult to detect the jump in the center caused by a collision.

[0049] Furthermore, the abrupt change in the center during a collision strongly depends on the current center position and the collision site. The greater the distance between the center and the collision site, the better the detection accuracy of the influence on the center position. In the worst case, it is a collision with an object at the current center site. In this case, the abrupt change in the center is very small.

[0050] Furthermore, the heavier the patient, the smaller the abrupt change in the center during a collision. The above factors can be considered when setting the detection threshold.

[0051] In some designs, the detection unit can determine the forces caused by the possibility of a collision and acting on the patient support device and / or the part of the patient support device that may collide with an object, the ground, or part of the operating table. During a collision, the collision force increases and the collision site should remain approximately constant. Therefore, as an additional condition for the possibility of the patient support device colliding with an object, the ground, or part of the operating table, the detection unit can determine whether the force of the possibility of a collision increases during the possibility of a collision and / or whether the collision site remains approximately constant. In this case, the detection unit can determine that the possibility of a collision has occurred. The collision site can be considered approximately constant if, for example, it does not change by more than 5 cm or 10 cm or 20 cm or 30 cm during the collision.

[0052] Observation of the collision force and / or the collision site is particularly useful for distinguishing between a collision and a malfunction of the load sensor or another input to the load determination algorithm. If the collision site is not constant, an increase in the collision force may be due to a malfunction rather than a collision.

[0053] In some designs, the detection unit can determine the forces caused by the possibility of a collision and / or the collision site based on changes in the load determined by the load determination unit and / or the load center determined by the load determination unit and / or sensor values issued by at least a part of the load sensors that occur during the possibility of a collision.

[0054] In some designs, the load sensor device can have several load sensors that issue sensor values. Each selection of a load sensor can be assigned to at least a part of the possible movement of the patient support device or at least one segment of the patient support device centered on different axes and / or to the lift column. During the movement of the patient support device or at least one segment of the patient support device, the detection unit can analyze the forces acting on the load sensor assigned to this movement.

[0055] For example, the operating table can have several joints. Specific load sensors from the total of the load sensors can be assigned to each joint. When the patient support device or at least one segment is moved by one of the joints, the detection unit can analyze the force acting on the load sensor assigned to the joint.

[0056] As an additional condition for the possibility that the patient support device collides with an object, the ground, or a part of the operating table, the detection unit can determine whether the force analyzed during the possible collision is below a specified force threshold. If all of the analyzed forces, or a part of the analyzed forces, or at least one of the analyzed forces is below the force threshold, the detection unit can conclude that there is a possibility of collision. However, a sharp drop in force should not be caused by the movement of the patient support device.

[0057] Furthermore, as an additional condition for the possibility that the patient support device collides with an object, the ground, or a part of the operating table, the detection unit can determine whether the time derivative of the analyzed force is below a specified fourth threshold during a possible collision. The fourth threshold can be selected to reflect a strong negative increase in force. If the derivative of the analyzed force is below the fourth threshold, the detection unit can determine that there is a possibility of collision.

[0058] In some designs, the load sensor device can have several load sensors that issue sensor values.

[0059] In some designs, several load sensors can be arranged in a single common plane. In some designs, the load sensors can be arranged symmetrically.

[0060] In some designs, the load sensor device can be arranged between at least two parts of the operating table that are substantially immovable relative to each other.

[0061] In some designs, the load sensors of the load sensor device can be arranged parallel to each other and mirror-inverted. For example, the load sensor device can have a total of four load sensors or load cells. This design has the advantage of improved accuracy and reliability.

[0062] In some designs, some or all of the load sensors of the load sensor device can be arranged symmetric with respect to a first virtual axis and symmetric with respect to a second virtual axis. The first and second axes can be aligned perpendicular to each other. For example, the first axis can extend parallel to the main axis of the patient support device, and the second axis is perpendicular to this main axis but extends parallel to the patient support device. The load sensor device can be arranged between the patient support device and the operating table column.

[0063] In some designs, the load sensors can be arranged in a grid pattern or grid. For example, the load sensors can be arranged in a 2×2 grid. The load sensors can be arranged, for example, in a grid configuration having 2 to 4 load sensors in each dimension.

[0064] Load sensors arranged symmetrically can be aligned in the same direction. In particular, load sensors arranged symmetrically can be aligned parallel to each other. Each load sensor can have a main axis, and the main axes are aligned parallel to each other.

[0065] In some designs, the load sensors of the load sensor device can be structurally identical. In some designs, the load sensors can have an elongated shape. For example, the load sensor can be a rectangular body.

[0066] When the detection unit detects the possibility that the patient support device collides with an object, the ground, or a part of the operating table, in some designs, the detection unit can generate a collision signal indicating that the operating table is in a safety-critical state.

[0067] Furthermore, acoustic and / or optical warning signals can be generated. Further, warning signals in text form can be generated, which can be displayed, for example, to the user on the remote control of the operating table. Further, the movement of the patient support device and / or the operating table can be restricted. For example, the deployment and / or inclination and / or tilt of the patient support device and / or the movement of the operating table can be decelerated or stopped. Further, at least one function of the patient support device and / or the operating table can be blocked.

[0068] When the detection unit re-determines the safety state of the patient support device and / or the operating table, the measures taken can be reduced or cancelled.

[0069] In some designs, the patient support device can be part of the operating table. The operating table can comprise a base or legs and a column, and the load sensor device can be arranged within the column.

[0070] In some designs, the detection unit can detect the possibility of a collision when the load determined by the load determination unit decreases by at least one collision threshold during downward movement of the patient support device or at least one segment of the patient support device. The load immediately before the start of the downward movement can be used as a reference value for the collision threshold. For example, at least one collision threshold can be selected to correspond to the first threshold described above. That is, when the load determined by the load determination unit decreases by at least one collision threshold, the load is simultaneously below the first threshold.

[0071] In some designs, the system can set the collision threshold based on one or more of the following variables: the position of the patient support device, the angle of the patient support device, the joint angle of the joints within the patient support device, the displacement and / or inclination and / or tilt position of the patient support device, and the current type of movement of the patient support device.

[0072] During downward movement of the patient support device or at least one segment of the patient support device, if the load determined by the load determination unit increases by at least one false warning trigger amount, the system can, in some designs, temporarily ignore all possibilities of collisions resulting from a decrease in the load determined by the load determination unit.

[0073] In some designs, the detection unit can compare the load determined by the load determination unit when the patient support device is stationary with the load determined by the load determination unit when the patient support device later moves downward. The indication of the possibility of a collision can be a lower load than that measured when the patient support device later moves downward. Further, a load that is less than at least one threshold value when the patient support device moves downward can indicate the possibility of a collision.

[0074] In some designs, the detection unit can be configured to only detect a collision between the patient support device and an object below the patient support device, the ground, or a part of the operating table while the patient support device or at least one segment of the patient support device moves downward. Further, the system can also include other separate collision detection units that detect collisions, for example, when the patient support device or at least one segment of the patient support device moves upward and / or laterally.

[0075] According to a second aspect of the present disclosure, a method for detecting a collision between a patient support device and an object, the ground, or a part of an operating table is provided. The patient support device can be used as part of an operating table and can particularly be a surgical patient support device. A load sensor device having at least one load sensor that issues sensor values can be provided. The load can be determined using the sensor values, and the load includes the load acting on the load sensor device or the load acting on the patient support device. When the determined load falls below a specified first threshold while the patient support device or at least one segment of the patient support device moves downward, it is possible to detect the possibility that the patient support device collides with an object, the ground, or a part of the operating table.

[0076] The method according to the second aspect can have all the designs described in the present disclosure in relation to the system according to the first aspect.

[0077] The present disclosure also includes a circuit and / or electronic instructions for controlling the operating table, as well as a remote control, a display, and a user interface for use with the operating table.

[0078] Brief Description of the Drawings Exemplary embodiments of the present disclosure are described in more detail below with reference to the drawings.

Brief Description of the Drawings

[0079]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 5A

Figure 5B

Figure 5C

Figure 5D

Figure 6A

Figure 6B

Figure 7A

Figure 7B

Figure 8

Figure 9A

Figure 9B

Figure 10A

Figure 10B

Figure 11

Figure 12

Figure 13

Figure 14A

Figure 14B

Figure 15

Figure 16

Figure 17A

Figure 17B

Figure 17C

Mode for Carrying Out the Invention

[0080] Detailed Description of the Drawings In the following description, exemplary embodiments of the present disclosure will be described with reference to the drawings. The drawings are not necessarily drawn to scale and are only intended to schematically show each feature.

[0081] It should be noted that the features and components described below can be combined with each other regardless of whether they are described in relation to a single embodiment. The combination of features in each embodiment is for explaining the general configuration and function of the claimed device.

[0082] In the drawings, wherever possible, the same or similar elements are provided with the same reference numerals.

[0083] FIG. 1 schematically shows a mobile operating table 10 that can be used to support and transport patients 12 during a surgical intervention. The mobile operating table 10 includes, from bottom to top, legs or a base 14 for placing the operating table 10 on the ground, an operating table column 16 provided with the legs 14 and arranged vertically, and a patient support device 18 fixed to the upper end of the operating table column 16. The patient support device 18 can be firmly connected to the operating table column 16 or can be detachably fixed to the operating table column 16.

[0084] The patient support device 18 is formed in a modular manner and functions to support the patient 12. The patient support device 18 includes a support surface main section 20 connected to the operating table column 16, and the support surface main section can be extended as desired by combining various support surface sub-sections. The patient support device 18 can be embodied as the top plate of a surgical table or operating table 10. In FIG. 1, a leg section 22, a shoulder section 24, and a head section 26 are coupled to the support surface main section 20 as support surface sub-sections.

[0085] Depending on the type of surgical intervention to be performed, the patient support device 18 of the operating table 10 can be set to an appropriate height and may be inclined or tilted.

[0086] The operating table column 16 is formed to be height-adjustable and has an internal mechanism for adjusting the height of the patient support device 18 of the operating table 10. The mechanism is arranged within a housing 28 that protects the components from contamination.

[0087] The foot portion 14 has two sections 30, 32 of different lengths. Section 30 is a short section assigned to the foot end of the leg section 22, i.e., the end of the patient support device 18 on which the leg of the patient 12 to be treated is placed. Section 32 is a long section assigned to the head section 26 of the patient support device 18.

[0088] Furthermore, the foot portion 14 can have wheels or rolls that allow the operating table 10 to be moved on the ground. Alternatively, the foot portion 14 can be fixed to the ground.

[0089] The lateral rails 34 are attached to both sides of the patient support device 18. Accessories can be removably fixed to the lateral rails 34.

[0090] For better illustration, a Cartesian coordinate system X - Y - Z is inserted in FIG. 1. The X - axis and Y - axis are horizontal axes, and the Z - axis is a vertical axis. The X - axis extends along the support surface sub - sections 22, 24, 26 arranged adjacent to each other.

[0091] FIG. 2 schematically shows the system architecture of the system 100 according to the present disclosure. The system 100 is a system according to the first aspect of the present disclosure and can be operated by a method according to the second aspect.

[0092] Separate from the operating table 10 as shown in FIG. 1, the system 100 has a load sensor device 102, a load determination unit 104, a safety unit 106, a monitoring and calibration unit 108, a data storage device 110, and further components 112 of the operating table system 100. Also, the safety unit 106 includes a detection unit 113, an anti - tipping unit 114, and an overload protection unit 115.

[0093] The load sensor device 102 includes one or more load sensors and is configured to measure at least one magnitude capable of determining the load acting on the load sensor device 102. In this case, the load sensors are force sensors that measure the force acting on each sensor respectively. The sensor or force values measured by the individual force sensors are issued by the load sensor device 102 as a signal 120 in digital form. Further, the load sensor device 102 includes the electronic components necessary for the operation of the force sensors.

[0094] The load determination unit 104 receives the signal 120 having the measured sensor or force values and determines the load therefrom, particularly the load center. The load determination unit 104 can determine the measured load, the active load and / or the total load as the load.

[0095] In order to enable appropriate processing and analysis of the delivered force values, the load determination unit 104 requires some data regarding the geometric shape and mass or weight of the operating table 10 and its accessories. These data are stored in the data storage device 110 and provided to the load determination unit 104 by the signal 122. From these data, information regarding the mass and center of the individual components and accessories of the operating table 10 can be obtained in particular. The data storage device 110 can be expanded via the connection module of the operating table 10.

[0096] The load determination unit 104 generates a signal 124 including information regarding the determined load and load center as an output signal. This information is transmitted to both the safety unit 106 and the monitoring and calibration unit 108.

[0097] In the safety unit 106, all available data including the load, center and position data of the operating table 10 and the accessories recognized by the operating table 10 are analyzed. The safety unit 106 determines whether the operating table 10 is in a safe state or a dangerous state. The safety unit 106 generates a safety signal 126 indicating whether the operating table 10 is in a safety limit state.

[0098] Depending on the severity of the detected state, the algorithm responds accordingly. The operating table 10 can only, for example, issue a warning or stop the movement. The warning can be in the form of an acoustic or optical signal via the operating table 10, or in text form via a remote control. The measures can vary from slowing down the movement speed, to stopping the movement, or blocking some functions, and can continue until the operating table 10 reaches a safe state again.

[0099] The safety function can be stopped by the user at any time, and the movement of the operating table 10 can be continued at the user's own risk.

[0100] The detection unit 113 is a subunit of the safety unit 106 and acquires the load and the center of load determined by the load determination unit 104. The detection unit 113 detects the possibility that the patient support device 18 or at least one segment of the patient support device 18 collides with an object, the ground, or a part of the operating table 10 while the patient support device 18 moves downward. The detection unit 113 generates a collision signal 128 indicating whether the possibility of a collision has occurred. The collision signal 128 is a safety signal of the safety unit 106.

[0101] The anti-tipping unit 114 and the overload protection unit 115 are further sub-units of the safety unit 106. Using the total load and / or the center of the total load, the anti-tipping unit 114 generates a tipping safety signal 130 indicating whether there is a risk of the operating table 10 tipping over. Based on the active load and / or the center of the active load, the overload protection unit 115 generates an overload protection signal 132 indicating whether there is an overload risk for the operating table 10 and / or at least one component of the operating table 10. Alternatively, the overload protection unit 115 can use the measured load or the total load and / or the center of one of these loads to generate the overload protection signal 132. Both the tipping safety signal 130 and the overload protection signal 132 are safety signals of the safety unit 106.

[0102] If the legs 14 do not have wheels or rolls and are instead firmly connected to the ground, the anti-tipping unit 114 may be stopped or not implemented in the safety unit 106.

[0103] To reliably recognize critical situations, the system 100 also has a monitoring and calibration unit 108. This software module checks the validity of the measured values and recognizes whether the system is operating incorrectly or whether calibration or zeroing of the system 100 is necessary. The monitoring and calibration unit 108 generates corresponding output signals 134, 136, which are sent to the load determination unit 104 or a component 112 of the operating table 10.

[0104] The component 112 of the operating table 10 continuously generates position data, data for adjusting the individual components, and information about accessories recognized by the operating table 10. These data are provided to the system 100 by the signal 138.

[0105] Figure 3 schematically shows different loads that can be determined by the load determination unit 104 using the data delivered by the load sensor unit 102. In Figure 3, the measured load, the active load, and the total load are characterized by reference numerals 140, 142, and 144. The load determination unit 104 can determine the position of the load center associated with each of these loads.

[0106] The measured load is the load acting on the load sensor device 102. The measured load is the load generated by all people, objects, and forces on the operating table 10 above the load sensor. The measured load corresponds to the load value measured by the load sensor device 102.

[0107] The active load is caused by components, people, and external forces not assigned to the patient support device 18 or the operating table 10, and corresponds to the load acting on the operating table patient support device 18. The active load does not take into account the influence of components and recognized accessories assigned to the patient support device 18. Only other components of the patient support device 18 contribute to the active load, that is, components not assigned to the patient support device 18. These may be, for example, accessories not recognized by the operating table 10. Furthermore, the patient located on the patient support device 18 contributes to the active load. Furthermore, all forces acting externally on the patient support device 18, for example, applied to the patient support device 18 by people and / or objects outside the operating table 10, contribute to the active load. Generally, the active load is the measured load that is not affected by the influence of known objects such as the top plate components and recognized accessories.

[0108] The total load is the load resulting from the measured load and the load generated by the components located under the load sensor device 102 and assigned to the operating table 10. Therefore, the total load takes into account the load from components that are located below the load sensor device 102 and cannot be measured by the load sensor device 102 and thus do not contribute to the measured load. Therefore, the total load is the load resulting from the entire operating table 10, the patient, the components assigned to the operating table 10, the components not assigned to the operating table 10, and other external forces.

[0109] Figures 4A to 4C schematically show the operating table 10 according to the present disclosure in different embodiments. In the operating table 10, a load sensor device 102 having a plurality of load sensors is disposed between at least two portions of the operating table 10. In particular, the at least two portions are substantially non-movable relative to each other. In this design, during operation of the operating table 10, especially when the patient support device 18 is adjusted, for example when the patient support device 18 is tilted and / or inclined and / or displaced longitudinally and / or laterally, the at least two parts do not substantially move relative to each other, i.e., they remain substantially in the same position relative to each other. This applies to both the distance between the at least two portions and one or more angles included by the at least two portions together.

[0110] The load sensor device 102 is preferably integrated into the operating table 10 such that the total load above the load sensors flows through the load sensor device 102 or is transmitted by the load sensor device.

[0111] The load sensor device 102 can be disposed at different positions within the operating table 10. In the embodiment shown in FIG. 4A, the load sensor device 102 is disposed between the leg 14 and the operating table column 16, and the load sensor device 102 in FIG. 4B is integrated with the operating table column 16. In FIG. 4C, the load sensor device 102 is adjacent to the interface between the patient support device 18 and the operating table column 16.

[0112] FIG. 5A shows an operating table 10 having a load sensor device 102 disposed between the patient support device 18 and the operating table column 16. The load sensor device 102 includes four structurally identical load sensors 1a, 1b, 2a, and 2b that are arranged in parallel and are mirror images of each other. Two different deformation modes for arranging the force sensors 1a, 1b, 2a, 2b are shown in FIGS. 5B and 5C. FIGS. 5B and 5C each show a top view of the load sensor device 102 along line A-A depicted in FIG. 5A.

[0113] For the alignment of the force sensors 1a, 1b, 2a, 2c, a first axis 150 and a second axis 152 that are perpendicular to each other are defined. The first axis 150 extends parallel to the main axis of the patient support device 18, and the second axis 152 is perpendicular to this main axis but extends parallel to the patient support device 18.

[0114] The force sensors 1a, 1b, 2a, 2c each have a main axis aligned parallel to the first axis 150 of FIG. 5B. In FIG. 5C, the main axes of the load sensors 1a, 1b, 2a, 2b are aligned parallel to the second axis 152. Further, the force sensors 1a, 1b, 2a, 2b are arranged in pairs and mirror-symmetrically with respect to the axes 150, 152. The pairs (1a, 1b), (1a, 2a), (1b, 2b) and (2a, 2b) each form a pair of mirror-symmetric force sensors. In some embodiments, the force sensors 1a, 1b, 2a, 2b are arranged in a 2×2 grid as shown. In some embodiments, the grid arrangement has at least two force sensors 1a, 1b, 2a, 2b on each side. In some embodiments, all of the force sensors 1a, 1b, 2a, 2b are in a single common plane in which both the first axis 150 and the second axis 152 are arranged.

[0115] The force sensors can also be arranged within the sensor device 102, unlike in FIGS. 5B and 5C. Some exemplary alternative arrangements of the force sensors in the sensor device 102 are shown in FIG. 5D.

[0116] In the example of the sensor device 102 shown in FIG. 5B or FIG. 5C, the measured load can be calculated by adding all of the forces measured by the sensors 1a, 1b, 2a, 2b. The corresponding center can be calculated with the aid of the torque compensation formula shown below as well as the forces shown in FIGS. 6A and 6B. FIG. 6A shows a cross-sectional view along the x-axis, and FIG. 6B shows a cross-sectional view along the y-axis. The torque compensation formula can be applied in both directions so as to be able to determine the x-component and the y-component of the center.

[0117]

Number

[0118]

Number

[0119]

Number

[0120] In equations (1) to (3), F L is the gravitational force generated by the patient. The force F 1a , F 1b , F 2a and F 2b are the forces measured by sensors 1a, 1b, 2a, and 2b. The parameters a and b are the distances of the sensors in the x and y directions. X CG and Y CG are the x and y coordinates of the center of load generated by the patient.

[0121] The active load and the total load and their corresponding central values can be calculated by adding or subtracting the corresponding components of the operating table 10 and their central values stored in the data storage device 110.

[0122] The proposed arrangement of sensors 1a, 1b, 2a, 2b in FIGS. 5B and 5C makes the system robust to lateral forces F r . Due to the symmetric arrangement, the lateral force F r is canceled as shown in FIGS. 7A and 7B.

[0123] The cancellation of the lateral force also enables the described system to reliably measure forces and centers when the patient support device 18 is in the inclined position. FIG. 8 shows how the gravitational vector F L can be split into two components. One component is lateral to the force sensors and is canceled due to the above-described effect. The second component F Mextends perpendicular to the main surface of the force sensor or the patient support device 18 and is reliably measured. Knowing the inclination angle α of the patient support device 18, the actual force above the sensor and its center can be calculated.

[0124] Figures 9A and 9B schematically show the operating table system 100 according to the present disclosure, including the elements of the operating table system 200 schematically shown in FIG. 2. The elements of the operating table system 100 are not shown in FIGS. 9A and 9B.

[0125] FIG. 9A shows the patient support device 18 in a non-moving state, while in FIG. 9B, an anti-Trendelenburg tendency is embodied and the legs of the patient support device 18 are moving downward. During the downward movement, a collision occurs between the patient support device 18 and an object 210 disposed below the patient support device 18.

[0126] Due to this collision, the load F determined by the load determination unit 104 L decreases. In FIGS. 9A and 9B, the load F determined by the load determination unit 104 L is marked on the vector of the magnitude of the load F L indicating it. Due to this collision, a part F of the load coll is transmitted to the collision site, and the load F determined by the load determination unit 104 L decreases. Also, the collision leads to a jump in the load center calculated by the load determination unit 104. In the stationary state, the load center COG idle is measured, and after the collision, the displaced load center COG coll is measured.

[0127] The detection unit 113 is coupled to the load determination unit 104 and obtains the magnitude determined by the load determination unit 104, particularly the measured load F L and the load center. The load F determined by the load determination unit 104 in the stationary state Lcorresponds to the weight of the patient or the gravitational force caused by the patient. The detection unit 113 detects the load F determined by the load determination unit 104 while the patient support device 18 or a segment of the patient support device 18 moves downward. L falls below a specified first threshold value L coll to detect the possibility that the patient support device 18 may collide with an object, the ground on which the operating table 10 is placed, or a part of the operating table 10. Therefore, when F L < L coll applies, the possibility of a collision is detected. When the possibility of a collision is recognized, the movement of the patient support device 18 is quickly stopped to limit the force or pressure on the collision point.

[0128] In FIGS. 10A and 10B, an external load F is applied to the patient support device 18 during downward movement. In FIG. 10A, the patient support device 18 is in a stationary position, and the load F ext is measured by the load determination unit 104. In FIG. 10B, the legs of the patient support device 18 move downward, and furthermore, for example, by a person supporting themselves on the patient support device 18, an external load F L is applied to the patient support device 18. When the external load F ext is cancelled during downward movement, even though no collision has occurred, the load F ext may fall below the threshold value L due to load vibration, and as a result, the vibration of the load F L determined by the load determination unit 104 coll may lead to a false warning of a collision. L

[0129] FIG. 11 shows load vibrations caused by an external load, for example, a push from above on the patient support device 18. In the graph shown in FIG. 11, the load F L determined by the load determination unit 104 is plotted against time t. For example, the load F L can be shown as a weight in kilograms or a gravitational force in newtons.

[0130] The load F indicated by the dotted line LBy the transition of [[ID=]], it can be recognized that an external load is applied to the patient support device 18 during downward movement. Canceling the external load leads to load vibration.

[0131] Before the stationary state of the patient support device 18, that is, before the start of downward movement, the load determination unit 104 determines a stationary load whose level is used as a reference value. The load determined by the load determination unit 104 immediately before the start of downward movement is denoted as L idle and called.

[0132] The threshold value L coll is lower than the load L idle determined immediately before the start of downward movement and has a specified distance from the load L idle . The distance of the threshold value L coll from the load L idle corresponds to the collision threshold value. The detection unit 113 detects the possibility of a collision when the load F L is below the threshold value L coll , that is, when the load F L decreases by more than the collision threshold value from the load L idle .

[0133] To prevent false detection of a collision due to load vibration, a second threshold value L idle greater than the load L warn is defined. In FIG. 11, the distance from the load L idle is the same as the threshold value L coll . The distance of the threshold value L idle from the load L warn may be different from the distance of the threshold value L idle from the load L coll . The distance of the threshold value L idle from the load L coll can be called the collision threshold value and is denoted as b in FIG. 11.

[0134] When the load F L determined by the load determination unit 104 is the threshold value L warnImmediately after exceeding, the detection unit 113 is stopped for a specified period. During this period, the detection unit 113 does not issue a collision warning to prevent false detection of a collision. In the example shown in FIG. 11, at time t1, the load F L passes through the threshold value L warn .

[0135] Alternatively, the detection unit 113 may detect a collision only under certain conditions after the load F L exceeds the threshold value L warn . For this purpose, a third threshold value L coll smaller than the threshold value L snooze is defined. The condition for activating the threshold value L snooze is that the load F L exceeds the threshold value L warn . During the next time t snooze , the possibility of a collision is detected only when the load F L falls below the threshold value L snooze .

[0136] The duration t snooze has a specified length and can start, for example, immediately after the load F L exceeds the threshold value L warn , that is, at time t1. Alternatively, when the load F L exceeds the threshold value L warn previously and then the load F L passes through the load value L idle , the duration t snooze can start. This ensures that the duration t snooze is activated only when there is load vibration. This case is shown in FIG. 11.

[0137] The threshold value L snooze can be determined using the maximum load L L reached after the load F warn exceeds the threshold value L max . The distance from the maximum load L max to the threshold value L snooze , for example, from the load value L idle to the maximum load L maxcan be at least twice the distance. In FIG. 11, the maximum load L idle from the load value L max is indicated by a. Therefore, the distance from the maximum load L max to the threshold value L snooze can be at least 2a.

[0138] The reason for the distance 2a is that when pushing into the patient support device 18 from above, the load F L first increases by the value a, and then the push bounces back like a wave, and the measured load F L falls below the original load value L idle . Due to this attenuation, the "rebound" below the maximum load value L max becomes smaller than 2a. The "rebound" should not be detected as a collision. However, if the "rebound" is greater than 2a (starting from the maximum load value L max ), this can be detected as a potential collision.

[0139] In FIG. 12, for the time t, the trend angle of the patient support device 18 is plotted in degrees / 100, and the load F L determined by the load determination unit 104 is plotted in kilograms / 10. FIG. 12 shows that the measured force F L varies with the trend angle while the actual load on the patient support device 18 does not change. To avoid false detection of collisions, the threshold values L coll and L warn can depend on the trend and / or tilt angle of the patient support device 18. Therefore, the dependence of the measured load F L on the trend and / or tilt angle can be at least partially compensated.

[0140] FIG. 13 shows a flowchart 300 showing the process of a method for detecting a collision between the patient support device 18 and an object, the ground, or a part of the operating table 10. This method is executed by the detection unit 113.

[0141] After starting, in determination step 301, it is checked whether 10 milliseconds have elapsed. As a result, the method starts from the beginning every 10 milliseconds.

[0142] In step 302, the detection unit 113 acquires the measured load F L and the center of gravity of the load COG from the load determination unit 104.

[0143] In determination step 303, it is checked whether the patient support device 18 or at least one segment of the patient support device 18 moves in any way.

[0144] If the result of determination step 303 is "no", in step 304, the current load value F L is stored as the load value L idle , and the method returns to determination step 301. If the result is "yes", in determination step 305, it is evaluated whether the current load F L has reached or exceeded the threshold value L warn .

[0145] If the current load F L has reached or exceeded the threshold value L warn , in step 306, the snooze time is activated for a specified period. During this time, the detection unit 113 does not detect any possibility of collision. After the snooze time has elapsed, the method returns to determination step 301.

[0146] If the current load F L has not reached or exceeded the threshold value L warn , in determination step 307, it is checked whether the patient support device 18 or at least one segment of the patient support device 18 moves downward. If it does not move, the method returns to determination step 301.

[0147] If downward movement is determined, in determination step 308, it is checked whether the current load F L satisfies the inequality F L < L coll , in particular whether L coll = Lidle It is evaluated whether - b applies. If satisfied, the movement of the patient support device 18 or its segment is stopped in step 309, and the collision site is determined in step 310. Thereafter, the method returns to the determination step 301.

[0148] FIGS. 14A and 14B, similar to FIGS. 9A and 9B, show the jump of the center of load calculated by the load determination unit 104 caused by the collision between the patient support device 18 and the object 210 during downward movement. In the stationary state, the center of load COG idle is measured, and after the collision, the displaced center of load COG coll is measured.

[0149] As an additional condition for the possibility of collision, the detection unit 113 can determine whether the center of load determined by the load determination unit 104 changes abruptly during the downward movement of the patient support device 18 or a segment of the patient support device 18.

[0150] FIG. 15 shows the determination of the collision force and the collision site. Before the collision, the load determination unit 104 measures the gravitational force F g exerted by the patient as load F L,idle . The measured center of load COG idle before the collision is equal to the center of load C g of the patient.

[0151]

Number

[0152]

Number

[0153] In the collision, a force F c is generated at the site or center C c of the patient support device 18. During the collision, the load determination unit 104 measures the following load F L,coll and the following center of load COG coll .

[0154]

Number

[0155]

Number

[0156] Equations (6) and (7) can be rewritten as follows.

[0157]

Number

[0158]

Number

[0159] During the collision, the force F c increases, and the collision site C c is approximately constant. In this case, the collision can be detected. If the collision site C c is not constant, the increase in the collision force F c may be due to a malfunction rather than a collision. If the force F c decreases or remains constant, there can be no collision.

[0160] FIG. 16 shows the design of a load sensor device 102 having four load sensors 401, 402, 403, 404. Each joint that can move the patient support device 18 or a segment of the patient support device 18 is assigned to one or more of the load sensors 401, 402, 403, 404. The assigned sensors are most affected during their respective movements. As an example, the assignment of a particular joint that moves the patient support device 18 or a segment thereof in a particular direction to a particular one of the load sensors 401, 402, 403, 404 is shown in Table 1 below.

[0161]

Table 1

[0162] Depending on the type of movement, the detection unit 113 monitors the load sensors assigned to the joints that perform the movement. The detection unit 113 analyzes the forces acting on the monitored load sensors.

[0163] If the analyzed force drops sharply, the detection unit 113 can conclude that there is a possibility of a collision. However, a sharp drop in force should not be caused by the movement of the patient support device 18.

[0164] Furthermore, the detection unit 113 can check whether the time derivative of the analyzed force falls below a specified fourth threshold while there is a possibility of a collision. If the derivative of the analyzed force falls below the fourth threshold, the detection unit can determine that there is a possibility of a collision.

[0165] Figures 17A - 17C show different application cases of the operating table system according to the present disclosure. In Figure 17A, the load F determined by the load determination unit 104 L is plotted against time t. Before the start of the downward movement, a load F of 90 kg L was determined. The thresholds L coll and L warn are such that L coll is 15 kg less than L idle (=90 kg) (i.e., the collision threshold b), and L warn is set to be 10 kg more than L idle .

[0166] From the time - dependent change of the load F L , it can be seen that the detection unit 113 does not detect a collision when the load F L increases or decreases step - by - step or monotonically. A possibility of a collision is detected only when the load F L falls below the threshold L coll at time t1.

[0167] In FIG. 17B, at time t2, the load F L exceeds the threshold value L warn Thereafter, the detection unit 113 ignores the transition of the load F L over a certain period represented by the region 410. During this period, the detection unit 113 does not determine any possibility of a collision.

[0168] In FIG. 17C, the patient support device 18 is longitudinally displaced from left (see the left figure in FIG. 17C) to right (see the right figure in FIG. 17C) without moving the patient support device or its elements downward. The load sensor device 102 has four load sensors 401, 402, 403, 404. The load sensors 401, 402 are arranged on the left side of the operating table 10, and the load sensors 403, 404 are arranged on the right side.

[0169] At the start of the displacement of the patient support device 18, the patient support device 18 is on the left side of the operating table column 16. In this case, as can be seen from the graph of the load transition shown in FIG. 17C, large forces or loads F L,401,402 exist on the load sensors 401, 402 arranged on the left, and small forces or loads F L,403,404 exist only on the load sensors 403, 404 arranged on the right. As the patient support device 18 is displaced to the right, the load F L,401,402 becomes smaller, and the load F L,403,404 becomes larger. However, the measured total load F L remains stable and no collision detection occurs.

[0170] Exemplary embodiments and variations corresponding to the present disclosure are described in the following list of clauses and options.

[0171] Clause 1: A system (100, 200) for detecting a collision between a patient support device (18) and an object, the ground, or a part of an operating table (10), the system (100, 200) comprising a patient support device (18) that can be used as part of an operating table (10), in particular a surgical patient support device (18), and A load sensor device (102) having at least one load sensor (401, 402, 403, 404) that issues sensor values, A load determination unit (104) that determines a load using the sensor values, where the load includes a load acting on the load sensor device (102) or a load acting on the patient support device (18), the load determination unit (104); A detection unit (113) that detects a possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10) when the load determined by the load determination unit (104) falls below a specified first threshold while the patient support device (18) or at least one segment of the patient support device (18) is moving downward; A system (100, 200) comprising the above.

[0172] Clause 2: The detection unit (113) of the system (100, 200) according to Clause 1 does not temporarily indicate any possibility of collision after the load determined by the load determination unit (104) exceeds a specified second threshold.

[0173] Clause 3: After the load determined by the load determination unit (104) exceeds a specified second threshold, the detection unit (113) temporarily detects a possibility of collision when the load determined by the load determination unit (104) falls below a specified third threshold that is smaller than the first threshold, of the system (100, 200) according to Clause 1.

[0174] Clause 4: The first threshold and / or the second threshold and / or the third threshold are each individually specified for at least a part of the central axis about which the patient support device (18) or at least one segment of the patient support device (18) tends to be biased or can be inclined during downward movement, and / or for the lowering of the patient support device (18) by the lift column (16), of the system (100, 200) according to any one of the preceding clauses.

[0175] Clause 5: The first threshold value and / or the second threshold value and / or the third threshold value are each variable and depend on the trend angle and / or the tilt angle of the patient support device (18) or at least one segment of the patient support device (18), the system (100, 200) according to any one of the preceding clauses.

[0176] Clause 6: The amount of the distance of the first threshold value from the load determined by the load determination unit (104) before the start of the downward movement is substantially the same as the distance of the second threshold value from the load determined before the start of the downward movement, the system (100, 200) according to any one of the preceding clauses.

[0177] Clause 7: The detection unit (113) sets the first threshold value and / or the second threshold value so that the distance of the first threshold value and / or the second threshold value from the load remains substantially constant during the downward movement, the system (100, 200) according to any one of the preceding clauses.

[0178] Clause 8: The load determination unit (104) further determines the center of the load using the sensor values, The detection unit (113) determines whether the center of the load determined by the load determination unit (104) changes abruptly during the downward movement of the patient support device (18) or at least one segment of the patient support device (18) as an additional condition for the possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10), the system (100, 200) according to any one of the preceding clauses.

[0179] Clause 9: The detection unit (113) determines the force generated by the possibility of collision and acting on the part of the patient support device (18) and / or the patient support device (18) where there is a possibility of colliding with an object, the ground, or a part of the operating table (10), The detection unit (113) is the system (100, 200) according to any one of the preceding clauses, which determines, as an additional condition for the patient support device (18) to collide with an object, the ground, or a part of the operating table (10), whether the force generated by the possibility of collision increases while there is a possibility of collision and / or whether the collision site is substantially constant.

[0180] Clause 10: The detection unit (113) determines the force generated by the possibility of collision and / or the collision site based on the load determined by the load determination unit (104) and / or the change in the sensor value issued by at least a part of the load center and / or load sensors (401, 402, 403, 404) determined by the load determination unit (104) during the possibility of collision. The system (100, 200) according to Clause 9.

[0181] Clause 11: The load sensor device (102) has several load sensors (401, 402, 403, 404) that issue sensor values. Each selection of the load sensors (401, 402, 403, 404) is assigned to at least a part of the possible movement of the patient support device (18) or at least one segment of the patient support device (18) centered on different axes and / or to the lift column (16). During the movement of the patient support device (18) or at least one segment of the patient support device (18), the detection unit (113) analyzes the force acting on the load sensors (401, 402, 403, 404) assigned to this movement. The system (100, 200) according to any one of the preceding clauses.

[0182] Clause 12: As an additional condition for the patient support device (18) to collide with an object, the ground, or a part of the operating table (10), the detection unit (113) determines whether the force analyzed during the possibility of collision is below a specified force threshold. The system (100, 200) according to Clause 11.

[0183] Clause 13: As an additional condition for the possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10), the detection unit (113) determines whether the derivation of the force analyzed during the possible collision is below a fourth threshold value, for the system (100, 200) according to Clause 11 or 12.

[0184] Clause 14: The load sensor device (102) has several load sensors (401, 402, 403, 404) that issue sensor values, and the load sensors (401, 402, 403, 404) have the following characteristics, namely The load sensors (401, 402, 403, 404) are arranged in a single common plane, The load sensors (401, 402, 403, 404) are arranged in a grid pattern, The load sensors (401, 402, 403, 404) have an elongated shape, The load sensors (401, 402, 403, 404) are aligned symmetrically with respect to a first axis and symmetrically with respect to a second axis that is aligned orthogonally to the first axis, and The load sensors (401, 402, 403, 404) are arranged between at least two parts of the operating table (10) that are substantially immovable relative to each other, and have at least one of the above, for the system (100, 200) according to any one of the preceding clauses.

[0185] Clause 15: After the detection unit (113) detects the possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10), a collision signal is generated to indicate a safety-critical state of the operating table (10), an acoustic and / or optical warning signal and / or a warning signal in text form is generated, and / or the movement of the patient support device (18) and / or the operating table (10) is decelerated or stopped, and / or at least one function of the patient support device (18) and / or the operating table (10) is blocked, for the system (100, 200) according to any one of the preceding clauses.

[0186] Clause 16: The patient support device (18) is part of the operating table (10), which further comprises a base (14) and a column (16), and the load sensor device (102) is arranged within the column (16), for the system (100, 200) according to any one of the preceding clauses.

[0187] Clause 17: The detection unit (113) detects a possibility of a collision when, during downward movement of the patient support device (18) or at least one segment of the patient support device (18), the load determined by the load determination unit (104) decreases by at least one collision threshold value, for the system (100, 200) according to any one of the preceding clauses.

[0188] Clause 18: The detection unit (113) detects a possibility of a collision when the load determined by the load determination unit (104) decreases by at least one collision threshold value during downward movement of the patient support device (18) or at least one segment of the patient support device (18), and the system (100, 200) sets a collision threshold value based on one or more of the following variables, namely the position of the patient support device (18), the angle of the patient support device (18), the joint angle of joints within the patient support device (18), the displacement and / or trend and / or tilt position of the patient support device (18), and the current type of movement of the patient support device (18), for the system (100, 200) according to any one of the preceding clauses.

[0189] Clause 19: The system (100, 200) temporarily ignores any possibility of a collision resulting from a decrease in the load determined by the load determination unit (104), particularly when, during downward movement of the patient support device (18) or at least one segment of the patient support device (18), the load determined by the load determination unit (104) increases by at least one false alarm trigger amount, for the system (100, 200) according to any one of the preceding clauses.

[0190] Clause 20: The detection unit (113) compares the load determined by the load determination unit (104) when the patient support device (18) is stationary with the load determined by the load determination unit (104) when the patient support device (18) later moves downward. In particular, a lower load when the patient support device (18) later moves downward is an indication of the possibility of a collision. In particular, a load that is at least one collision threshold lower when the patient support device (18) moves downward is an indication of the possibility of a collision. The system (100, 200) according to any one of the preceding clauses.

[0191] Clause 21: The detection unit (113) is configured only to detect a collision between the patient support device (18) and an object below the patient support device (18), the ground, or a part of the operating table (10) while the patient support device (18) or at least one segment of the patient support device (18) moves downward. The system (100, 200) according to any one of the preceding clauses, in particular, also comprises at least one other separate collision detection unit.

[0192] Clause 22: A method for detecting a collision between the patient support device (18) and an object, the ground, or a part of the operating table (10), The patient support device (18) can be used as a part of the operating table (10), in particular a surgical patient support device (18). A load sensor device (102) having at least one load sensor (401, 402, 403, 404) that issues sensor values is provided. A load is determined using the sensor values, and the load includes the load acting on the load sensor device (102) or the load acting on the patient support device (18). A method in which, while the patient support device (18) or at least one segment of the patient support device (18) is moving downward, if the determined load falls below a specified first threshold, it is detected that the patient support device (18) may collide with an object, the ground, or a part of the operating table (10).

Claims

1. A system (100, 200) for detecting a collision between a patient support device (18) and an object, the ground, or a part of an operating table (10), the system (100, 200) comprising: A patient support device (18) that can be used as part of an operating table (10), in particular a surgical patient support device (18); A load sensor device (102) having at least one load sensor (401, 402, 403, 404) that issues sensor values; A load determination unit (104) that determines a load using the sensor values, the load including a load acting on the load sensor device (102) or a load acting on the patient support device (18); A detection unit (113) that detects a possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10) when the load determined by the load determination unit (104) falls below a specified first threshold while the patient support device (18) or at least one segment of the patient support device (18) is moving downward; The system (100, 200) comprising the above.

2. The detection unit (113) does not indicate any possibility of a collision for a temporary period, in particular in the range from 0.5 to 10 seconds, after the load determined by the load determination unit (104) exceeds a specified second threshold. The system (100, 200) according to Claim 1.

3. After the load determined by the load determination unit (104) exceeds a specified second threshold, the detection unit (113) temporarily detects a possibility of a collision, in particular in the range from 0.5 to 10 seconds, when the load determined by the load determination unit (104) falls below a specified third threshold that is smaller than the first threshold. The system (100, 200) according to Claim 1.

4. The first threshold and / or the second threshold and / or the third threshold are each individually specified for at least a part of an axis that is the center about which the patient support device (18) or the at least one segment of the patient support device (18) tends to be biased or can be inclined during the downward movement, and / or for the lowering of the patient support device (18) by a lift column (16). The system (100, 200) according to any one of the preceding claims.

5. The first threshold value and / or the second threshold value and / or the third threshold value are each variable and depend on the trend angle and / or the tilt angle of the patient support device (18) or the at least one segment of the patient support device (18), the system (100, 200) according to any one of the preceding claims.

6. The amount of the distance of the first threshold value from the load determined by the load determination unit (104) before the start of the downward movement is substantially the same as the distance of the second threshold value from the load determined before the start of the downward movement, the system (100, 200) according to any one of the preceding claims.

7. The detection unit (113) sets the first threshold value and / or the second threshold value such that the distance of the first threshold value and / or the second threshold value from the load remains substantially constant during the downward movement, the system (100, 200) according to any one of the preceding claims.

8. The load determination unit (104) further determines the center of the load using the sensor values, The detection unit (113) determines whether the center of the load determined by the load determination unit (104) changes abruptly during the downward movement of the patient support device (18) or the at least one segment of the patient support device (18) as an additional condition for the possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10), the system (100, 200) according to any one of the preceding claims.

9. The detection unit (113) determines a force generated by the possibility of collision and acting on a part of the patient support device (18) and / or the patient support device (18) that may collide with an object, the ground, or a part of the operating table (10), The detection unit (113) determines whether the force generated by the possibility of collision increases and / or whether the collision site is substantially constant during the possibility of collision as an additional condition for the possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10), the system (100, 200) according to any one of the preceding claims.

10. The detection unit (113) determines the possibility of the collision and / or the force generated by the collision site based on the load determined by the load determination unit (104) and / or the load center determined by the load determination unit (104) and / or the change in the sensor value issued by at least a part of the load sensors (401, 402, 403, 404) during the possibility of the collision, and the system (100, 200) according to claim 9.

11. The load sensor device (102) has several load sensors (401, 402, 403, 404) that issue sensor values. Each selection of the load sensors (401, 402, 403, 404) is assigned to at least a part of the possible movement of the patient support device (18) or the at least one segment of the patient support device (18) centered on different axes and / or to the lift column (16). During the movement of the patient support device (18) or the at least one segment of the patient support device (18), the detection unit (113) analyzes the force acting on the load sensors (401, 402, 403, 404) assigned to this movement. The system (100, 200) according to any one of the preceding claims.

12. As an additional condition for the possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10), the detection unit (113) determines whether the analyzed force is below a specified force threshold during the possibility of the collision. The system (100, 200) according to claim 11.

13. As an additional condition for the possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10), the detection unit (113) determines whether the derivation of the analyzed force is below a fourth threshold during the possibility of the collision. The system (100, 200) according to claim 11 or 12.

14. The load sensor device (102) has several load sensors (401, 402, 403, 404) that issue sensor values. The load sensors (401, 402, 403, 404) have the following characteristics, namely The load sensors (401, 402, 403, 404) are arranged in a single common plane. The load sensors (401, 402, 403, 404) are arranged in a grid, The load sensors (401, 402, 403, 404) have an elongated shape, The load sensors (401, 402, 403, 404) are aligned symmetrically with respect to a first axis and symmetrically with respect to a second axis that is aligned orthogonally to the first axis, and The load sensors (401, 402, 403, 404) are arranged between at least two portions of the operating table (10) that are substantially immovable relative to each other, The system (100, 200) according to any one of the preceding claims, having at least one of the above.

15. After the detection unit (113) detects a possibility that the patient support device (18) collides with an object, the ground, or a part of the operating table (10), a collision signal is generated to indicate a safety-critical state of the operating table (10), an acoustic and / or optical warning signal and / or a warning signal in text form are generated, and / or the movement of the patient support device (18) and / or the operating table (10) is decelerated or stopped, and / or at least one function of the patient support device (18) and / or the operating table (10) is blocked. The system (100, 200) according to any one of the preceding claims.

16. The patient support device (18) is part of the operating table (10), the operating table (10) further comprises a base (14) and a column (16), and the load sensor device (102) is arranged within the column (16). The system (100, 200) according to any one of the preceding claims.

17. The detection unit (113) detects a possibility of collision when the load determined by the load determination unit (104) decreases by at least one collision threshold during downward movement of the patient support device (18) or the at least one segment of the patient support device (18). The system (100, 200) according to any one of the preceding claims.

18. The detection unit (113) detects a possibility of collision when the load determined by the load determination unit (104) decreases by at least one collision threshold during downward movement of the patient support device (18) or the at least one segment of the patient support device (18), The system (100, 200) according to any one of the preceding claims sets the collision threshold based on one or more of the following variables, namely the position of the patient support device (18), the angle of the patient support device (18), the joint angles of the joints within the patient support device (18), the displacement and / or tendency and / or tilt position of the patient support device (18), and the current type of movement of the patient support device (18).

19. The system (100, 200) according to any one of the preceding claims temporarily ignores all possibilities of collision due to a decrease in the load determined by the load determination unit (104) if the load determined by the load determination unit (104) increases by at least one false alarm trigger amount, particularly during downward movement of the patient support device (18) or the at least one segment of the patient support device (18).

20. The detection unit (113) compares the load determined by the load determination unit (104) when the patient support device (18) is stationary with the load determined by the load determination unit (104) when the patient support device (18) later moves downward. In particular, a lower load when the patient support device (18) later moves downward indicates a possibility of collision, and in particular, a load that is lower than at least one collision threshold when the patient support device (18) moves downward indicates a possibility of collision. The system (100, 200) according to any one of the preceding claims.

21. The detection unit (113) is configured only to detect a collision between the patient support device (18) and an object below the patient support device (18), the ground, or a part of the operating table (10) while the patient support device (18) or the at least one segment of the patient support device (18) moves downward. The system (100, 200) according to any one of the preceding claims particularly further comprises at least one other separate collision detection unit.

22. A method for detecting a collision between a patient support device (18) and an object, the ground, or a part of an operating table (10). The patient support device (18) can be used as part of the operating table (10), in particular a surgical patient support device (18), A load sensor device (102) having at least one load sensor (401, 402, 403, 404) that issues sensor values is provided, A load is determined using the sensor values, the load including a load acting on the load sensor device (102) or a load acting on the patient support device (18), A method in which, while the patient support device (18) or at least one segment of the patient support device (18) is moving downward, if the determined load falls below a defined first threshold value, it is detected that the patient support device (18) may collide with an object, the ground or a part of the operating table (10).

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