Supplemental collision detection and prevention system for medical imaging equipment

Abstract

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

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims the benefit of U.S. Provisional Application No. 62 / 787,644, filed on January 2, 2019 (Attorney Docket No. 46125 - 707.101), the content of which is incorporated herein by reference. (Field of the Invention)

[0002] The present invention relates to a collision detection and prevention system for medical X - ray equipment, particularly a supplementary system that supplements an existing safety system. The supplementary system is useful when the X - ray equipment includes auxiliary devices such as radiation shields that can interfere with the existing collision detection and prevention system.

Background Art

[0003] Medical equipment that can move during operation, particularly X - ray equipment and X - ray fluoroscopy systems, may include a collision prevention mechanism. The collision prevention mechanism typically includes a plurality of proximity sensors for the safe operation and positioning of movable radiation imaging components (e.g., an X - ray source and / or a detector of an X - ray "C - arm"). The collision prevention mechanism can be important for protecting patients and for protecting expensive medical equipment.

[0004] For the safe positioning and movement of movable radiation imaging medical equipment (e.g., X - ray equipment), proximity / collision detection means can be placed on or around a part of the imaging device to prevent collisions with patients and / or other objects (such as an X - ray table or a procedure table).

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

[0006] Exemplary related disclosures include U.S. Patent No. 8,767,920 (Siemens) (Patent Document 1), U.S. Patent No. 7,029,175 (GE Medical), U.S. Patent No. 7,837,385 (Siemens), U.S. Patent No. 6,830,375 (GE Medical), U.S. Patent No. 8,439,564 (Radguard), U.S. Patent No. 8,113,713 (Radguard), U.S. Patent No. 9,907,519 (Radiaction), and U.S. Patent No. 2018 / 249972 (Radiaction) (all of which are incorporated as a whole by reference as they are described in full herein). [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] U.S. Patent No. 8,767,920 [Overview of the project] [Problems that the invention aims to solve]

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

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

[0010] The supplementary system may include one or more sensors configured to provide a layer of protection, in particular a combination of one or more sensors including (a) at least one proximity and / or contact sensor which may include a distance measuring sensor for determining proximity; (b) at least one inertia and / or gyroscope sensor for determining movement, rate of movement toward an entity, and / or direction of movement; (c) at least one operator detection sensor for determining whether, for example, an operator is actively operating the C-arm (e.g., in a manner that could lead to a collision with a patient or patient table) or intending to operate the C-arm; and (d) at least one current sensor for measuring current consumption in one or more units of the X-ray system (e.g., the motor of the C-arm) and determining its operation that could lead to a collision.

[0011] This system is added to existing medical X-ray equipment and is configured to interface mechanically and / or electronically with the X-ray equipment's inherent collision avoidance means (e.g., its C-arm). Alternatively, or in addition to, sensors are added to add-on systems of the X-ray system (e.g., radiation shielding systems). [Means for solving the problem]

[0012] Aspects of the present invention relate to a collision detection and prevention system that can be coupled to an X-ray instrument and includes one or more collision sensors and / or one or more inertial sensors and / or one or more current sensors and / or one or more motion detection sensors, and a trigger or trigger mechanism that triggers or activates the intrinsic collision prevention mechanism / means of the X-ray instrument. The trigger / trigger mechanism may be mechanical or electrical (including wireless).

[0013] Aspects of the present invention relate to an add-on system for an X-ray device (e.g., for a radiation shielding device) comprising at least one supplementary sensor including one or more proximity and / or collision sensors, one or more inertial motion / gyroscope sensors, one or more operator detection sensors, and one or more current sensors, and one or more triggering mechanisms that trigger or activate the original collision prevention mechanism / means or part thereof of the X-ray system (e.g., the original collision sensor of the X-ray system).

[0014] Aspects of the present invention relate to systems for supplementing additional collision sensors as disclosed herein above.

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

[0016] The trigger mechanism may include a mechanical trigger configured to activate the X-ray instrument's inherent proximity or contact sensor.

[0017] A mechanical trigger may include a trigger motor or other actuator configured to contact or apply pressure to a real contact sensor, or to be located near a real proximity sensor of the X-ray instrument's real collision avoidance mechanism.

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

[0019] The supplemental sensor may be a contact sensor. The supplemental sensor may be a proximity sensor. The supplemental sensor may be a pressure sensor. The supplemental sensor may be a strain sensor. The supplemental sensor may be an infrared sensor. The supplemental sensor may be an ultrasonic sensor. The supplemental sensor may be a laser sensor. The supplemental sensor may be a radio frequency sensor. The supplemental sensor may be an electro-optic sensor (e.g., a camera) that can be configured to identify operator activity such as touching an operator handle. The supplemental sensor may be a thermal or temperature sensor (e.g., including or composed of a thermocouple). The supplemental sensor may be a current sensor that measures the current flowing in a wire.

[0020] In one or more embodiments, a trigger mechanism and / or a sensor is coupled to an interface. In one or more embodiments, the interface is located in one or more locations around and / or on the X-ray system. In one or more embodiments, the interface is located in one or more locations around and / or on the X-ray shielding system of the X-ray equipment. In one or more embodiments, the collision detection system activates the original X-ray collision avoidance means when it detects a possible collision with an object or patient (entity). In one or more embodiments, the collision detection system ceases to activate the original X-ray equipment collision avoidance means when proximity or contact of the sensor with the patient or object is no longer detected. In one or more embodiments, the collision detection system further includes an alarm unit that operates to alert medical staff when a possible collision with an entity is detected.

[0021] An aspect of the present invention is a supplementary collision detection and prevention system for use in combination with a medical imaging device comprising an original collision avoidance mechanism having an original sensor and an add-on system that limits the functionality of the original collision avoidance mechanism. A proximity sensor and / or a contact sensor configured to promote prevention of or protection from collision with an entity, and / or an inertial motion sensor, and / or an operator detection sensor, and / or any one of a plurality of supplementary sensors that is a current sensor, and an interface configured to receive communication from at least one of the plurality of supplementary sensors and transmit a signal for activating a collision prevention operation of a medical imaging device and / or a signal for activating its add-on system to avoid or mitigate a collision It relates to a supplementary collision detection and prevention system having it

[0022] In one or more embodiments, the interface communicates with an original collision prevention mechanism of a medical imaging device and / or a trigger mechanism of a system for activating at least one of the original sensors

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

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

[0025] In one or more embodiments, the radiation shielding shield extends from a radiation shield support base, and the support base includes one or more of the plurality of supplementary sensors

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

[0027] In one or more embodiments, at least one of the multiple supplementary sensors is selected from the group consisting of pressure sensors, strain sensors, infrared sensors, ultrasonic sensors, ultrasonic sound sensors, laser sensors, radio frequency sensors, electro-optic sensors, and thermal sensors, or any combination thereof.

[0028] In one or more embodiments, an electric motor current sensor is configured to measure the current consumption in one or more units of a medical imaging device and to detect any operation that could lead to a collision with an object.

[0029] In one or more embodiments, the operator detection sensor is configured to detect operator activity that could lead to a collision with an entity.

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

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

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

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

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

[0035] Aspects of the present invention are, A radiation shield positioned around the X-ray source or X-ray detector of a medical imaging device, wherein the medical imaging device is equipped with an intrinsic collision avoidance detection mechanism including at least one intrinsic sensor, A supplemental collision detection and prevention system configured to avoid collisions of entities with an X-ray source, an X-ray detector, and / or an X-ray radiation shield, Multiple supplementary sensors, which are any one of proximity sensors and / or contact sensors, and / or inertial motion sensors, and / or operator detection sensors, and / or current sensors, configured to facilitate the prevention or protection from collisions with entities. A command controller configured to receive communications from supplemental sensors and to mechanically and / or electrically activate collision avoidance actions of medical imaging equipment and / or radiation shielding devices to avoid or mitigate collisions. It is equipped with a supplementary collision detection and prevention system and It relates to radiation shielding devices that are equipped with these features.

[0036] In one or more embodiments, the device further includes a mechanical trigger configured to activate at least one of the intrinsic sensors in response to mechanical and / or electrical action, thereby activating the intrinsic collision avoidance mechanism of the medical imaging device.

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

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

[0039] In one or more embodiments, the radiation shield extends from a radiation shield support base, and the support base includes one or more supplementary sensors.

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

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

[0042] In one or more embodiments, the current sensor is configured to measure the current consumption in one or more units of a medical imaging device and to detect any behavior that could lead to a collision with an object.

[0043] In one or more embodiments, the operator detection sensor is configured to detect operator activity that could lead to a collision with an entity.

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

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

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

[0047] In one or more embodiments, the inertial motion sensor is positioned on a radiation shield and / or an X-ray source and / or an X-ray detector.

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

[0049] The present invention relates to a method for detecting and / or avoiding collisions of movable parts of a medical imaging device, comprising an original collision prevention mechanism and a radiation shield or auxiliary device that limits the functionality of the original collision prevention sensor of the original collision prevention mechanism, Detecting proximity to and / or contact with an entity, and / or detecting operator action, and / or sensing current in medical imaging equipment and / or radiation shielding and / or auxiliary devices, The detection is communicated to the command controller of the radiation shield or auxiliary device, To mechanically and / or electrically activate collision avoidance actions of medical imaging equipment, radiation shielding, and / or auxiliary devices to avoid or mitigate collisions. This is further related to methods that include this.

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

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

[0052] In one or more embodiments, activating the collision avoidance action includes retracting the radiation shield.

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

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

[0055] Several embodiments of the present invention are described herein only by reference to the accompanying drawings. The details shown are provided for illustrative purposes of the illustrative discussion of embodiments of the present invention. In this regard, the drawings and the description provided will clarify to those skilled in the art how embodiments of the present invention may be put into practice.

[0056] In the drawing,

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

[0058] [Figure 2] Figure 2 is a schematic perspective view of the conventional X-ray equipment shown in Figure 1, coupled to an auxiliary radiation shielding device.

[0059] [Figure 3] Figure 3 is a schematic diagram of a supplementary collision detection and prevention system associated with the X-ray equipment and radiation shielding device in Figure 2, and also associated with the operation control panel and elements of the X-ray equipment.

[0060] [Figure 4] Figures 4 and 5 are perspective views of the exemplary supplementary sensors of this system. [Figure 5] Figures 4 and 5 are perspective views of the exemplary supplementary sensors of this system.

[0061] [Figure 6] Figures 6A and 6B are schematic diagrams of the exemplary mechanical trigger mechanism of this system in a position where it does not communicate with / interface the original collision avoidance sensor (Figure 6A) and in a position where it communicates with / interfaces the sensor (Figure 6B).

[0062] [Figure 7A] Figure 7A is a schematic perspective view of another exemplary mechanical trigger mechanism of this system.

[0063] [Figure 7B] Figures 7B and 7C are enlarged schematic perspective views of the mechanical trigger mechanism of Figure 7A in the non-trigger position (Figure 7B) and the trigger position (Figure 7C). [Figure 7C] Figures 7B and 7C are enlarged schematic perspective views of the mechanical trigger mechanism of Figure 7A in the non-trigger position (Figure 7B) and the trigger position (Figure 7C).

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

[0065] [Figure 9] Figure 9 is a perspective view of the operational connection of this system to the C-arm and / or the C-arm's original collision avoidance mechanism.

[0066] [Figure 10] Figure 10 is a flowchart illustrating the safety outcomes associated with the activation of the operator detection sensor.

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

[0068] [Figure 12] Figure 12 is a flowchart illustrating the safety outcomes associated with an imminent collision or collision between the C-arm detector's radiation shield and the entity.

[0069] [Figure 13] Figure 13 is a flowchart illustrating safety outcomes associated with a physical or impending collision between the C-arm's X-ray source and the radiation shield.

[0070] [Figure 14] Figure 14 is a flowchart illustrating safety outcomes associated with a collision or imminent collision of an entity with a C-arm, or radiation shielding device, or a part thereof. [Modes for carrying out the invention]

[0071] For simplicity and clarity, please understand that the elements shown in the figures are not necessarily drawn to a consistent scale. Furthermore, where appropriate, reference numbers are repeated between figures to indicate similar elements.

[0072] It should be understood that the present invention is not limited to the specific methodologies, devices, items, or products described herein, as these may vary as those skilled in the art would recognize. It should also be understood that the terms used herein are used solely for the purpose of describing specific embodiments and are not intended to limit the scope of the invention. The following exemplary embodiments may be described in relation to exemplary proximity and / or collision detection systems for the sake of clarity and understanding. However, the present invention is not limited to the products and methods described herein and may be adapted to various applications without departing from the overall scope of the invention. All scope disclosed herein includes the endpoints. The use of the term “or” shall be construed to mean “and / or” unless the specific context indicates otherwise.

[0073] This supplemental collision detection and prevention system can be implemented as a multi-layer safety system, including multiple safety mechanisms that can operate simultaneously with interlayer parallel redundancy. The purpose of these safety mechanisms is to ensure patient safety and the smooth and safe operation of C-arms, etc., when used in conjunction with auxiliary devices such as radiation shields.

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

[0075] Referring to Figure 1 (prior art), angiography and fluoroscopy equipment (e.g., full-size fixed C-arms and movable C-arms) often have mechanisms to prevent collisions between the detector / image enhancer and / or collimator / X-ray source and the patient, table, or other objects. This X-ray equipment often employs proximity or contact sensors. When triggered, these sensors may activate collision prevention or avoidance means (hereafter referred to as the C-arm's "inherent collision safety means" or "inherent collision safety mechanism"). For example, collision prevention means may stop the movement of the C-arm and provide the operator with an audible and / or visual warning (e.g., alarm light) of such a collision or its imminent occurrence.

[0076] Some embodiments of additional or supplementary collision detection and prevention systems may provide additional safety and / or collision prevention. For example, additional collision detection may be used when the C-arm's original collision safety means are inaccessible, inactive, and / or not functioning properly. Such cases may occur when the C-arm's collision prevention sensors are obscured by auxiliary and / or add-on devices and / or other equipment or devices that may interfere with them. For example, additional collision detection may be used when an add-on system protrudes from the X-ray equipment or a part of it, increasing the area / equipment requiring collision monitoring and protection.

[0077] Figure 1 shows an example of a conventional C-arm 10, a typical element of X-ray equipment such as angiography and fluoroscopy equipment. This equipment often includes mechanisms to prevent collisions between the detector 12 (image enhancer) and / or collimator or X-ray source 14 and a patient, table, or other equipment / object (hereinafter referred to as "entity"). These collision prevention mechanisms typically employ proximity and / or contact sensors, which for clarity will be referred to as the intrinsic sensor 16 (Figures 1 and 7A), to activate a collision prevention or avoidance system (existing / intrinsic collision prevention means graphically illustrated in Figure 7A). For example, the intrinsic collision prevention means may stop the movement of the C-arm 10 and provide an audible and / or visual indication to the operator in response to a collision or imminent collision (closeness exceeding a predetermined threshold). If a collision or possible collision is detected at the height of the X-ray detector 12, the detector may be raised upward to prevent a collision with the entity.

[0078] Figure 2 shows a C-arm 10 with an exemplary auxiliary radiation shielding device 100, which includes an upper radiation shield 108a (synonymous with “detector radiation shield”) and a lower radiation shield 108b (synonymous with “source radiation shield”), which are mounted on shield support bases 103 that cover / mount the radiation source detector 12 and the radiation source 14, respectively. The radiation shields 108a and 108b may be used to protect medical staff or operators from radiation and / or scattered radiation emitted by the C-arm 10. Examples of radiation shields are discussed in U.S. Patent Nos. 2018 / 249972, 8,113,713, and 9,907,519. Such radiation shields and / or other auxiliary devices may interfere with (e.g., block) the intrinsic collision prevention mechanism, in particular its sensors, such as the intrinsic sensor 16 (Figure 1). The radiation shields 108a and 108b include a plurality of sequentially positioned radiation shield stacks or segments 107, which may be independently controllable to extend or retract to a selected length relative to a patient or an object such as an X-ray table.

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

[0080] System 110 may include various sensors. Non-limiting examples include proximity sensors, optical sensors (e.g., infrared, laser optics, etc.), ultrasonic sensors, contact sensors, acceleration sensors, electromagnetic sensors, current sensors, etc.

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

[0082] System 110 includes at least one supplementary sensor, which may be a proximity sensor 141 and / or a contact sensor 121, which may be located in one or more locations on the radiation shields 108a and 108b and / or on the shield support base 103. For example, the sensor may be located on or near the edges of the radiation shields 108a and 108b.

[0083] System 110 may further include one or more current sensors 151 operably connected to the C-arm motor, indicating the current in the motor, and thereby capable of detecting C-arm movement or an impending collision with an entity. Although not shown, various alternative locations for the current sensors 151, such as within the foot pedal 21 or the handle 19, are conceivable to detect the movement of those units of the C-arm if their activation could lead to a collision, and to avoid or minimize the collision.

[0084] The system 110 may further include, but is not limited to, one or more inertial motion sensors 131 configured to detect the motion of the C-arm, which is illustrated as being positioned on a support base 103, and which may be positioned at one or more locations on the radiation shields 108a and 108b and / or at one or more locations within the C-arm 10.

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

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

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

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

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

[0090] Figure 4 shows multiple supplemental sensors 121, 141 connected to one of the original sensors 16. As shown in the enlarged view of Figure 4, the supplemental sensors 121, 141 can be positioned facing all directions of potential collision to provide comprehensive detection of inappropriate proximity or contact with an entity such as a patient or X-ray table.

[0091] Figure 5 illustrates the intrinsic collision avoidance mechanism of the C-arm 10, in particular, a mechanical interface or trigger 120 configured to activate one of the intrinsic sensors 16. An exemplary configuration of the trigger 120, which is attached to or includes a trigger motor 124 (or other actuation mechanism), is shown. The trigger motor 124 is actuated by supplemental sensors 121, 141 in the event of hazardous / improper proximity or contact between the radiation shield 108a, 108b or support base 103 and an entity, to interface (typically mechanically) with one of the intrinsic sensors 16. The trigger 120 is exemplified by an L-shaped member having a distal end configured to contact the intrinsic sensor 16 when the trigger 120 is activated, for example, by a short portion of an L-shaped member. In this design, the trigger motor 124 is located at the proximal end of the L-shaped trigger 120 and is configured to receive signals from supplemental sensors 121 and 141 or from the command controller 112 of the radiation shielding device 100, thereby rotating the trigger to make contact with the original sensor 16. The trigger motor 124 may also be configured to move the trigger 120 away from the original sensor 16 when a collision situation or threat passes. It should be understood that, depending on the operating conditions, any of sensors 121, 131, 141, 151, and 161 may activate the trigger 120.

[0092] In the event of a potential collision between the radiation shields 108a, 108b and / or the support base 103 and an object, proximity 141 and / or contact sensors 121 detect the potential collision (preferably prior to its occurrence) and physically mimic proximity or contact with the detector 12 and / or X-ray source 14 of the C-arm 10 to activate the existing / intrinsic collision prevention mechanism, in particular sensor 16. In some implementations, a supplemental collision detection and prevention system 110 interfaces with the software or electronics of the C-arm, thereby triggering the intrinsic safety mechanism.

[0093] The supplementary sensors 121, 141, 131, 151, 161, for example, on the radiation shields 108a, 108b, or on the support base 103, or on the control panel 11, handle 19, or foot pedal 21, can activate the trigger motor 124, causing the trigger 120 to physically contact the original sensor 16. In addition, or alternatively, the trigger 120 can interface with the original sensor 16 operably by other mechanisms (electrically or wirelessly, etc.) and thereby activate it; or it can simulate an improper proximity, in particular a proximity closer than the threshold distance, and it may also take into account the speed of the supplementary sensor in its approach to the entity. Thus, the trigger 120 activates the original sensor 16 of at least one C-arm, thereby activating the original collision avoidance mechanism. According to several features, the supplemental sensors 121, 141, 131, 151, and 161 activate one or more of the original sensors 16 through movement to a nearby location (e.g., via trigger 120) to activate the original collision avoidance mechanism in one of the original sensors 16.

[0094] Figures 6A and 6B show another exemplary configuration of the trigger 120, which has an oval or oval trigger member 126 that can be rotated to interface with the original sensor 16. In other words, based on signals from supplemental sensors 121 and / or 141, the trigger 120 moves the trigger member 126 to contact the original sensor 16 or to mimic an improper proximity to it by moving close to the original sensor.

[0095] Figure 6A illustrates the safe operation of the C-arm 10 and shows the trigger 120 in a non-operational state where the trigger does not trigger the original sensor 16. Figure 6B illustrates the unsafe operation of the C-arm 10 (e.g., excessive proximity of the radiation shield 108 to an object and / or contact with it) and shows the trigger 120 in an operational state where the trigger interfaces with the original sensor 16.

[0096] Figures 7A–7C depict yet another exemplary configuration of the trigger 120, in which the trigger motor 124 rotates and moves the trigger 120 back and forth in substantially linear motion. In Figure 7A, the trigger 120 is rotated, thereby causing the trigger pin 128 to be translated downward and interface with (i.e., make contact with or simulate improper proximity to) the original sensor 16. Figures 7B and 7C show the trigger 120, which is operated so that the trigger pin retaining element 130 is translated back and forth (up and down in the figures), thereby causing the trigger pin 128 to be spaced away from a portion of the original sensor 16 (Figure 7B) and not activating the original sensor; or to be in contact with the original sensor 16 in order to activate the original sensor (Figure 7C). Figure 8 shows an exemplary arrangement of an inertial motion sensor 131 connected to the support base 103 of the radiation shielding device 100 and / or connected to one or both of the radiation shields 108a, 108b. The inertial motion sensor 131 is configured to detect improper or dangerous movement of the radiation shields 108a, 108b and / or the C-arm 10. For example, the inertial motion sensor 131 may be coupled to one or more locations on the support base 103 of the detector 12 on the C-arm or on the radiation shields 108a, 108b. The inertial motion sensor 131 may be particularly useful in that it can assist in detecting movement / rotation of the C-arm 10. If the C-arm 10 is moving, accelerating or decelerating, or changing course / direction, this information can be used in the algorithm of the command controller 112 of the radiation shielding device 100 to determine how quickly, if so, the original sensor 16 should be activated. The inertial sensor 131 (like all of the supplementary sensors 121, 131, 141, 151, and 161) can interface operably with the command controller 112 of the device 100, and in the event of improper and / or improper movement, the inertial sensor 131 sends feedback to the command controller 112 to activate the C-arm 10's original collision avoidance means (optionally, via the trigger 120).Alternatively, or in addition, the inertial sensor 131 (such as all of the supplementary sensors 121, 131, 141, 151, and 161) may, upon detecting inappropriate and / or improper movement, communicate directly with the C-arm 10's original collision avoidance mechanism and send feedback.

[0097] Figure 9 illustrates a contact sensor 121 and a capacitive / proximity sensor 141 electrically connected to the C-arm 10 via an interface (wire or cable 134 in this specification). Sensors 121 and 141 can communicate directly with the C-arm's inherent collision avoidance mechanism (i.e., without triggering trigger 120). Sensors 121 and 141 can communicate with the C-arm's collision avoidance mechanism via an electrical and / or software interface that transmits signals to activate the inherent collision avoidance mechanism.

[0098] Figure 10-14 shows a flowchart illustrating possible unsafe scenarios that may occur during X-ray use with the C-arm, and further illustrates exemplary safety outcomes / steps when utilizing this supplemental collision detection.

[0099] Figure 10 is a flowchart depicting a scenario in which shields 108a and 108b are fully deployed or in the process of being deployed, and the operator intends to move the C-arm or X-ray table. To move the table / C-arm, the operator typically operates the C-arm motion control panel 11, specifically the handle 19. By doing so, an operator detection sensor 161 (e.g., proximity or contact sensor) coupled to the handle 19 will detect the hand and then activate the collision avoidance action of the system 110. Optionally, a sensor for lower shield replenishment is activated, thereby stopping the movement or preventing the C-arm from moving. Optionally, a warning light is activated. The C-arm's original collision avoidance safety mechanism is activated, prompting the activation of the C-arm's warning sound. The C-arm 10 stops moving due to the activation of the C-arm's original collision avoidance safety mechanism. Operation may continue when the sensor does not detect an entity that is in contact with, near, or applying pressure to it.

[0100] Figure 11 is a flowchart illustrating a scenario in which the shield is partially or fully deployed and the operator moves the C-arm 10 or the C-arm base without fully retracting one or both shields 108a, 108b. An inertial motion sensor 131 coupled to one of the shields 108a, 108b of the radiation shielding device 100 or to the support base 103 detects the movement of the C-arm 10 when one or both shields 108a, 108b are in a partially or fully extended position. This scenario illustrates a situation in which the operator detection sensor 161 is disabled. The collision avoidance operation of the system 110 is activated. For example, data from the sensor 131 indicating that motion has occurred when the shield is deployed or partially deployed is transmitted to the command controller 112, which then (optionally, via the trigger 120) activates the C-arm 10's inherent collision avoidance means to stop the C-arm's movement. The command controller 112 may also transmit commands to retract the shields 108a and 108b. Optionally, one or more sensors on the lower shield may be activated to stop the movement of the C-arm. Optionally, warning lights may be activated. The C-arm's original collision avoidance safety mechanism may be activated, prompting the activation of the C-arm's warning sound. Operation may continue when the sensor does not detect an entity that is in contact with, near, or applying pressure to it.

[0101] Figure 12 is a flowchart illustrating a typical radiographic imaging procedure in which a C-arm, such as C-arm 10, and a shielding device, such as apparatus 100, are used. In such a typical case, during the radiographic procedure, the radiation shields 108a, 108b are deployed or at least partially deployed. The flowchart illustrates a situation in which sensors 131 and 161 are disabled. An entity (e.g., a patient or operator) touches or approaches the upper radiation shield 108a or a portion thereof (e.g., a segment of the upper shield 108a, such as segment 107 (Figure 2)). As a result, one or more supplemental sensors of the upper shield 108a (e.g., sensors 121 or 141) are activated, triggering the retraction of the upper shield 108a or a portion thereof (e.g., segment 107 associated with an imminent or actual collision). Optionally, the activation of the upper shield sensors includes the operation of a warning light (not shown). The C-arm's original collision avoidance safety mechanism can also be optionally activated by the trigger 120 and / or the command controller 112, thereby activating the C-arm's warning sound and the retraction of the C-arm 10's detector 12. The operation of the C-arm 10 may continue when the sensor does not detect an entity that is in contact with, close to, or applying pressure to the sensor.

[0102] Figure 13 is a flowchart illustrating a typical imaging procedure in which the lower radiation shield 108b is deployed or at least partially deployed, and an entity (e.g., a patient or operator) touches or approaches the lower radiation shield or a portion of it (e.g., a segment of the lower shield 108b, such as segment 107 in Figure 2). The flowchart illustrates a situation in which sensors 131 and 161 are disabled. One or more supplemental sensors of the lower shield 108b (e.g., sensors 121, 141) are activated to trigger the retraction of the lower shield or a portion of it (e.g., a segment associated with an imminent or actual collision). Optionally, activation of the lower shield sensors includes the operation of a warning light. The original C-arm collision prevention safety mechanism is optionally further activated by trigger 120 and / or command controller 112 to activate the C-arm warning sound. The operation of the C-arm 10 may continue when the sensor does not detect an entity that is in contact with, close to, or applying pressure to the sensor.

[0103] Figure 14 is a flowchart illustrating a scenario in which the radiation shields 108a and / or 108b are retracted and the operator moves the C-arm 10 or the C-arm platform, touching or approaching a supplemental sensor, i.e., a contact or proximity sensor. The lower and / or upper supplemental sensors are activated, i.e., depending on whether the sensors on the upper or lower shields 108a, 108b are activated. Optionally, a warning light is activated. The original C-arm collision avoidance safety mechanism is optionally activated by the trigger 120 and / or the command controller 112, prompting the activation of the C-arm's warning sound. The C-arm stops moving. Operation may continue if the sensor does not detect an entity that is in contact with, near, or applying pressure to it.

[0104] Therefore, as understood, when one of the supplemental sensors 121, 131, 141, 151, or 161 detects a possible collision or relevant operator activity, the interface may trigger the C-arm 10's intrinsic collision avoidance mechanism or procedure to stop its movement, to warn the operator, and / or to prevent a collision. The interface may be a command controller 112 or direct communication (via wire, e.g., wire 134, or wirelessly) between the supplemental sensor and the C-arm's intrinsic collision avoidance mechanism.

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

[0106] A supplemental sensor may be connected to an interface that activates / mediates collision avoidance action. The interface may further include a trigger mechanism (e.g., trigger 120) that, when activated, activates the collision avoidance safety measures of the X-ray instrument. The interface may be a mechanical support structure mounted on or near the X-ray instrument or an add-on thereto. For example, the interface / mechanical support may be mounted on or near the detector or collimator of the C-arm. Alternatively, or in addition, the interface may be a wire communicating with the collision avoidance safety mechanism or a part thereof (e.g., trigger 120). Alternatively, or in addition, the interface may be a command controller communicating with the collision avoidance safety mechanism (e.g., trigger 120).

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

[0108] The actuation (e.g., trigger) can either interface directly with the original sensor or position an element to activate the original sensor of the X-ray equipment. For example, a motor / actuator may actuation of an element detectable by the original sensor by applying pressure or through contact or proximity to the original sensor of the C-arm.

[0109] In addition, or alternatively, the interface may directly interact with the original collision avoidance mechanism (i.e., bypass the C-arm collision sensor 16). For example, an electrical trigger may employ an electrical connection to the C-arm 10 and / or a part thereof to activate the C-arm collision avoidance safety procedure. For example, activation may be by direct electrical signals to the X-ray equipment's control system and / or electrical system.

[0110] The interface may include one or more triggers installed in one or more locations around and / or on the X-ray equipment. For example, multiple triggers may be used to provide redundant protection (e.g., if one of the sensors on the X-ray equipment connected to a mechanical trigger malfunctions, a second trigger may trigger collision protection regardless).

[0111] The interface may include wireless connectivity to the X-ray's inherent safety mechanisms. For example, a remote sensor may be positioned near and / or directed toward a vulnerable device that is not directly attached to the patient and / or a moving component (e.g., a C-arm, detector, collimator, etc.). Optionally, when a supplemental sensor detects that a moving component is approaching a patient, obstacle, and / or a vulnerable object, the supplemental sensor transmits a wireless signal to the interface to activate the X-ray system's collision avoidance system. For example, the remote sensor may include proximity sensors, and / or contact and / or pressure sensors, and / or strain sensors, and / or thermal sensors, etc., to detect proximity and / or contact of the X-ray device with a patient, obstacle, and / or a vulnerable object. Alternatively, or in addition, the remote supplemental sensor may include visual or optical means (e.g., a video camera, and / or a laser, and / or radar, etc.) directed toward a sensitive location to detect when the X-ray equipment enters and / or approaches a sensitive area. Alternatively, or in addition, remote sensors may be connected to the interface by wiring.

[0112] The supplemental collision detection and prevention system 110 may deactivate the C-arm's intrinsic collision safety means when there is an indication that a potential or actual collision has been aborted and it is safe to operate the C-arm and / or its components and / or add-on devices such as radiation shields. For example, the supplemental system may deactivate the C-arm's intrinsic collision safety mechanism when the patient, platform, or other object is no longer detected by the supplemental system's sensors. Deactivating and / or deactivating the C-arm's intrinsic collision safety means may include retracting a mechanical trigger so that it no longer interfaces with (is no longer in contact with, no longer applies pressure to, or is no longer positioned in close proximity to) the C-arm's intrinsic collision prevention safety sensor. Alternatively, or in addition, deactivating and / or deactivating the C-arm's intrinsic collision safety mechanism may include transmitting an electrical signal directly to the C-arm and / or its control and / or electrical system.

[0113] In addition, or alternatively, the supplemental collision detection and prevention system 110 may be a standalone system, or it may be integrated into the C-arm 10, or it may be part of a radiation shielding device 100, or it may be standalone or part of a different system integrated with the C-arm. The supplemental collision detection and prevention system 110 may function as an accessory or as an auxiliary system to the C-arm, and may be a standalone system or it may be partially or fully integrated with the C-arm system or radiation shielding device.

[0114] Supplemental sensors may replicate the job of the original sensors, and / or they may be positioned to target areas other than the original sensors, for example, spaces not targeted by the original sensors, and / or supplemental sensors may use different technologies than the original sensors. Optionally, supplemental sensors may be used to back up existing or original sensors. Optionally, additional / supplemental sensors may back up existing or original sensors if the X-ray equipment's collision safety mechanism is inaccessible, obscured, inactive, and / or not functioning properly.

[0115] Various positions of additional collision sensors, actuators, and / or mechanical triggers can be implemented on the X-ray device. The positions of supplemental collision sensors, actuators, and / or mechanical triggers on the X-ray device, optionally or in addition, determine the direction of collision avoidance. For example, when the additional / supplementary sensors are located on the right side of the collision avoidance mechanism / X-ray device, the actuators may activate the original collision sensor on the right side, causing collision avoidance, for example, of collisions coming from the right.

[0116] The following terms, namely "includes," "including," "has," "having," "comprises," and "comprising," and each of their linguistic terms, as used herein, mean "including, but not limited to," and shall be interpreted as specifying the components, features, properties, parameters, integers, or steps described, without excluding the addition of one or more additional components, features, properties, parameters, integers, steps, or groups thereof.

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

[0118] As used herein, the term "consisting essentially of" means that the scope of the claim is limited to the specified elements and the basic and novel properties of the claimed device and material, without significantly affecting them.

[0119] As used herein, the term “method” means steps, procedures, styles, means, or / and techniques for performing a given task, including, but not limited to, steps, procedures, styles, means, or / and techniques that are either publicly known to a person skilled in the art of the disclosed invention or readily developed by a person skilled in the art from known steps, procedures, styles, means, or / and techniques.

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

[0121] Furthermore, to describe or explain a numerical range, the phrase "within the range of approximately the first number to approximately the second number" is considered equivalent to the phrase "within the range of approximately the first number to approximately the second number," meaning the same thing; therefore, the two equivalent phrases can be used synonymously.

[0122] In some embodiments, the term "approximately" refers to ±30% of the stated value. In further embodiments, the term refers to ±20% of the stated value. In even further embodiments, the term refers to ±10% of the stated value.

[0123] For clarity, it should be fully understood that certain aspects, characteristics, and features of the Invention, which are illustrated and presented in the context or form of multiple distinct embodiments, may also be illustrated and presented in the context or form of a single embodiment, in any preferred combination or secondary combination. Conversely, various aspects, characteristics, and features of the Invention, which are illustrated and presented in the context or form of a single embodiment, in a combination or secondary combination, may also be illustrated and presented in the context or form of multiple distinct embodiments.

[0124] Although the present invention has been described in conjunction with its specific embodiments, it is clear that many alternatives, modifications, and variations will be obvious to those skilled in the art. Therefore, this is intended to encompass all such alternatives, modifications, and variations that fall within the spirit and broad scope of the appended claims.

[0125] All publications, patents, and patent applications described herein are incorporated herein by reference as a whole to the same extent as each individual publication, patent, or patent application is specifically and individually indicated to be incorporated herein by reference. In addition, any citation or identification of any reference within this application shall not be construed as an acknowledgment that such reference is available as prior art to the present invention. Section headings, to the extent that they are used, should not necessarily be construed as restrictive.

Claims

1. A radiation shielding system, wherein the radiation shielding system is (a) At least one radiation shield configured to be positioned around an X-ray source or X-ray detector of a medical imaging device, wherein the medical imaging device includes an intrinsic collision avoidance detection mechanism including at least one intrinsic sensor, (b) A supplemental collision detection and prevention system configured to avoid collisions of an entity with the X-ray source and / or X-ray detector of the medical imaging device, wherein the supplemental collision detection and prevention system includes a plurality of supplemental sensors, the plurality of supplemental sensors including proximity sensors and / or contact sensors, the proximity sensors and / or contact sensors located on the radiation shielding shield and configured to detect proximity and / or contact between the entity and the moving parts of the medical imaging device to facilitate the prevention of collisions with the entity or protection from collisions with the entity, (c) A command controller, the command controller is configured to receive communications from the supplemental sensors and to mechanically and / or electrically activate collision avoidance operations of the medical imaging equipment to avoid or mitigate collisions. A mechanical trigger, wherein the mechanical trigger is configured to activate at least one of the original sensors in response to the mechanical and / or electrical operation, thereby causing the original collision avoidance mechanism of the medical imaging device to avoid or mitigate a collision. A radiation shielding system equipped with the following features.

2. The system according to claim 1, wherein the plurality of supplementary sensors further include one or more of inertial motion sensors and / or operator detection sensors and / or current sensors.

3. The system according to claim 1 or 2, wherein the electrical collision prevention operation includes an electrical trigger that activates the original collision prevention mechanism.

4. The system according to claim 1 or 2, wherein the radiation shield includes a radiation shield support base, and further comprises one or more of the supplemental sensors mounted on the radiation shield support base.

5. The system according to claim 1 or 2, wherein at least one of the supplemental sensors is a sensor selected from the group consisting of a pressure sensor, a strain sensor, an infrared sensor, an ultrasonic sensor, an ultrasonic sound sensor, a laser sensor, a radio frequency sensor, an electro-optic sensor, and a thermal sensor, or any combination thereof.

6. The system according to claim 2, wherein the current sensor is configured to measure the current consumption in one or more units of the medical imaging device and to detect any operation that could lead to a collision with the entity.

7. The system according to claim 2, wherein the operator detection sensor is configured to detect activity by an operator that could lead to a collision with the entity.

8. The system according to claim 2, wherein the operator detection sensor is associated with a foot pedal or motion control panel of the medical imaging device.

9. The system according to claim 2, wherein the operator detection sensor is selected from the group consisting of proximity sensors, contact sensors, infrared sensors, optical sensors, or combinations thereof.

10. The system according to claim 2, wherein the inertial motion sensor is a gyroscope sensor.

11. The system according to claim 2, wherein the inertial motion sensor is located on the radiation shielding shield and / or the X-ray source and / or the X-ray detector.

12. The system according to claim 1 or 2, wherein the entity is a patient, a patient chair, an operator, or a C-arm device.

13. (a) A method for detecting and / or avoiding a collision between a moving part of a medical imaging device and (b) an object, wherein the medical imaging device includes an inherent collision prevention mechanism, and the method is The invention involves installing a radiation shield on at least a portion of the medical imaging device, wherein the original collision prevention mechanism includes an original collision prevention sensor, and the radiation shield limits the functionality of the original collision prevention sensor of the original collision prevention mechanism. Placing multiple supplementary sensors on the aforementioned radiation shielding shield, The aforementioned multiple supplementary sensors detect proximity and / or contact between the entity and the movable part of the medical imaging device, The detection of the proximity and / or contact between the entity and the movable part is communicated to the command controller of the radiation shielding shield, To avoid or mitigate collisions between the object and the movable part by mechanically and / or electrically activating the collision prevention mechanism of the medical imaging device. Methods that include...

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

15. The method according to claim 13, further comprising transmitting a signal to an electrical trigger that activates the original collision avoidance mechanism.

16. The method according to claim 13, wherein activating the collision prevention action includes retracting the radiation shield.

17. The method according to claim 13, further comprising stopping or slowing down the movable part of the medical imaging device.

Images