C-Arm X-Ray Path Planning for Collision-Free Articulated Movement
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Solution Overview
Problem
C-arm X-ray devices pose a risk to people and objects due to their complex and automated movements, which can result in hazards as the paths followed by their components during movement are not clearly known, leading to potential collisions with personnel and equipment in the environment.
Innovation Solution
A method for operating a C-arm X-ray device that involves specifying a starting and end position, automatically ascertaining multiple possible movement paths, and allowing user selection of a collision-free path, using sensors and a user interface to depict and choose between paths, with the option for automatic learning and continuous path updates to adapt to changing environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated movement of the C-arm X-ray device is implemented, then productivity and efficiency are improved, but safety and reliability deteriorate due to unknown movement paths causing hazards to personnel and equipment
Solution Approach 1:
The system calculates and stores multiple possible movement paths in advance before actual movement occurs. This preliminary computation of trajectories allows the control system to select safe paths that avoid personnel and equipment, thereby maintaining both automated efficiency and safety. The paths are pre-computed based on the current environment and constraints.
Solution Approach 2:
The system dynamically adapts movement paths based on real-time environmental conditions, detected objects, and personnel positions. Rather than following fixed predetermined paths, the system can recalculate and select alternative paths when obstacles are detected, enabling automated movement while maintaining safety through continuous environmental awareness and path re-planning.
2Reliability
If the system calculates multiple possible paths automatically, then safety is improved by enabling path selection, but device complexity increases due to additional computational requirements
Solution Approach 1:
The control system automatically performs path calculation and selection without requiring external intervention. The system serves itself by computing multiple trajectories, evaluating them against safety constraints, and autonomously selecting the optimal path. This self-service capability reduces the need for complex external control interfaces while maintaining high safety standards.
Solution Approach 2:
The system creates virtual models or representations of multiple possible movement paths in the computational domain before executing actual movement. By working with these digital path models, the system can evaluate safety and optimize trajectories without physical trial-and-error, reducing the complexity of physical control mechanisms while enhancing safety through virtual simulation and selection.
3Adaptability or versatility
If the C-arm is designed with large dimensions for comprehensive imaging coverage, then functionality is improved, but weight increases making automated movement riskier
Solution Approach 1:
The system employs counterbalancing mechanisms to offset the weight of the large-dimensioned C-arm components. By introducing counterweights that balance the gravitational force on the heavy C-arm and articulated arm, the system enables safer automated movement while maintaining the large dimensions necessary for comprehensive imaging coverage. This reduces the net load on drive mechanisms and minimizes movement risks.
Data Source
AI summary
A method for operating the X-ray device, which includes a detector, a radiation source, or a C-arm including the detector and the radiation source, and an articulated arm and a base. Initially, a starting position of the X-ray device is specified with respect to the detector, the radiation source, or the C-arm, and the articulated arm, and an end position of the X-ray device is specified at least with respect to the detector, the radiation source, or the C-arm. A plurality of paths that may be followed by the articulated arm and the detector, the radiation source, or the C-arm on movement from the starting position into the end position are automatically determined. One path of the plurality of paths for the movement of the X-ray device is selected, and the X-ray device is moved into the end position.