Mobile Medical Device Motion Control via Virtual Room Model
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Solution Overview
Problem
Current methods for controlling the movement of mobile medical devices, such as C-arm x-ray devices, lack intuitive and collision-free navigation capabilities, especially in dynamically changing environments, which can lead to operational inefficiencies and safety concerns.
Innovation Solution
A method and device for motion control using a man-machine interface that generates a room model based on real-time sensor data, allowing users to visualize and select collision-free paths for the medical device, utilizing a display device like a touch screen or augmented reality glasses, and integrating with a central processing unit for automated or semi-automated movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If remote control methods are used for movement control, then basic movement functionality is achieved, but the operation is not intuitive and collision-free navigation is not ensured
Solution Approach 1:
The system creates a virtual copy (room model) of the physical environment based on sensor data, allowing the operator to visualize and plan movement paths in a digital representation before executing them in the real world. This copying approach enables intuitive drag-and-drop path selection while ensuring collision-free movement through virtual path validation.
Solution Approach 2:
The room model serves as an intermediary between the operator and the actual mobile medical device. Instead of directly controlling the device with complex remote controls, the operator interacts with the simplified room model to define destination positions and movement paths, which are then automatically translated into device control commands.
2Productivity
If automated movement control is implemented, then productivity is improved, but the system complexity increases
Solution Approach 1:
The system automatically generates the room model from sensor data, computes optimal movement paths between positions, and executes the movement without requiring complex manual programming or control. The mobile medical device serves itself by autonomously navigating along the displayed path once the destination is selected, reducing the need for complex operator intervention.
Solution Approach 2:
The control system integrates multiple functions into a single unified interface: environment mapping, path planning, movement control, and collision detection all occur within the same room model visualization framework. This multi-functionality reduces overall system complexity compared to having separate systems for each function.
3Measurement precision
If real-time sensor data is processed, then accurate room modeling is achieved, but the data processing requirements and system complexity increase
Solution Approach 1:
The system performs preliminary room mapping and model generation before movement operations begin. By acquiring and processing sensor data to create the complete room model in advance, the system avoids the need for complex real-time processing during movement execution, simplifying the control architecture while maintaining accuracy.
Data Source
AI summary
Collision-free movement of a mobile medical device, such as a mobile medical imaging device, in a room is controlled via a man-machine interface. A model of the room environment is created and displayed, together an actual position of the medical device. The room model and the actual position are based at least in part on real-time sensor data. A destination position for the medical device is entered, the entered destination position is displayed and a collision-free movement path is generated from the actual position to the destination position. The movement path is displayed in the room model. A movement command relating to the displayed movement path is entered and the medical device is driven along the entered movement path from the actual position to the destination position.