Robotic X-ray Device Collision Avoidance via 3D Spatial Modeling
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Solution Overview
Problem
Existing X-ray devices with robots in medical settings face challenges in minimizing the risk of collisions with living beings, such as patients or medical staff, due to the complexity of robotic movements and the need for advanced safety measures to prevent accidental injuries.
Innovation Solution
An X-ray device equipped with a robot having multiple axes of movement, a control device, and a carrying device with an X-ray source and receiver, utilizes a 3D model to predict potential collisions by integrating sensors for real-time updates of the environment, enabling the robot to initiate measures such as emergency braking or trajectory changes to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robot with multiple axes is used to move the X-ray carrying device, then the productivity and flexibility of the X-ray device are improved, but the risk of collision with living beings increases
Solution Approach 1:
The system performs preliminary actions by creating a 3D model of the robot's spatial extent and using sensors to detect the environment before movement occurs. The control device calculates potential collisions in advance and initiates avoidance measures before the actual collision risk materializes, allowing the robot to maintain high productivity while preventing harmful collisions.
Solution Approach 2:
The system implements continuous feedback by using sensors to detect the environment and update the 3D model in real-time during robot operation. The control device receives feedback about the robot's position and surrounding objects, continuously recalculates collision risks, and adjusts the movement trajectory dynamically, enabling safe operation at high speeds.
2Reliability
If safety monitoring is added to detect potential collisions, then the collision risk is reduced, but the device complexity increases
Solution Approach 1:
The control device performs multiple functions: it controls the robot's movement, creates and updates the 3D model of the robot's spatial extent, detects potential collisions, and initiates avoidance measures. By making the control device universal and multi-functional, the system achieves high safety without adding separate dedicated safety systems, thus avoiding excessive complexity.
Solution Approach 2:
The system merges the safety monitoring function with the existing control device and 3D modeling capabilities. Rather than adding separate safety sensors and control systems, the patent combines collision detection, environmental modeling, and movement control into an integrated system, reducing overall complexity while maintaining high reliability.
3Measurement precision
If real-time environment detection is implemented, then the accuracy of collision avoidance is improved, but the use of energy increases
Solution Approach 1:
The system applies partial action by using sensors to detect only the relevant environment needed for collision avoidance rather than comprehensively monitoring all aspects. The 3D model captures only the spatial extent and position of objects that could pose collision risks, allowing accurate collision detection with reduced sensor activity and lower energy consumption compared to full environmental mapping.
Data Source
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AI summary
The invention relates to an X-ray device (2) for a medical workplace (1, 21). The X-ray device (2) comprises a robot (R) with a plurality of axes (9), a control device (10) for controlling the axes (9) for movement of the robot (R), and a fastening device (8), and a support device (11) disposed at the fastening device (8), said support device comprising an X-ray radiation source (12) and an X-ray radiation receiver (14). A 3D model (15, 15a) of the robot (R) and the support device (11) provided is stored in the control device (10), said 3D model modeling the spatial extension of the robot (R) and the support device (11) during movement of the robot (R). The 3D model (15,15a) also models the spatial extension of at least one other device (3, 4, R2) of the medical workplace (1, 21) and/or of a living organism (5) located within the medical workplace (1, 21). The control device (10) recognizes a potential collision of the X-ray device (2) with the other device (3, 4, R2) and/or the living organism (5) based on the 3D model (15,15a) and prompts the robot (R) to take action to avoid the potential collision.