X-Ray Head Motion Control Using Guard-Range Obstacle Sensing
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Solution Overview
Problem
Existing X-ray systems face challenges with X-ray tube heads and detectors colliding with patients or objects, leading to potential damage and inefficiencies in re-starting movements after collision detection.
Innovation Solution
A medical device movement control apparatus with distance sensors and a controller that autonomously navigates X-ray tube heads or detectors around obstacles while maintaining a safe distance, using threshold-based distance data to optimize movement paths and avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If collision detection systems stop the X-ray tube head before collision, then patient safety is improved, but movement time increases due to re-start delays
Solution Approach 1:
The system performs preliminary collision risk assessment by evaluating multiple potential collision scenarios and pre-calculating safe alternative routes before movement begins. The controller assesses collision risk in advance and prepares contingency paths, allowing the X-ray tube head to resume movement quickly after stopping without requiring complex real-time decision-making.
Solution Approach 2:
The system dynamically adjusts movement parameters including speed, acceleration, and route selection based on real-time collision risk assessment. The controller continuously monitors the environment and adapts the movement profile, allowing faster movement when safe and automatic deceleration when risk is detected, optimizing both safety and efficiency.
2Productivity
If the X-ray tube head moves quickly to required locations, then productivity is improved, but collision risk increases
Solution Approach 1:
The system pre-assesses collision risk for the entire planned trajectory before movement begins, identifying potential hazard zones in advance. This allows the controller to plan safe high-speed movement through cleared paths while maintaining vigilance for unexpected obstacles.
Solution Approach 2:
The system continuously monitors the environment during movement and provides real-time feedback to the controller. When obstacles are detected or risk levels change, the system immediately adjusts speed and trajectory, enabling fast movement when safe and automatic protection when risk arises.
3Reliability
If collision detection systems restrict movement after collision, then damage prevention is improved, but operational flexibility deteriorates
Solution Approach 1:
The system dynamically adjusts operational restrictions based on the specific collision event and current environment. Rather than applying fixed severe restrictions, the controller assesses the situation and imposes only necessary limitations, allowing maximum operational flexibility while maintaining safety. The system can permit continued operation in safe zones while restricting movement only toward hazardous areas.
4Measurement precision
If distance sensors monitor multiple angular directions, then collision detection accuracy is improved, but device complexity increases
Solution Approach 1:
The system segments the monitoring task by assigning specific angular directions to specific sensors, with each sensor responsible for a defined sector. The controller processes data from individual sensors according to their designated fields of view, reducing overall system complexity while maintaining comprehensive coverage through coordinated segmentation.
Solution Approach 2:
The controller serves multiple functions: it processes distance data from various sensors, assesses collision risk in different directions, calculates alternative routes, and controls movement. This multi-functionality consolidates what would otherwise require separate dedicated systems, reducing overall device complexity while maintaining high measurement precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Ensures safe and efficient movement of X-ray devices by automatically navigating around objects, minimizing collision risks and optimizing routes to required locations.
Implementation Method 1
The at least one distance sensor is configured to acquire distance data from the medical device for a plurality of angular directions about the medical device
Data Source
Figure 1
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Figure 5
AI summary
The present invention relates to a medical device movement control apparatus (10), comprising: - an input unit (20); - at least one distance sensor (30); and - a controller (40); wherein the input unit is configured to receive a required location of the medical device; wherein the input unit is configured to provide the required location of the medical device to the controller; wherein the at least one distance sensor is configured to be mounted to a medical device (50) or is configured to be integrated with the medical device; wherein the at least one distance sensor is configured to acquire distance data from the medical device for a plurality of angular directions about the medical device; wherein the at least one distance sensor is configured to provide the distance data for the plurality of angular directions about the medical device to the controller; and wherein the controller is configured to control a movement system (60) of the medical device to move the medical device from an initial location of the medical device to the required location along a route between the initial location and the required location that maintains a distance of at least a guard range distance between the medical device and one or more of objects comprising utilization of distance data for a subset of the plurality of angular directions acquired at a plurality of locations along the route.