DE102012213202A1 - Device for tracking motor-driven patient table, has units for detecting and evaluating track sign for determining lane of path to be traveled by patient table, and unit for position determination of patient table - Google Patents
Device for tracking motor-driven patient table, has units for detecting and evaluating track sign for determining lane of path to be traveled by patient table, and unit for position determination of patient table Download PDFInfo
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- DE102012213202A1 DE102012213202A1 DE201210213202 DE102012213202A DE102012213202A1 DE 102012213202 A1 DE102012213202 A1 DE 102012213202A1 DE 201210213202 DE201210213202 DE 201210213202 DE 102012213202 A DE102012213202 A DE 102012213202A DE 102012213202 A1 DE102012213202 A1 DE 102012213202A1
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- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 239000003550 marker Substances 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims 1
- 238000011161 development Methods 0.000 description 9
- 230000018109 developmental process Effects 0.000 description 9
- 238000002560 therapeutic procedure Methods 0.000 description 7
- 238000002595 magnetic resonance imaging Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000001959 radiotherapy Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
Description
Die Erfindung betrifft eine Einrichtung zur Führung und zur Positionierung eines Patiententisches an einem bildgebenden bzw. Therapiesystem sowie ein dazugehöriges Verfahren. The invention relates to a device for guiding and positioning a patient table on an imaging or therapy system and an associated method.
Ein ankoppelbarer Patiententisch kann für den Transport eines Patienten von einem Behandlungsraum zu einem Magnetresonanz-Gerät (MRT) (für eine neurologische Operation, für eine kardiovaskuläre Intervention bzw. eine Strahlentherapieplanung) benutzt werden. Jedoch gibt es in Krankenhäusern oder Arztpraxen nicht immer einen direkt an den Behandlungsraum angeschlossenen Raum, in dem ein MRT-Gerät steht. Das bedeutet, dass der Patiententisch von einem Raum zum anderen transportiert werden muss und dabei in einem Raum entkoppelt und im anderen Raum an das MRT-Gerät angeschlossen bzw. angekoppelt werden muss. Auf Grund von Platzproblemen kann der Patiententisch nicht direkt an die MR-Röhre oder das Therapiesystem angekoppelt werden. Aufgrund der mechanischen Anforderungen an einem Patiententisch und des Gewichts eines Patienten, kann der Patiententisch sehr schwer sein und leicht entkoppelt bzw. nicht korrekt angekoppelt werden, das zu einer Beschädigung des Ankopplungssystems führen kann, wodurch möglicherweise keine Untersuchung stattfinden kann. An attachable patient table may be used to transport a patient from a treatment room to a magnetic resonance imaging (MRI) device (for neurological surgery, for cardiovascular intervention, or radiotherapy planning). However, in hospitals or medical practices, there is not always a room directly connected to the treatment room in which an MRI device is located. This means that the patient table has to be transported from one room to the other while being decoupled in one room and connected to the MRI unit in the other room. Due to space problems, the patient table can not be coupled directly to the MR tube or the therapy system. Due to the mechanical requirements of a patient table and the weight of a patient, the patient table can be very heavy and easily decoupled or improperly coupled, which can damage the docking system, possibly preventing examination.
Daher wird ein Unterstützungssystem benötigt, das den Patiententisch an das Ankopplungssystem des MR-Systems bzw. Therapiesystems führt und ankoppelt, um Schäden am Ankopplungssystem zu vermeiden. Therefore, a support system is needed, which leads the patient table to the coupling system of the MR system or therapy system and couples in order to avoid damage to the coupling system.
In
Die der Erfindung zugrundeliegende Aufgabe besteht darin, das obengenannte Problem zu überwinden. The object underlying the invention is to overcome the above-mentioned problem.
Die Aufgabe wird mit der Einrichtung bzw. mit dem Verfahren gemäß den unabhängigen Patentansprüchen gelöst. Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der abhängigen Patenansprüche oder lassen sich aus der nachfolgenden Beschreibung sowie den Ausführungsbeispielen entnehmen. The object is achieved with the device or with the method according to the independent patent claims. Advantageous embodiments of the invention are the subject of the dependent patent claims or can be taken from the following description and the exemplary embodiments.
Gegenstand der Erfindung ist, dass ein Patiententisch an ein MR-Gerät bzw. ein Behandlungs- bzw. Therapiegerät geführt und automatisch angekoppelt werden kann. The object of the invention is that a patient table can be guided to an MR device or a treatment or therapy device and automatically coupled.
Ein Aspekt der Erfindung ist eine Einrichtung zur Spurführung eines motorgetriebenen Patiententisches, mit Mitteln zur Erfassung und Auswertung zumindest einer Spurmarkierung bzw. Führungslinie zur Bestimmung der Fahrspur eines vom Patiententisch zurückzulegenden Weges, und Mittel zur Positionsbestimmung des Patiententisches in Bezug auf erkannte Spurmarkierungen und Mittel zum Ableiten von Steuersignalen für die Spurführung des Patiententisches, wobei die ausgewerteten Spurmarkierungen für die Spurführung des Patiententisches herangezogen werden können. Dabei können die Mittel zur Erfassung durch entsprechende Sensoren ausgebildet und die Mittel zur Auswertung bzw. zum Ableiten von Steuersignalen durch einen Mikroprozessor realisiert sein. One aspect of the invention is a device for tracking a motor-driven patient table, comprising means for detecting and evaluating at least one lane marker for determining the lane of a path to be traveled from the patient table, and means for determining the position of the patient table with respect to recognized lane markers and means for deriving of control signals for the tracking of the patient table, wherein the evaluated lane markers can be used for the tracking of the patient table. In this case, the means for detection can be formed by corresponding sensors and the means for evaluating or for deriving control signals can be realized by a microprocessor.
Eine vorteilhafte Weiterbildung der Erfindung sieht vor, dass zur Spurführung eines motorgetriebenen Patiententisches die Mittel zur Erfassung und Auswertung von Spurmarkierungen farb-sensitiv ausgebildet sind, das heißt, unterschiedliche Farben unterscheiden können. An advantageous development of the invention provides that for tracking a motor-driven patient table, the means for detecting and evaluating lane markers are designed to be color-sensitive, that is, different colors can distinguish.
Eine vorteilhafte Weiterbildung der Erfindung sieht vor, dass bei einer Positionsbestimmung des Patiententisches, insbesondere bei Erreichen einer Zielposition, Mittel zum Stoppen der automatischen Spurführung, z.B. Bremsen und deren Steuerung, vorgesehen sind. An advantageous development of the invention provides that when determining the position of the patient table, in particular when reaching a target position, means for stopping the automatic tracking, e.g. Brakes and their control, are provided.
Eine vorteilhafte Weiterbildung der Erfindung sieht vor, dass bei Nicht-Auffinden einer solchen Spurmarkierung (S) oder bei einer Positionsbestimmung des Patiententisches, insbesondere bei Erreichen einer Zielposition, zumindest eine Ausgabeeinrichtung, z.B. ein Kontrollpanel (Control Panel) mit Display bzw. ein Transducer oder andere haptische und/oder akustische Mittel, vorgesehen ist, an der optisch und/oder haptisch und/oder akustisch signalisierbar ist, dass keine automatische Spurführung des Patiententisches erfolgt oder die automatische Spurführung des Patiententisches gestoppt ist. An advantageous development of the invention provides that when no such track marking (S) or in a position determination of the patient table, in particular when reaching a target position, at least one output device, e.g. a control panel with a display or a transducer or other haptic and / or acoustic means is provided, is visually and / or haptically and / or acoustically signaled that no automatic tracking of the patient table is done or the automatic tracking of the Patient table is stopped.
Eine vorteilhafte Weiterbildung der Erfindung sieht vor, dass Mittel zum autarken Antrieb, z.B. durch einen Akkubetriebenen Antrieb, des Patiententisches vorgesehen sind. An advantageous development of the invention provides that means for self-sufficient drive, for example by a battery-powered drive, the patient table are provided.
Eine vorteilhafte Weiterbildung der Erfindung sieht vor, dass Mittel zum automatischen Ankoppeln und/oder Entkoppeln des Patiententisches an eine weitere Einrichtung, z.B. Therapiesystem und/oder von derselben vorgesehen sind. An advantageous development of the invention provides that means for automatically coupling and / or decoupling the patient table to a further device, e.g. Therapy system and / or are provided by the same.
Ein weiterer Aspekt der Erfindung ist ein Verfahren zur Spurführung eines motorgetriebenen Patiententisches, bei dem die Fahrspur eines vom Patiententisch zurückzulegenden Weges durch zumindest eine Spurmarkierung (S) erfasst und ausgewertet wird, und bei dem aus der Position des Patiententisches in Bezug auf erkannte Spurmarkierungen Steuersignale für die Spurführung des Patiententisches abgeleitet werden, wobei die ausgewerteten Spurmarkierungen für die Spurführung Patiententisches herangezogen werden. A further aspect of the invention is a method for tracking a motor-driven patient table, in which the lane of a path to be covered by the patient table is detected and evaluated by at least one lane marker (S), and in which from the position of the patient table with respect to recognized lane markings control signals for the tracking of the patient table are derived, the evaluated lane markers are used for tracking patient table.
Eine vorteilhafte Weiterbildung der Erfindung sieht vor, dass bei Nicht-Auffinden einer solchen Spurmarkierung an zumindest einer Ausgabeeinrichtung am Patiententisch optisch und/oder haptisch und/oder akustisch signalisiert wird, dass keine automatische Spurführung des Patiententisches erfolgt. An advantageous development of the invention provides that when not finding such a lane marking on at least one output device on the patient table optically and / or haptically and / or acoustically signaled that no automatic tracking of the patient table takes place.
Eine vorteilhafte Weiterbildung der Erfindung sieht vor, dass bei einer Positionsbestimmung des Patiententisches, insbesondere bei Erreichen einer Zielposition, Steuersignale zum Stoppen der automatischen Spurführung ausgegeben werden. An advantageous development of the invention provides that in a position determination of the patient table, especially when reaching a target position, control signals for stopping the automatic tracking are issued.
Eine vorteilhafte Weiterbildung der Erfindung sieht vor, dass bei einer Positionsbestimmung des Patiententisches, insbesondere bei Erreichen einer Zielposition, an zumindest einer Ausgabeeinrichtung am Patiententisch optisch und/oder haptisch und/oder akustisch signalisiert wird, dass die automatische Spurführung des Patiententisches gestoppt wird. An advantageous development of the invention provides that when a position determination of the patient table, in particular when reaching a target position, at least one output device on the patient table optically and / or haptically and / or acoustically signaled that the automatic tracking of the patient table is stopped.
Die Erfindung weist folgende Vorteile auf:
- – Vermeidung von Schäden am Ankopplungssystem durch verbesserte Führung und Ankopplung.
- – Unterstützung des Personals beim Transport eines Patienten mit deutlich weniger Kraftaufwand. Die verbesserte Ankopplung des Patiententisches führt zur Zeitersparnis.
- – Der Patiententisch kann in Arztpraxen bzw. Krankenhäusern verwendet werden, bei denen der Therapieraum nicht direkt an den Raum, in dem das MRT-Gerät steht, liegt.
- - Prevention of damage to the coupling system through improved guidance and coupling.
- - Assistance to the staff when transporting a patient with significantly less effort. The improved coupling of the patient table saves time.
- - The patient table can be used in medical practices or hospitals where the therapy room is not directly adjacent to the room where the MRI device is located.
Weitere Vorteile, Einzelheiten und Weiterbildungen der Erfindung ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbeispielen in Verbindung mit den Zeichnungen. In der Zeichnung zeigen: Further advantages, details and developments of the invention will become apparent from the following description of embodiments in conjunction with the drawings. In the drawing show:
Gemäß
- – Ein Kontrollpanel
1 (siehe3 ) weist ein Display bzw. eine Anzeige mit Buttons (Knöpfen)1A ,1B auf, welche den Ort des Patiententischs TT (z.B. im Behandlungsraum oder vor dem Ankopplungssystem des MR-Geräts) an. Aufgrund von möglichen Sicherheitsbestimmungen wird das Personal den Patiententisch begleiten. Jedoch wird das Personal einen deutlich geringeren Kraftaufwand betreiben müssen, um den Patiententisch von einem Ort zum anderen zu bewegen. Für den Fall, dass Hindernisse oder Fehlleitungen vom Patiententisch entdeckt werden, zeigt das Display einen Alternativweg (siehe z.B. „Follow Path“ und „Alternative Path“ in3 ) für das Personal an. - – Das Kontrollsystem mit
Kontrollpanel 1 und einem Mikroprozessor2 hilft dem Personal, den Patiententisch mit minimalem Kraftaufwand zu bewegen, - – ein Display unterstützt das Personal, den Weg mit dem Patiententisch zum Ankopplungssystem sicher zu führen.
- – Des Weiteren weist der
Patiententisch Ultraschallsensoren 3 , RFID (Radiofrequenz-Identifikation), Kameras zur Kollisionsdetektion und Identifizierung des korrekten Weges auf. Es sind auch Sensoren am MR-Gerät bzw. des Therapie- bzw. des Untersuchungssystems angebracht. - – Auch ist ein
lokales Positionierungssystem 10 , abgekürzt LPS, zur Identifikation der Position des Patiententisches im Verhältnis zum MR-Gerät oder Behandlungssystems vorgesehen. - – Ein
Alarmsystem 11 zur Kollisionswarnung - – Ein automatisches Bremssystem
9 im Notfall - – Ein Wireless LAN-System
5 für einen Datentransfer - – Ein Motor
6 um die Bewegung der Räder7 zu unterstützen - – Ein optischer Sensor
4 zur Identifikation eines speziellen Weges, sofern dieser vorhanden ist.
- - A control panel
1 (please refer3 ) has a display or a display withbuttons 1A .1B on which the location of the patient table TT (eg in the treatment room or before the coupling system of the MR device). Due to possible safety regulations, the staff will accompany the patient table. However, the personnel will have to operate a significantly lower force to move the patient table from one place to another. In the event that obstacles or misdirections are detected by the patient table, the display will show an alternative route (see eg "Follow Path" and "Alternative Path" in)3 ) for the staff. - - The control system with
control panel 1 and a microprocessor2 Helps the staff move the patient table with minimal effort - - A display helps the staff to safely guide the path with the patient table to the docking system.
- - Furthermore, the patient table has
ultrasonic sensors 3 , RFID (radio frequency identification), cameras for collision detection and identification of the correct path. There are also sensors on the MR device or the therapy or the examination system attached. - - Also is a
local positioning system 10 , abbreviated LPS, intended to identify the position of the patient table in relation to the MR device or treatment system. - - An
alarm system 11 for collision warning - - An automatic braking system
9 in case of emergancy - - A wireless LAN system
5 for a data transfer - - An
engine 6 about the movement of the wheels7 to support - - An optical sensor
4 to identify a special path, if it exists.
In der
Des Weiteren – wie in
In
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE201210213202 DE102012213202A1 (en) | 2012-07-26 | 2012-07-26 | Device for tracking motor-driven patient table, has units for detecting and evaluating track sign for determining lane of path to be traveled by patient table, and unit for position determination of patient table |
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CN110623799A (en) * | 2019-09-20 | 2019-12-31 | 北京理工大学 | Control method and device of intelligent wheelchair |
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