DE4335301C1 - Medical unit - Google Patents

Medical unit

Info

Publication number
DE4335301C1
DE4335301C1 DE4335301A DE4335301A DE4335301C1 DE 4335301 C1 DE4335301 C1 DE 4335301C1 DE 4335301 A DE4335301 A DE 4335301A DE 4335301 A DE4335301 A DE 4335301A DE 4335301 C1 DE4335301 C1 DE 4335301C1
Authority
DE
Germany
Prior art keywords
collision
components
movements
obstacles
medical system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE4335301A
Other languages
German (de)
Inventor
Jochen Dipl Ing Kusch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to DE4335301A priority Critical patent/DE4335301C1/en
Application granted granted Critical
Publication of DE4335301C1 publication Critical patent/DE4335301C1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/10—Safety means specially adapted therefor
    • A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39095—Use neural geometric modeler, overlapping spheres
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radiology & Medical Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Biophysics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

A medical unit, in particular an X-ray unit, is to be designed in such a way that collision of adjustable components (1 to 5) can be avoided without complex mathematical models and with due consideration of any movable obstacles, e.g. the patient. There are cameras (7, 8) for monitoring the space of the unit. An electronic system (9) combines the coordinates of the contours of the components (1 to 5) and of the obstacles (6) to form a multidimensional vector and passes it on to a three-dimensional neuronal network (10) which blocks any movements that lead to collision. <IMAGE>

Description

Die Erfindung betrifft eine medizinische Anlage mit verstell­ baren Komponenten.The invention relates to a medical system with adjust components.

Es ist eine Röntgenanlage dieser Art bekannt, bei der mit den verstellbaren Komponenten Geber verbunden sind, die die je­ weilige Stellung einem Rechner melden. Der Rechner vergleicht diese Stellung mit einer über der Lagerungsvorrichtung aufge­ spannten Hüllfläche und signalisiert, wenn eine der verstell­ baren Komponenten die Hüllfläche berührt. Dadurch ist eine Kollisionsvermeidung möglich (vgl. DE 36 04 955 A1).An X-ray system of this type is known, in which the adjustable components are connected to the encoder report a position to a computer. The calculator compares this position with one above the storage device stretched envelope surface and signals when one of the adj components touches the envelope surface. This is one Collision avoidance possible (see DE 36 04 955 A1).

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, eine medizinische Anlage so auszubilden, daß eine Kollision ohne aufwendige mathematische Modellbildung und unter Berücksich­ tigung beweglicher Hindernisse, z. B. der Patientenüber­ wachung, vermieden wird.The present invention has for its object a train medical system so that a collision without elaborate mathematical modeling and taking into account adjustment of moving obstacles, e.g. B. the patient watch, is avoided.

Diese Aufgabe ist erfindungsgemäß gelöst durch die Merkmale des Patentanspruches 1.According to the invention, this object is achieved by the features of claim 1.

Die Erfindung ist nachfolgend anhand eines in der Zeichnung dargestellten Ausführungsbeispieles näher erläutert.The invention is based on one in the drawing illustrated embodiment explained in more detail.

Die Zeichnung zeigt eine medizinische Anlage und deren Um­ gebung. Zur Herstellung von Röntgenbildern ist ein C-Bogen 1 mit einem Röntgenstrahler 2 und einem Röntgenbildverstärker 3 mit nachgeschalteter Fernsehkette vorhanden. Der Patient liegt auf einer Lagerungsvorrichtung 4. Alle Geräteteile sind beweglich gelagert, was durch die in der Zeichnung darge­ stellten Pfeile angedeutet ist. Insbesondere kann der C-Bogen 1 mit den Komponenten 2, 3 orbital am zugeordneten Stativ 5 bewegt sowie angular gedreht werden. Die Lagerungsvorrichtung 4 kann auch vertikal verschoben werden.The drawing shows a medical system and its environment. For the production of X-ray images, a C-arm 1 with an X-ray emitter 2 and an X-ray image intensifier 3 with a television chain connected downstream is present. The patient lies on a positioning device 4 . All parts of the device are movably supported, which is indicated by the arrows in the drawing Darge. In particular, the C-arm 1 with the components 2 , 3 can be moved orbitally on the associated stand 5 and rotated angularly. The storage device 4 can also be moved vertically.

Die Drehung des Stativs 5 sowie die Angularbewegung des C-Bo­ gens 1 sind Bewegungen außerhalb der gezeigten Ebene. In der Zeichnung ist noch ein Gerät 6 als Hindernis dargestellt. Die Bewegungen erfolgen durch Elektromotoren.The rotation of the stand 5 and the angular movement of the C-Bo gene 1 are movements outside the plane shown. In the drawing, another device 6 is shown as an obstacle. The movements are carried out by electric motors.

Der Bewegungsraum der dargestellten Röntgenanlage wird durch zwei oder mehr Fernsehkameras 7, 8 erfaßt. Die jeweils zwei­ dimensionalen Koordinaten der Konturen der Geräteteile und der Hindernisse auf den Bildebenen der Fernsehkameras 7, 8 werden in einer Elektronik 9 zu einem mehrdimensionalen Vek­ tor zusammengefaßt und an ein dreidimensionales neuronales Netz 10, z. B. an ein Kohonen-Netz weitergeleitet. Die für den jeweiligen Raumbereich zuständigen Neuronen blockieren über eine Motorsteuerung 11 Bewegungen, die zu Kollisionen führen und verlangsamen die Gerätebewegung, wenn Geräteteile in kol­ lisionsgefährdete Gebiete einfahren, z. B. in Patientennähe kommen. Es wird also eine Menge von Zielpunkten für die Be­ wegung ausgeschlossen.The movement space of the X-ray system shown is detected by two or more television cameras 7 , 8 . The two dimensional coordinates of the contours of the device parts and the obstacles on the image planes of the television cameras 7 , 8 are combined in electronics 9 to form a multidimensional vector and connected to a three-dimensional neural network 10 , e.g. B. forwarded to a Kohonen network. The neurons responsible for the respective room area block a motor control 11 movements that lead to collisions and slow down the device movement when device parts enter collision-prone areas, eg. B. come close to the patient. So a lot of target points for the movement is excluded.

Es können nicht nur Bewegungen durch das neuronale Netz 10 ausgeschlossen werden, sondern von diesem Netz 10 auch alter­ native Bewegungen ausgegeben werden, um eine bestimmte Ge­ räteposition ohne Kollision zu erreichen.Not only can movements be excluded by the neural network 10 , but alternative native movements can also be output by this network 10 in order to achieve a specific device position without collision.

Claims (3)

1. Medizinische Anlage mit verstellbaren Komponenten (1 bis 5), enthaltend eine Lagerungsvorrichtung (4) für den Patien­ ten, bei der Fernsehkameras (7, 8) zum Überwachen des Raumes der Anlage vorhanden sind, wobei eine Elektronik (9) die Ko­ ordinaten der Konturen der Komponenten (1 bis 5) und der Hin­ dernisse (6) zu einem mehrdimensionalen Vektor zusammenfaßt und an ein dreidimensionales neuronales Netz (10) weiterlei­ tet, das Bewegungen, die zu Kollisionen führen, blockiert.1. Medical system with adjustable components ( 1 to 5 ) containing a storage device ( 4 ) for the patient th, in the television cameras ( 7 , 8 ) for monitoring the space of the system are available, with electronics ( 9 ) the coordinates the contours of the components ( 1 to 5 ) and the obstacles ( 6 ) summarized into a multidimensional vector and passed on to a three-dimensional neural network ( 10 ) that blocks movements that lead to collisions. 2. Medizinische Anlage nach Anspruch 1, bei der das Netz (10) so ausgebildet ist, daß es die Gerätebewegungen verlangsamt, wenn Komponenten (1 bis 5) in kollisionsgefährdete Gebiete einfahren.2. Medical system according to claim 1, wherein the network ( 10 ) is designed so that it slows down the device movements when components ( 1 to 5 ) drive into areas at risk of collision. 3. Medizinische Anlage nach Anspruch 1 oder 2, bei der das Netz (10) so ausgebildet ist, daß es bei Feststellung einer Kollisionsgefahr eine alternative Bewegung ausgibt.3. Medical system according to claim 1 or 2, wherein the network ( 10 ) is designed such that it outputs an alternative movement when a risk of collision is determined.
DE4335301A 1993-10-15 1993-10-15 Medical unit Expired - Fee Related DE4335301C1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE4335301A DE4335301C1 (en) 1993-10-15 1993-10-15 Medical unit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4335301A DE4335301C1 (en) 1993-10-15 1993-10-15 Medical unit

Publications (1)

Publication Number Publication Date
DE4335301C1 true DE4335301C1 (en) 1994-12-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE4335301A Expired - Fee Related DE4335301C1 (en) 1993-10-15 1993-10-15 Medical unit

Country Status (1)

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DE (1) DE4335301C1 (en)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29602098U1 (en) * 1996-02-07 1996-03-21 MAN Roland Druckmaschinen AG, 63075 Offenbach Reel changer
DE19508715A1 (en) * 1995-03-10 1996-09-12 Siemens Ag Positioning of patient in medical diagnostic appts.
DE19619688A1 (en) * 1996-05-15 1997-11-20 Herion Werke Kg Method of video monitoring for machine operating areas, e.g. for presses
DE19625409A1 (en) * 1996-06-25 1998-01-08 Siemens Ag Medical X-ray diagnostics arrangement with adjustable components
DE19700811A1 (en) * 1997-01-13 1998-07-16 Heinrich Landert Method and device for controlling door systems depending on the presence of people
US6272368B1 (en) 1997-10-01 2001-08-07 Siemens Aktiengesellschaft Medical installation having an apparatus for acquiring the position of at least one object located in a room
WO2003086192A1 (en) * 2002-04-18 2003-10-23 Koninklijke Philips Electronics N.V. Medical examination device having patient positioning means movable under safety control
WO2006024622A1 (en) * 2004-09-03 2006-03-09 Siemens Aktiengesellschaft X-ray device
DE102005023165A1 (en) * 2005-05-19 2006-11-23 Siemens Ag Medical imaging system with a patient traversable part and collision protection method
DE102005045362A1 (en) * 2005-09-22 2007-04-05 Siemens Ag Device for determining the position of a medical instrument
EP1774911A1 (en) * 2005-10-13 2007-04-18 Siemens Aktiengesellschaft Medical imaging system and method for protection against collision
DE10133657B4 (en) * 2001-07-11 2008-12-24 Siemens Ag Method for operating a medical X-ray device and medical X-ray device
DE102008046345A1 (en) * 2008-09-09 2010-03-11 Siemens Aktiengesellschaft Spatial environment i.e. cardio logical intervention space, monitoring method for e.g. C-shaped X-ray equipment, involves determining collision risk between movable device and objects at space based on environmental models
DE102008046344A1 (en) * 2008-09-09 2010-03-18 Siemens Aktiengesellschaft Device for use with technical instrument for monitoring spatial range, particularly surrounding of medical instrument, has detection equipment, which is provided for detecting object by active distance measurement device
DE102008046346A1 (en) * 2008-09-09 2010-03-18 Siemens Aktiengesellschaft Spatial region i.e. medical treatment room, monitoring method for X-ray device, involves developing three-dimensional environment model from spatial points, where model specifies space volumes occupied by objects within spatial region
CN102805636A (en) * 2011-05-31 2012-12-05 上海西门子医疗器械有限公司 CT machine and method and system for determining scanning area of CT machine
DE102013219652A1 (en) * 2013-09-27 2015-04-02 Bayerische Motoren Werke Aktiengesellschaft CT method and CT test device for testing a test object
DE102016213403A1 (en) * 2016-07-21 2018-01-25 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Apparatus and method for calculating a recording trajectory
CN117067220A (en) * 2023-10-16 2023-11-17 广州上诺生物技术有限公司 Neural network-based blood bank mechanical arm collision-free path planning method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3604955A1 (en) * 1986-02-17 1987-08-20 Siemens Ag Diagnostic X-ray unit

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3604955A1 (en) * 1986-02-17 1987-08-20 Siemens Ag Diagnostic X-ray unit

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19508715A1 (en) * 1995-03-10 1996-09-12 Siemens Ag Positioning of patient in medical diagnostic appts.
DE29602098U1 (en) * 1996-02-07 1996-03-21 MAN Roland Druckmaschinen AG, 63075 Offenbach Reel changer
DE19619688A1 (en) * 1996-05-15 1997-11-20 Herion Werke Kg Method of video monitoring for machine operating areas, e.g. for presses
DE19625409A1 (en) * 1996-06-25 1998-01-08 Siemens Ag Medical X-ray diagnostics arrangement with adjustable components
DE19700811A1 (en) * 1997-01-13 1998-07-16 Heinrich Landert Method and device for controlling door systems depending on the presence of people
US6496220B2 (en) 1997-01-13 2002-12-17 Heinrich Landert Method and arrangement for driving door installations as a function of the presence of persons
US6272368B1 (en) 1997-10-01 2001-08-07 Siemens Aktiengesellschaft Medical installation having an apparatus for acquiring the position of at least one object located in a room
DE10133657B4 (en) * 2001-07-11 2008-12-24 Siemens Ag Method for operating a medical X-ray device and medical X-ray device
WO2003086192A1 (en) * 2002-04-18 2003-10-23 Koninklijke Philips Electronics N.V. Medical examination device having patient positioning means movable under safety control
WO2006024622A1 (en) * 2004-09-03 2006-03-09 Siemens Aktiengesellschaft X-ray device
US7720198B2 (en) 2004-09-03 2010-05-18 Siemens Aktiengesellschaft X-ray facility
US7428296B2 (en) 2005-05-19 2008-09-23 Siemens Aktiengesellschaft Medical imaging system with a part which can be moved about a patient and a collision protection method
DE102005023165A1 (en) * 2005-05-19 2006-11-23 Siemens Ag Medical imaging system with a patient traversable part and collision protection method
DE102005045362A1 (en) * 2005-09-22 2007-04-05 Siemens Ag Device for determining the position of a medical instrument
DE102005045362B4 (en) * 2005-09-22 2012-03-22 Siemens Ag Device for determining the position of a medical instrument, associated imaging examination device and associated method
US8750964B2 (en) 2005-09-22 2014-06-10 Siemens Aktiengesellschaft Device for determining the position of a medical instrument
EP1774911A1 (en) * 2005-10-13 2007-04-18 Siemens Aktiengesellschaft Medical imaging system and method for protection against collision
US8767920B2 (en) 2005-10-13 2014-07-01 Siemens Aktiengesellschaft Medical imaging system and anti-collision method with a controllable arm
DE102008046345A1 (en) * 2008-09-09 2010-03-11 Siemens Aktiengesellschaft Spatial environment i.e. cardio logical intervention space, monitoring method for e.g. C-shaped X-ray equipment, involves determining collision risk between movable device and objects at space based on environmental models
DE102008046345B4 (en) * 2008-09-09 2010-07-01 Siemens Aktiengesellschaft Method and device for monitoring the spatial environment of a movable device, in particular a medical device
DE102008046344B4 (en) * 2008-09-09 2010-06-24 Siemens Aktiengesellschaft Device for monitoring the environment of a device, in particular a medical device, and such a device
DE102008046346A1 (en) * 2008-09-09 2010-03-18 Siemens Aktiengesellschaft Spatial region i.e. medical treatment room, monitoring method for X-ray device, involves developing three-dimensional environment model from spatial points, where model specifies space volumes occupied by objects within spatial region
DE102008046344A1 (en) * 2008-09-09 2010-03-18 Siemens Aktiengesellschaft Device for use with technical instrument for monitoring spatial range, particularly surrounding of medical instrument, has detection equipment, which is provided for detecting object by active distance measurement device
CN102805636A (en) * 2011-05-31 2012-12-05 上海西门子医疗器械有限公司 CT machine and method and system for determining scanning area of CT machine
CN102805636B (en) * 2011-05-31 2015-04-29 上海西门子医疗器械有限公司 CT machine and method and system for determining scanning area of CT machine
DE102013219652A1 (en) * 2013-09-27 2015-04-02 Bayerische Motoren Werke Aktiengesellschaft CT method and CT test device for testing a test object
DE102016213403A1 (en) * 2016-07-21 2018-01-25 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Apparatus and method for calculating a recording trajectory
US11016041B2 (en) 2016-07-21 2021-05-25 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Apparatus and method for calculating a recording trajectory
CN117067220A (en) * 2023-10-16 2023-11-17 广州上诺生物技术有限公司 Neural network-based blood bank mechanical arm collision-free path planning method
CN117067220B (en) * 2023-10-16 2024-01-02 广州上诺生物技术有限公司 Neural network-based blood bank mechanical arm collision-free path planning method

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