CN100536772C - 在机动化的移动c-臂中利用pid控制器进行目标碰撞检测的方法和设备 - Google Patents

在机动化的移动c-臂中利用pid控制器进行目标碰撞检测的方法和设备 Download PDF

Info

Publication number
CN100536772C
CN100536772C CNB2004100447609A CN200410044760A CN100536772C CN 100536772 C CN100536772 C CN 100536772C CN B2004100447609 A CNB2004100447609 A CN B2004100447609A CN 200410044760 A CN200410044760 A CN 200410044760A CN 100536772 C CN100536772 C CN 100536772C
Authority
CN
China
Prior art keywords
arm
position error
error
limit
error limit
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
CNB2004100447609A
Other languages
English (en)
Chinese (zh)
Other versions
CN1550212A (zh
Inventor
B·A·卡劳斯
J·M·西蒙斯
D·E·巴克尔
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.)
GE Medical Systems Global Technology Co LLC
Original Assignee
GE Medical Systems Global Technology Co LLC
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 GE Medical Systems Global Technology Co LLC filed Critical GE Medical Systems Global Technology Co LLC
Publication of CN1550212A publication Critical patent/CN1550212A/zh
Application granted granted Critical
Publication of CN100536772C publication Critical patent/CN100536772C/zh
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

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
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • 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
    • 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
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Radiology & Medical Imaging (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
CNB2004100447609A 2003-05-19 2004-05-18 在机动化的移动c-臂中利用pid控制器进行目标碰撞检测的方法和设备 Expired - Fee Related CN100536772C (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/440821 2003-05-19
US10/440,821 US7029175B2 (en) 2003-05-19 2003-05-19 Method and apparatus for object collision detection utilizing a PID controller in a motorized, mobile C-arm

Publications (2)

Publication Number Publication Date
CN1550212A CN1550212A (zh) 2004-12-01
CN100536772C true CN100536772C (zh) 2009-09-09

Family

ID=33097947

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2004100447609A Expired - Fee Related CN100536772C (zh) 2003-05-19 2004-05-18 在机动化的移动c-臂中利用pid控制器进行目标碰撞检测的方法和设备

Country Status (4)

Country Link
US (1) US7029175B2 (enExample)
EP (1) EP1479343A1 (enExample)
JP (1) JP2004344656A (enExample)
CN (1) CN100536772C (enExample)

Families Citing this family (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004014767A2 (en) * 2002-08-06 2004-02-19 Assembleon N.V. Method of detecting a malfunction during a displacement of an element by means of a drive system, and device suitable for carrying out such a method
US20060067475A1 (en) * 2004-09-21 2006-03-30 Thomas Bauch Safety device for an imaging medical apparatus
USD558877S1 (en) * 2004-11-26 2008-01-01 Kabushiki Kaisha Toshiba X-ray apparatus for medical treatment
US7600915B2 (en) 2004-12-01 2009-10-13 Trinity Orthopedics, Llc Imager based object positioner system and method
DE102005014188A1 (de) * 2005-03-29 2006-10-12 Siemens Ag Vorrichtung für die Aufnahme von Projektionsbildern
JP2007019730A (ja) * 2005-07-06 2007-01-25 Fujinon Corp リモコン雲台システム
WO2007062133A2 (en) * 2005-11-23 2007-05-31 Trinity Orthopedics Method and system for guidance system positioner
WO2007059804A1 (de) * 2005-11-24 2007-05-31 Swissray International Inc. Vorrichtung zum erzeugen von röntgenbildern
DE102006032094A1 (de) * 2006-07-11 2008-01-17 Siemens Ag Röntgensystem mit einem Industrieroboter
US7609813B2 (en) * 2006-11-08 2009-10-27 General Electric Company System and method for improved collision detection in an imaging device
DE102007002401A1 (de) * 2007-01-17 2008-07-31 Siemens Ag Medizinische Untersuchungs- oder Interventionseinrichtung
JP5627185B2 (ja) * 2009-01-30 2014-11-19 株式会社東芝 Ｘ線診断装置
JP2010221003A (ja) * 2009-02-26 2010-10-07 Fujifilm Corp 放射線撮影装置
US8708561B2 (en) 2009-03-20 2014-04-29 Orthoscan, Inc. Mobile imaging apparatus
JP4998506B2 (ja) * 2009-04-22 2012-08-15 トヨタ自動車株式会社 ロボット制御装置、ロボット制御方法、及び脚式ロボット
DE102009037316A1 (de) * 2009-08-14 2011-02-17 Karl Storz Gmbh & Co. Kg Steuerung und Verfahren zum Betreiben einer Operationsleuchte
KR20120058826A (ko) * 2010-11-30 2012-06-08 삼성전자주식회사 의료 장비의 제어 방법
WO2012082799A1 (en) 2010-12-13 2012-06-21 Orthoscan, Inc. Mobile fluoroscopic imaging system
FR2972914B1 (fr) * 2011-03-24 2014-03-07 Gen Electric Appareil a rayons x mobile pourvu d'un dispositif d'anticollision
CN102836506B (zh) * 2011-06-20 2015-07-08 重庆微海软件开发有限公司 超声治疗设备的安全防撞系统和方法
CN102506926B (zh) * 2011-09-27 2014-09-24 无锡日联科技有限公司 透视检测机运动防撞控制方法
CN103371837B (zh) * 2012-04-27 2017-05-24 Ge医疗系统环球技术有限公司 用于往复式运动装置的抗碰撞方法和装置
US8944681B2 (en) 2012-05-03 2015-02-03 General Electric Company Mobile X-ray machine with an anticollision device
JP6238611B2 (ja) 2012-09-28 2017-11-29 キヤノン株式会社 移動型放射線撮影装置、放射線撮影システム、及び制御方法
WO2015167174A1 (en) * 2014-05-02 2015-11-05 Samsung Electronics Co., Ltd. Radiographic imaging apparatus and method of controlling the same
US10716521B2 (en) * 2014-06-26 2020-07-21 Frencken Europe B.V. Patient support system and levelling system for such a patient support system
CN104533852A (zh) * 2014-12-12 2015-04-22 广西科技大学 汽车零部件疲劳试验多通道电液伺服控制系统
CN104500509A (zh) * 2014-12-12 2015-04-08 广西科技大学 汽车部件疲劳试验多通道电液伺服控制系统
KR20160095913A (ko) 2015-02-04 2016-08-12 삼성전자주식회사 엑스선 촬영 장치 및 그 제어 방법
US9883843B2 (en) * 2015-03-19 2018-02-06 Medtronic Navigation, Inc. Apparatus and method of counterbalancing axes and maintaining a user selected position of a X-Ray scanner gantry
CN106361430B (zh) * 2015-07-21 2019-08-27 西门子(深圳)磁共振有限公司 能防止碰撞的医疗器械
US10299740B2 (en) * 2015-09-29 2019-05-28 General Electric Company Methods and systems for cone-beam computed tomography
EP3373818B1 (en) 2015-11-09 2024-03-06 Radiaction Ltd. Radiation shielding apparatuses
CN113939228B (zh) 2019-01-02 2025-02-25 瑞迪艾森有限公司 用于医学成像仪的补充碰撞检测和防止系统
KR102791638B1 (ko) 2019-01-02 2025-04-03 레디액션 엘티디. 방사선 보호 장치 및 이를 위한 재료
US12011306B2 (en) 2019-01-02 2024-06-18 Radiaction Ltd Patient head protection device
KR102225315B1 (ko) * 2019-06-03 2021-03-10 재단법인대구경북과학기술원 시스템 제어 장치 및 방법
US11856899B2 (en) 2019-06-20 2024-01-02 Reinke Manufacturing Co., Inc. Monitoring and control of a movable tower in an irrigation system
JP7538544B2 (ja) 2019-07-02 2024-08-22 ラディアクション リミテッド 展開可能放射線遮蔽体カバー
US12226169B2 (en) 2022-07-15 2025-02-18 Globus Medical, Inc. Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
US20240020840A1 (en) 2022-07-15 2024-01-18 Globus Medical, Inc. REGISTRATION OF 3D and 2D IMAGES FOR SURGICAL NAVIGATION AND ROBOTIC GUIDANCE WITHOUT USING RADIOPAQUE FIDUCIALS IN THE IMAGES

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5056365A (en) 1990-05-31 1991-10-15 General Electric Company Collision sensor
DE69327436T2 (de) 1992-09-14 2000-08-03 Koninklijke Philips Electronics N.V., Eindhoven Gerät, insbesondere zur Röntgen-Untersuchung, mit Anordnung zum Kollisionsschutz
US5485502A (en) * 1994-07-26 1996-01-16 Lunar Corporation Radiographic gantry with software collision avoidance
WO1996007128A1 (en) 1994-09-01 1996-03-07 Philips Electronics N.V. Drive and x-ray device comprising such a drive
US5583909C1 (en) 1994-12-20 2001-03-27 Oec Medical Systems Inc C-arm mounting structure for mobile x-ray imaging system
US5651044A (en) 1995-10-02 1997-07-22 General Electric Company Capacitive proximity detector for radiation imager position control
JP2000197621A (ja) * 1999-01-06 2000-07-18 Toshiba Corp 医用画像撮影装置
DE19960834B4 (de) 1999-12-16 2006-10-26 Agie S.A., Losone Verfahren und Vorrichtung zur Störungserfassung, insbesondere zur Kollisionserfassung, im Antriebssystem einer numerisch gesteuerten Werkzeugmaschine
DE60031277T2 (de) * 1999-12-22 2007-05-10 Koninklijke Philips Electronics N.V. Medizinisches gerät mit einem zusammenstosssensor
JP2003518403A (ja) * 1999-12-24 2003-06-10 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 追加の電極を有し、医療用放射線装置に使用する電磁物体検出器
JP4737808B2 (ja) * 2000-09-29 2011-08-03 株式会社東芝 Ｉｖｒ−ｃｔ装置
DE10114316A1 (de) 2001-03-23 2002-09-26 Kaltenbach & Voigt Zahnärztlicher Behandlungsplatz
US6830375B2 (en) * 2002-08-30 2004-12-14 Ge Medical Systems Global Technology Company, Inc. Anti-collision method and apparatus for use with C-arm x-ray machine
JP3884377B2 (ja) * 2002-12-27 2007-02-21 ジーイー・メディカル・システムズ・グローバル・テクノロジー・カンパニー・エルエルシー Ｘ線撮影装置
US7034492B2 (en) * 2003-10-28 2006-04-25 Ge Medical Systems Global Technology Company, Llc Methods and systems for reducing unintentional collisions

Also Published As

Publication number Publication date
JP2004344656A (ja) 2004-12-09
US7029175B2 (en) 2006-04-18
CN1550212A (zh) 2004-12-01
EP1479343A1 (en) 2004-11-24
US20040234039A1 (en) 2004-11-25

Similar Documents

Publication Publication Date Title
CN100536772C (zh) 在机动化的移动c-臂中利用pid控制器进行目标碰撞检测的方法和设备
JP5490981B2 (ja) Ｘ線装置及び、その作動方法
US8767920B2 (en) Medical imaging system and anti-collision method with a controllable arm
EP2380496A1 (en) System and method to automatically assist positioning of a subject in mobile image acquisition
CN115768355A (zh) 带可移动源的迷你c型臂
EP2537556A1 (en) Radiotherapy device controller and method for operating radiotherapy device
US11980487B2 (en) Collision-free X-ray tube movement
KR20140018289A (ko) 구강-내 x-레이 촬영용 배열체
EP1202668B1 (en) Medical apparatus provided with a collision detector
JP2021532907A (ja) 患者の頭部領域のデジタル撮像のための装置
US9078618B2 (en) Methods and systems for patient alignment for nuclear medicine imaging
US7441952B2 (en) Method and system for X-ray diagnosis of an examination object
US8692503B2 (en) Homing and establishing reference frames for motion axes in radiation systems
CN110090036A (zh) 多功能射线摄影装置及控制方法
CN110742610A (zh) 检测设备、用于检测扫描床运动的方法及磁共振成像系统
EP3944817B1 (en) G-shaped arm imaging devices, systems, and methods
US8387183B2 (en) Mitigation of brake failure
US11064962B2 (en) X-ray imaging apparatus
JP2018148937A (ja) 放射線治療装置および治療台位置決め装置
JP2005348841A (ja) 画像診断装置
CN110090033A (zh) 智能型射线摄影装置及控制方法
US12458304B2 (en) Method and apparatus for automatically aligning a scanner with an object to be scanned
CN114423495A (zh) 放射疗法中的碰撞避免
JP7571302B2 (ja) 放射線撮影装置およびこれを利用する放射線撮影方法
JP7484374B2 (ja) 動体追跡装置および動体追跡装置の作動方法

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090909

Termination date: 20140518