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
US10/440,821 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
US10/440821 2003-05-19

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
CN1675602A (zh) * 2002-08-06 2005-09-28 阿森姆布里昂股份有限公司 检测通过驱动系统移动元件的过程中的故障的方法以及适于执行该方法的设备
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
JP2009517992A (ja) * 2005-11-23 2009-04-30 トリニティ・オーソペディックス・リミテッド・ライアビリティ・カンパニー 誘導システムポジショナの方法及びシステム
CA2630491A1 (en) * 2005-11-24 2007-05-31 Swissray International Inc. Device for generating x-ray images
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
EP2408375B1 (en) 2009-03-20 2017-12-06 Orthoscan Incorporated Moveable 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
US9125611B2 (en) 2010-12-13 2015-09-08 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
WO2015199540A1 (en) * 2014-06-26 2015-12-30 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
WO2017083437A1 (en) 2015-11-09 2017-05-18 Radiaction Ltd. Radiation shielding apparatuses and applications thereof
JP7509439B2 (ja) 2019-01-02 2024-07-02 ラディアクション リミテッド 医療撮像装置のための補充の衝突検出および防止システム
JP7548588B2 (ja) 2019-01-02 2024-09-10 ラディアクション リミテッド 放射線保護装置およびそのための材料
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
KR102978047B1 (ko) 2019-07-02 2026-06-15 레디액션 엘티디. 전개형 방사선 차폐부 커버
US12657702B2 (en) 2022-07-15 2026-06-16 Globus Medical, Inc. Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
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

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
EP0727059B1 (en) 1994-09-01 2001-10-17 Koninklijke 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
JP2003517866A (ja) * 1999-12-22 2003-06-03 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 衝突検出装置を備えた医学的装置
WO2001047420A1 (en) * 1999-12-24 2001-07-05 Koninklijke Philips Electronics N.V. Electromagnetic object detector provided with an additional electrode and intended for a medical radiation apparatus
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
US20040234039A1 (en) 2004-11-25
EP1479343A1 (en) 2004-11-24
CN1550212A (zh) 2004-12-01

Similar Documents

Publication Publication Date Title
US7029175B2 (en) Method and apparatus for object collision detection utilizing a PID controller in a motorized, mobile C-arm
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
EP3705045B1 (en) Apparatus and method of counterbalancing axes and maintaining a user selected position of a x-ray scanner gantry
EP2380496A1 (en) System and method to automatically assist positioning of a subject in mobile image acquisition
US20100299015A1 (en) System and method to automatic assist mobile image acquisition
EP2537556A1 (en) Radiotherapy device controller and method for operating radiotherapy device
WO2018055001A1 (en) Medical systems with patient supports
US11980487B2 (en) Collision-free X-ray tube movement
KR20140018289A (ko) 구강-내 x-레이 촬영용 배열체
JP2021532907A (ja) 患者の頭部領域のデジタル撮像のための装置
EP1202668B1 (en) Medical apparatus provided with a collision detector
US9078618B2 (en) Methods and systems for patient alignment for nuclear medicine imaging
US8692503B2 (en) Homing and establishing reference frames for motion axes in radiation systems
US7441952B2 (en) Method and system for X-ray diagnosis of an examination object
CN110090036A (zh) 多功能射线摄影装置及控制方法
US11064962B2 (en) X-ray imaging apparatus
EP3944817B1 (en) G-shaped arm imaging devices, systems, and methods
US8387183B2 (en) Mitigation of brake failure
US20220261013A1 (en) Collision avoidance in radiotherapy
JP2018148937A (ja) 放射線治療装置および治療台位置決め装置
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
JP2005348841A (ja) 画像診断装置
JP7484374B2 (ja) 動体追跡装置および動体追跡装置の作動方法
CN110090033A (zh) 智能型射线摄影装置及控制方法

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