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

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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
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arm
position error
error
limit
error limit
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CNB2004100447609A
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Chinese (zh)
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CN1550212A (zh
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B·A·卡劳斯
J·M·西蒙斯
D·E·巴克尔
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GE Medical Systems Global Technology Co LLC
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GE Medical Systems Global Technology Co LLC
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    • 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

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  • 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

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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

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US (1) US7029175B2 (https=)
EP (1) EP1479343A1 (https=)
JP (1) JP2004344656A (https=)
CN (1) CN100536772C (https=)

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

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