CN105496697A - Intelligent medical tower crane system and operation method thereof - Google Patents
Intelligent medical tower crane system and operation method thereof Download PDFInfo
- Publication number
- CN105496697A CN105496697A CN201511004197.7A CN201511004197A CN105496697A CN 105496697 A CN105496697 A CN 105496697A CN 201511004197 A CN201511004197 A CN 201511004197A CN 105496697 A CN105496697 A CN 105496697A
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- module
- tower crane
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- rotating shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G12/00—Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
- A61G12/002—Supply appliances, e.g. columns for gas, fluid, electricity supply
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/12—Remote controls
Abstract
The invention relates to an integrated intelligent medical tower crane system with automatic operation, real-time obstacle avoiding and remote operation functions, and an operating method thereof. The system mainly comprises four shafts. A user can select a certain shaft to individually control the shaft to move left and right, and can individually control a tower crane to be lifted. After the starting position and the finishing point position of the tower crane in an operating room are set, the homing function or the take-in-place function can be selected for the tower crane, according to obstacle information fed back by a visual system, obstacles can be avoided intelligently, and the tower crane can automatically operate to the starting position or the finishing point position; in addition, the system is further loaded with a network interface module, and can be connected with various kinds of medical equipment, and integration of digits and the operating room is facilitated.
Description
Technical field
The invention belongs to a kind of medical tower crane system and operational approach thereof of intelligence, belong to medical instruments field.
Background technology
Along with the fast development of electronic technology, computer technology and information technology.Digital Operating Room is the development trend that current procedure room is built, and the intellectuality and the integration that how to realize operating room have become hotter research topic.Medical treatment tower crane is requisite air feed armarium in modern operating room, and along with the development in epoch, the use of medical industry to medical tower crane it is also proposed higher requirement, is mainly reflected in its safety, reliability, aesthetic property and the aspect such as intelligent.
At present, the main armrest of medical tower crane both domestic and external promotes to make tower crane shift position, the function that part tower crane has Electronic control to be elevated.This tower crane in use takes time and effort, and does not possess intelligent.
Medical hoist tower does not also possess automatic operation, the function of Real Time Obstacle Avoiding.
At present both at home and abroad advanced digital operating room, be integrated with image system, communication system facilitates expert's remote operation to instruct, be integrated with multimedia video broadcast can, patient's look is loosened etc.But, also there is no integrated tower crane system.
Summary of the invention
The object of the invention is to the deficiency for prior art, by machine vision technique, Electrical Control Technology, telecommunication technique is loaded into the medical tower crane in operating room, develops one and has automatic operation, Real Time Obstacle Avoiding, can remote control function, the intelligent medical tower crane system of accessible site.
A kind of intelligent medical tower crane system and operational approach thereof are for achieving the above object, the present invention adopts following technical proposals, comprises tower crane, pallet, electric control module, imitate cartoon display module, remote communication module, Network Interface Module, pneumoelectric monitoring module, machine vision module, main control module and alarm module composition.Described electric control module is level of control one axle, level two axle, rotating shaft and lifting shaft respectively.Wherein, level one axle and level two axle are responsible for the planar movement of tower crane system, and rotating shaft and lifting shaft are responsible for rotation and the elevating function of end pallet respectively.Described imitate cartoon display module, is mainly used in man-machine interaction, operation display interface, the functions such as running status, the ruuning situation of each module and the operation curve of tower crane system that system is current.Described remote communication module is mainly used in the remote control commands of wireless receiving medical personnel.Described Network Interface Module mainly comprises the network interface primary responsibility such as USB interface, serial interface, Ethernet interface and is connected with each electrical module and medical equipment.Described pneumoelectric monitoring module primary responsibility monitors the ruuning situation of air feed equipment in each electrical module and tower crane system.Described alarm module, mainly at system malfunctions or when running appearance warning, is responsible for sending warning message to medical personnel.Described machine vision module primary responsibility gathers the image information of end pallet, obtains the obstacle information of pallet periphery after algorithm process.Main and each module of described main control module is connected, and is responsible for resolving of date processing and obstacle-avoiding route planning algorithm.Described end pallet primary responsibility places medical equipment, installs Network Interface Module.
Described intelligent tower crane system has artificial tutorial function, facilitates user to arrange original position and the final position of tower crane, can be different according to practical application, arranges multiple starting point and impact point, also can be accustomed to according to different doctors, arrange different operating positions.Have operated from a distance function, medical personnel can the movement of remote control tower crane.In addition, intelligent tower crane system also can connect to relevant medical equipment, has networking function, conveniently builds integrated operation room.
Described intelligent tower crane system operation methods flow process is as follows:
1) setting spacing place: in order to prevent tower crane from occurring abnormal phenomena in running, occur safety problem, when tower crane initial setting up, the spacing place of each rotating shaft be set.
2) teaching process: in actual use, custom that is different due to operating position or medical personnel is different, so will arrange multiple starting point and aiming spot for tower crane.
Note: 1 and 2 operations only need arrange once after system installs, each operation later does not need again to arrange.
3) system in place: select medical personnel by imitate cartoon display module, then selects " in place " function, select target position.Main control module reads the positional information of selected position, sends to the driver module of each rotating shaft, start up system, rotates each rotating shaft, allows system in place, makes arrangements for surgery.
4) automatically run: system is in process in place, the positional information of each rotating shaft of main control module real-time query, the obstacle information of vision module, if run into barrier, then carries out obstacle-avoiding route planning and resolves, using the result that calculates as target position information, send to each rotating shaft drive plate, meanwhile, whether each rotating shaft of each rotating shaft driver module real-time judge arrives target location, if arrive, then stop motion.System is in running, and as the situation occurring that barrier cannot be hidden or correlation module breaks down, alarm module then gives a warning
5) position is changed: in operation process, medical personnel can select corresponding target location by imitate cartoon display module or remote control module, and tower crane runs to assigned address automatically.
6) playback: medical personnel are by selecting " playback " function, and tower crane automated system operation is to original position.
7) terminate: performed the operation.
Accompanying drawing explanation
Fig. 1 is the scheme of installation of " a kind of intelligent medical tower crane system ";
Fig. 2 is the operating system configuration block diagram of " a kind of intelligent medical tower crane system ";
Fig. 3 is the flow chart of " a kind of intelligent medical tower crane system ".
Specific embodiments
Below in conjunction with the drawings and specific embodiments, embodiments of the invention are described in further detail.
Embodiment one:
See Fig. 1 and Fig. 2, this intelligent medical tower crane system, comprise the tower crane be made up of level one axle 1, level two axle 2, rotating shaft 3 and lifting shaft 4, and end pallet 5, visual system 6, master control borad 7, industrial computer 8, level one axle drive plate 9, level two axle drive plate 10, rotating shaft drive plate 11, lifting shaft drive plate 12, imitate cartoon display module 13, network interface 14, remote communication module 15, alarm module 16 and pneumoelectric monitoring module 17, it is characterized in that:
Described level one axle 1, level two axle 2, rotating shaft 3, lifting shaft 4 respectively with level one axle driver module 9, level two axle driver module 10, rotating shaft driver module 11 is connected with lifting shaft driver module 12; Described level one axle driver module 9, level two axle driver module 10, rotating shaft driver module 11 are connected with main control module 7 by bus with lifting shaft driver module 12; Described visual system 6 is connected with main control module 7 by bus; Described network interface 14 is connected with main control module 7; Described alarm module 16 is connected with main control module 7; Described pneumoelectric monitoring module 17 is connected with main control module 7; Described imitate cartoon display module 13 is connected with main control module 7; Described remote communication module 15 is connected with main control module 7; Described level one axle 1 and level two axle 2 drive by motor M 1, M2 the planar movement realizing tower crane system respectively, and described rotating shaft 3 and lifting shaft 4 are driven rotation and the lifting of end pallet 5 respectively by motor M 3, M4;
Described industrial computer 8, level one axle drive plate 9, level two axle drive plate 10, rotating shaft drive plate 11, lifting shaft drive plate 12 and motor driver are positioned at electric container; Described visual system 6 and network interface 14 are positioned on end pallet 5, and described master control borad 7, pneumoelectric monitoring module 17, remote communication module 15, imitate cartoon display module 13 and alarm module 16 are positioned on tower crane end cabinet.
Embodiment two:
The present embodiment is substantially identical with embodiment one, and special feature is: described a kind of intelligent medical tower crane system approach, is characterized in that: described network interface 14 module comprises USB interface, serial interface, Ethernet interface; Described level one axle drive plate 9, level two axle drive plate 10, rotating shaft drive plate 11, lifting shaft drive plate 12, industrial computer 8 and master control borad 7 are on same communication bus; Described remote communication module 15 is the one in WIFI module, bluetooth module or ZigBee module.
Embodiment three:
As depicted in figs. 1 and 2, this intelligent medical tower crane system mainly comprises level one axle 1, level two axle 2, rotating shaft 3, lifting shaft 4, pallet 5, visual system 6, master control borad 7, industrial computer 8, level one axle drive plate 9, level two axle drive plate 10, rotating shaft drive plate 11, lifting shaft 12, imitate cartoon display module 13, network interface 14, remote communication module 15, alarm module 16, pneumoelectric monitoring module 17.
As shown in Figure 3, a kind of control method of novel intelligent medical tower crane system, specifically comprises the steps:
1) setting spacing place: in order to prevent tower crane from occurring abnormal phenomena in running, occur safety problem, when tower crane initial setting up, the spacing place of each rotating shaft be set.
2) teaching process: in actual use, custom that is different due to operating position or medical personnel is different, so will arrange multiple starting point and aiming spot for tower crane.
Note: 1 and 2 operations only need arrange once after system installs, each operation later does not need again to arrange.
3) system in place: select medical personnel by imitate cartoon display module, then selects " in place " function, select target position.Main control module reads the positional information of selected position, sends to the driver module of each rotating shaft, start up system, rotates each rotating shaft, allows system in place, makes arrangements for surgery.
4) automatically run: system is in process in place, the positional information of each rotating shaft of main control module real-time query, the obstacle information of vision module, if run into barrier, then carries out obstacle-avoiding route planning and resolves, using the result that calculates as target position information, send to each rotating shaft drive plate, meanwhile, whether each rotating shaft of each rotating shaft driver module real-time judge arrives target location, if arrive, then stop motion.System is in running, and as the situation occurring that barrier cannot be hidden or correlation module breaks down, alarm module then gives a warning
5) position is changed: in operation process, medical personnel can select corresponding target location by imitate cartoon display module or remote control module, and tower crane runs to assigned address automatically.
6) playback: medical personnel are by selecting " playback " function, and tower crane automated system operation is to original position.
7) terminate: performed the operation.
Claims (3)
1. an intelligent medical tower crane system, comprise the tower crane be made up of level one axle (1), level two axle (2), rotating shaft (3) and lifting shaft (4), and end pallet (5), visual system (6), master control borad (7), industrial computer (8), level one axle drive plate (9), level two axle drive plate (10), rotating shaft drive plate (11), lifting shaft drive plate (12), imitate cartoon display module (13), network interface (14), remote communication module (15), alarm module (16) and pneumoelectric monitoring module (17), it is characterized in that:
Described level one axle (1), level two axle (2), rotating shaft (3), lifting shaft (4) respectively with level one axle driver module (9), level two axle driver module (10), rotating shaft driver module (11) is connected with lifting shaft driver module (12); Described level one axle driver module (9), level two axle driver module (10), rotating shaft driver module (11) are connected with main control module (7) by bus with lifting shaft driver module (12); Described visual system (6) is connected with main control module (7) by bus; Described network interface (14) is connected with main control module (7); Described alarm module (16) is connected with main control module (7); Described pneumoelectric monitoring module (17) is connected with main control module (7); Described imitate cartoon display module (13) is connected with main control module (7); Described remote communication module (15) is connected with main control module (7); Described level one axle (1) and level two axle (2) are driven the planar movement realizing tower crane system respectively by motor (M1, M2), described rotating shaft (3) and lifting shaft (4) are driven rotation and the lifting of end pallet (5) respectively by motor (M3, M4);
Described industrial computer (8), level one axle drive plate (9), level two axle drive plate (10), rotating shaft drive plate (11), lifting shaft drive plate (12) and motor driver are positioned at electric container; Described visual system (6) and network interface (14) are positioned on end pallet (5), and described master control borad (7), pneumoelectric monitoring module (17), remote communication module (15), imitate cartoon display module (13) and alarm module (16) are positioned on tower crane end cabinet.
2. a kind of intelligent medical tower crane according to claim 1 system approach, is characterized in that: described network interface (14) module comprises USB interface, serial interface, Ethernet interface; Described level one axle drive plate (9), level two axle drive plate (10), rotating shaft drive plate (11), lifting shaft drive plate (12), industrial computer (8) and master control borad (7) are on same communication bus; Described remote communication module (15) is WIFI module, one in bluetooth module or ZigBee module.
3. an operational approach for intelligent medical tower crane system, adopt intelligent medical tower crane system according to claim 1 to operate, its main operational steps is as follows:
1) setting spacing place: in order to prevent tower crane from occurring abnormal phenomena in running, occur safety problem, when tower crane initial setting up, (1,2,3,4) spacing place of each rotating shaft be set;
2) teaching process: in actual use, custom that is different due to operating position or medical personnel is different, so will arrange multiple starting point and aiming spot for tower crane;
Described step 1) and step 2) operation only need arrange once after system installs, and each operation later does not need again to arrange;
3) system in place: select medical personnel by imitate cartoon display module (13), then selects " in place " function, select target position; Main control module (7) reads the positional information of selected position, sends to the driver module (9,10,11,12) of each rotating shaft (1,2,3,4), start up system, rotates each rotating shaft (1,2,3,4), allows system in place, makes arrangements for surgery;
4) automatically run: system is in process in place, the positional information of each rotating shaft of main control module (7) real-time query, the obstacle information of visual system (6), if run into barrier, then carry out obstacle-avoiding route planning to resolve, using the result that calculates as target position information, send to each rotating shaft driver module (9, 10, 11, 12), meanwhile, whether each rotating shaft of each rotating shaft driver module real-time judge arrives target location, if arrive, then stop motion, system is in running, as the situation occurring that barrier cannot be hidden or correlation module breaks down, alarm module (16) then gives a warning,
5) change position: in operation process, medical personnel can select corresponding target location by imitate cartoon display module (13) or remote control module (15), and tower crane runs to assigned address automatically;
6) playback: medical personnel are by selecting " playback " function, and tower crane automated system operation is to original position;
7) terminate: performed the operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511004197.7A CN105496697A (en) | 2015-12-29 | 2015-12-29 | Intelligent medical tower crane system and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511004197.7A CN105496697A (en) | 2015-12-29 | 2015-12-29 | Intelligent medical tower crane system and operation method thereof |
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| Publication Number | Publication Date |
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| CN105496697A true CN105496697A (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201511004197.7A Pending CN105496697A (en) | 2015-12-29 | 2015-12-29 | Intelligent medical tower crane system and operation method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115054461A (en) * | 2022-06-17 | 2022-09-16 | 郑州大学第一附属医院 | Tower crane for monitoring room |
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|---|---|---|---|---|
| CA2220765A1 (en) * | 1995-05-12 | 1996-11-14 | Medaes, Inc. | Movable hospital room equipment column |
| CN102116407A (en) * | 2009-12-31 | 2011-07-06 | 北京谊安医疗系统股份有限公司 | Mechanical safety device and medical head mast using same |
| CN102198034A (en) * | 2011-05-04 | 2011-09-28 | 上海龙奕实业有限公司 | Medical pendant comprising central control system |
| CN202801805U (en) * | 2012-09-11 | 2013-03-20 | 上海正华医疗设备有限公司 | Medical operating room crane |
| CN103393469A (en) * | 2013-07-05 | 2013-11-20 | 苏州美都医用设备有限公司 | Novel intelligent medical tower crane |
| CN104382652A (en) * | 2014-12-03 | 2015-03-04 | 迈柯唯医疗设备(苏州)有限公司 | Medical tower crane system |
-
2015
- 2015-12-29 CN CN201511004197.7A patent/CN105496697A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2220765A1 (en) * | 1995-05-12 | 1996-11-14 | Medaes, Inc. | Movable hospital room equipment column |
| CN102116407A (en) * | 2009-12-31 | 2011-07-06 | 北京谊安医疗系统股份有限公司 | Mechanical safety device and medical head mast using same |
| CN102198034A (en) * | 2011-05-04 | 2011-09-28 | 上海龙奕实业有限公司 | Medical pendant comprising central control system |
| CN202801805U (en) * | 2012-09-11 | 2013-03-20 | 上海正华医疗设备有限公司 | Medical operating room crane |
| CN103393469A (en) * | 2013-07-05 | 2013-11-20 | 苏州美都医用设备有限公司 | Novel intelligent medical tower crane |
| CN104382652A (en) * | 2014-12-03 | 2015-03-04 | 迈柯唯医疗设备(苏州)有限公司 | Medical tower crane system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115054461A (en) * | 2022-06-17 | 2022-09-16 | 郑州大学第一附属医院 | Tower crane for monitoring room |
| CN115054461B (en) * | 2022-06-17 | 2023-08-18 | 郑州大学第一附属医院 | Hanging tower for monitoring room |
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Application publication date: 20160420 |
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