CN111588404A - CT collision protection device and CT collision protection method thereof - Google Patents
CT collision protection device and CT collision protection method thereof Download PDFInfo
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Abstract
The invention discloses a CT collision protection device and a CT collision protection method thereof, wherein the CT collision protection device comprises: the collision distance sensor is vertically arranged on the end face, close to the CT rack housing, of the bed body of the CT scanning bed, and outputs warning information when the CT rack housing is detected to enter the safe distance of the bed plate of the CT scanning bed; the infrared induction sensor is arranged at the upper end of the CT frame cover and outputs warning information after detecting that the detected patient leaves a safe area; the false action processing unit outputs a collision signal when one of the bed plate of the CT scanning bed and the cover of the CT frame moves; the control feedback unit connected with the CT motion module, the collision distance sensor, the infrared sensing sensor and the misoperation processing unit are all connected with the control feedback unit so as to control the CT motion module to stop moving when simultaneously receiving the warning information and the collision signal, thereby effectively preventing the CT scanning bed from colliding with the CT frame housing.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a CT collision protection device. In addition, the invention also relates to a CT collision protection method applied to the CT collision protection device.
Background
The CT is widely applied to the field of clinical medicine, the CT scanning bed can move longitudinally forward and backward and vertically lift and move, and the CT frame cover can tilt forward and backward in the scanning process, and the collision protection of the CT is greatly challenged due to the fact that the motion relationship between the CT scanning bed and the CT frame cover is complex.
In the prior art, collision protection is mostly used for preventing a detected patient from being extruded, for example, an infrared sensor is arranged for detecting whether the detected patient is extruded; or the fixed cover shell of the CT scanning bed and the cover shell of the CT frame are made of resistive materials and capacitive materials, and the resistance value/capacitance value of the fixed cover shell is changed to control the CT to stop moving when the fixed cover shell collides with the cover shell of the CT frame. The former can not solve the problem of collision between the CT frame cover and the lower end of the CT scanning bed when the CT scanning bed is inclined, and the infrared sensor has the situation of doctor positioning interference; the latter can solve the problem of collision between the CT frame cover and the lower end of the CT scanning bed when the CT scanning bed is inclined, but the manufacturing cost of the resistive/capacitive CT scanning bed fixing cover and the CT frame cover is extremely high and millions.
In addition, there is also a collision protection method using software algorithm to detect the distance between the CT scanning bed and the CT gantry housing, but this method introduces the calculation risk of software, and there is still a risk of collision.
In summary, how to simply and efficiently prevent the CT scanning bed from colliding with the CT gantry housing is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a CT collision protection device, which can effectively prevent a CT scanning bed from colliding with a CT gantry housing, and has a simple structure and a low cost.
In addition, the invention also provides a CT collision protection method applied to the CT collision protection device.
In order to achieve the above purpose, the invention provides the following technical scheme:
a CT collision protection device comprising:
the collision distance sensor is vertically arranged on the end face, close to the CT rack housing, of the bed body of the CT scanning bed, and outputs warning information when the CT rack housing is detected to enter the safe distance of the bed plate of the CT scanning bed;
the infrared induction sensor is arranged at the upper end of the CT rack housing and outputs the warning information after detecting that the detected patient leaves a safe area;
the misoperation processing unit is used for outputting a collision signal when one of the CT scanning bed plate and the CT frame cover moves;
and the collision distance sensor, the infrared induction sensor and the misoperation processing unit are all connected with the control feedback unit so as to control the CT motion module to stop moving when simultaneously receiving the warning information and the collision signal.
Preferably, the axis of the collision distance sensor coincides with the axis of the bed body of the CT scanning bed in the length direction.
Preferably, the collision distance sensor includes an ultrasonic distance sensor, an infrared distance sensor, or a photoelectric sensor.
Preferably, the CT scanning bed further comprises a malfunction approach sensor connected with the malfunction processing unit, the malfunction approach sensor is mounted on the bed body of the CT scanning bed, and the detection direction of the malfunction approach sensor is not parallel to the detection direction of the collision distance sensor;
the malfunction processing unit outputs a collision signal when the malfunction approach sensor does not detect an obstacle in its detection direction.
Preferably, a detection direction of the malfunction approach sensor is perpendicular to a detection direction of the collision distance sensor.
Preferably, the malfunction proximity sensor includes a diffuse reflection photoelectric switch, a capacitance type proximity sensor, or a magnetic proximity sensor.
Preferably, the CT scanning bed further comprises a distance sensor connected with the control feedback unit, and the distance sensor is arranged on the end face, far away from the CT frame cover, of the bed body of the CT scanning bed so as to detect whether the bed plate of the CT scanning bed exits from the CT frame cover hole diameter of the CT frame cover;
when the distance sensor detects that the bed plate of the CT scanning bed is withdrawn from the aperture of the CT frame housing, the control feedback unit controls the bed body of the CT scanning bed to freely lift through the CT motion module.
A CT collision protection method, comprising:
detecting whether a CT frame cover shell appears in a safe distance of a bed plate of a CT scanning bed and detecting whether a detected patient is located in a safe area;
judging whether the bed plate of the CT scanning bed and the cover of the CT frame move relatively or not and/or judging whether misoperation is possible or not so as to avoid the misoperation;
and when the maloperation condition does not exist and the CT frame cover enters the safe distance of the bed plate of the CT scanning bed and/or the detected patient enters the outside of the safe area, controlling the CT to stop moving.
In the CT collision protection device, a collision distance sensor detects whether a CT frame cover enters a safe distance of a bed plate of a CT scanning bed so as to prevent the lower end of the CT frame cover from colliding with the bed plate of the CT scanning bed; the infrared induction sensor detects whether the detected patient is located in a safe area or not so as to prevent the upper end of the CT frame cover from extruding the detected patient due to the fact that the distance between the upper end of the CT frame cover and the bed plate of the CT scanning bed is too close. When the CT frame cover enters the safe distance of the bed plate of the CT scanning bed, the collision distance sensor outputs warning information; when the detected patient leaves the safe area, the infrared induction sensor outputs warning information.
Meanwhile, the misoperation processing unit judges whether the bed plate of the CT scanning bed and the cover of the CT frame have collision possibility, and when either one of the bed plate and the cover of the CT scanning bed is in a motion state, the possibility of collision is judged, and a collision signal is output; otherwise, when both are in a static state, the judgment is that no collision is possible, and the method belongs to misoperation interference such as doctor positioning and the like. And the control feedback unit controls the CT motion module to stop moving when receiving the warning information and the collision signal simultaneously.
It should be noted that the safe distance is the distance from the collision distance sensor to the bed plate of the CT scanning bed.
The CT collision protection device provided by the invention utilizes the collision distance sensor to detect whether the obstacle exists in the propagation direction of the CT collision protection device, avoids the distance between the CT frame housing and the CT scanning bed board in the calculation movement process, is simple and convenient in judgment mode, avoids the conditions of error and leakage, is accurate in judgment, realizes the simultaneous protection of the upper end of the CT frame housing for extruding the detected patient and the collision between the lower end of the CT frame housing and the CT scanning bed board, and effectively avoids the collision between the CT frame housing and the CT scanning bed compared with the prior art which only prevents the extrusion at the upper end of the CT frame housing.
Meanwhile, by arranging the misoperation processing unit, the invention realizes the discrimination of the misoperation such as the positioning of a doctor and the like, and avoids the frequent shutdown of the CT.
In addition, the control feedback unit completes collision judgment through real-time monitoring of the collision distance sensor and the infrared induction sensor, compared with the prior art that the data of the real-time movement condition of the CT is more accurate by utilizing the self-position information of the CT through software calculation, the control mode is simpler and more convenient, the operation time is short, the response speed is high, and the real-time protection in the movement process of the CT is facilitated.
In addition, the invention also provides a CT collision protection method for the CT collision protection device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a simplified schematic diagram of the motion of a CT gantry housing when it is tilted forward;
FIG. 2 is a schematic structural view of an embodiment of a CT collision protection apparatus provided in the present invention;
FIG. 3 is a simplified schematic illustration of the impact distance sensor mounting location of FIG. 2;
fig. 4 is a simplified schematic diagram of the first malfunction approach sensor mounting location of fig. 2;
fig. 5 is a simplified schematic diagram of the second malfunction approach sensor mounting location of fig. 2;
FIG. 6 is a control schematic diagram of an exemplary embodiment of a CT collision protection apparatus according to the present invention;
fig. 7 is a flowchart illustrating a CT collision protection method according to an embodiment of the present invention.
In fig. 1-7:
1 is a CT frame cover, 101 is the aperture of the CT frame cover, 2 is the bed body of the CT scanning bed, 3 is the bed plate of the CT scanning bed, 4 is a collision distance sensor, 5 is an infrared induction sensor, 6 is a malfunction approach sensor, 7 is a distance sensor, 8 is a malfunction processing unit, 9 is a control feedback unit, 10 is a CT motion module, 11 is a controller, a is the connecting line of the upper end of the front cover of the CT frame cover and the axis of the CT frame cover, b is the connecting line of the lower end of the front cover of the CT frame cover and the axis of the CT frame cover, c is the connecting line of the lower end of the rear cover of the CT frame cover and the axis of the CT frame cover, d is the connecting line of the upper end of the rear cover of the CT frame cover and the axis of the CT frame cover, e is the connecting line of the upper end of the front cover of the CT frame cover and the axis of the CT frame cover after forward tilting, f is the connecting line of the lower end of the front cover of the CT, h is a connecting line between the upper end of the rear cover of the CT frame cover and the axis of the CT frame cover after the front tilting, m is the detection direction of the collision distance sensor, x is the distance from the detection direction of the collision distance sensor to the symmetrical plane of the CT scanning bed body in the length direction, and y is the height from the collision distance sensor to the bed plate of the CT scanning bed.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a CT collision protection device which can effectively prevent a CT scanning bed from colliding with a CT frame cover and has simple structure and lower cost.
In addition, the invention also provides a CT collision protection method applied to the CT collision protection device.
Referring to fig. 1-7, the motion of the CT gantry housing when tilted forward is simplified; FIG. 2 is a schematic structural view of an embodiment of a CT collision protection apparatus provided in the present invention; FIG. 3 is a simplified schematic illustration of the impact distance sensor mounting location of FIG. 2; fig. 4 is a simplified schematic diagram of the first malfunction approach sensor mounting location of fig. 2; fig. 5 is a simplified schematic diagram of the second malfunction approach sensor mounting location of fig. 2; FIG. 6 is a control schematic diagram of an exemplary embodiment of a CT collision protection apparatus according to the present invention; fig. 7 is a flowchart illustrating a CT collision protection method according to an embodiment of the present invention.
The invention provides a CT collision protection device, comprising:
a collision distance sensor 4 vertically arranged on the end surface of the bed body 2 of the CT scanning bed, which is close to the CT frame encloser 1, and outputs warning information when detecting the safe distance that the CT frame encloser 1 enters the bed plate 3 of the CT scanning bed;
the infrared induction sensor 5 is arranged at the upper end of the CT frame cover 1 and outputs warning information after detecting that the detected patient leaves a safe area;
a malfunction processing unit 8 for outputting a collision signal when one of the bed plate 3 of the CT scanning bed and the housing 1 of the CT frame moves;
the control feedback unit 9 is used for being connected with the CT motion module 10, and the collision distance sensor 4, the infrared sensing sensor 5 and the misoperation processing unit 8 are all connected with the control feedback unit 9 so as to control the CT motion module 10 to stop moving when simultaneously receiving the warning information and the collision signal.
It should be noted that the safe distance is the distance from the collision distance sensor 4 to the bed plate 3 of the CT scanning bed.
Referring to fig. 1, the collision distance sensor 4 is disposed perpendicular to the end surface of the bed body 2 of the CT scanning bed, and the detection direction thereof is parallel to the length direction of the bed body 2 of the CT scanning bed, that is, the detection direction of the collision distance sensor 4 is parallel to the axial direction of the CT gantry housing 1.
Referring to fig. 3, in the figure, x represents a distance from a detection direction of the collision distance sensor 4 to a symmetrical plane of the CT scanning bed 2 in a length direction, and y represents a height from the collision distance sensor 4 to the CT scanning bed plate 3.
As can be seen from fig. 3, in the CT movement process, both sides of the CT scanning bed plate 3 in the width direction most easily collide with the CT frame housing 1, and the safety distance is set based on that both sides of the CT scanning bed plate 3 in the width direction do not collide with the CT frame housing 1. Namely, when the CT frame cover 1 enters the safe distance of the collision distance sensor 4, the CT frame cover 1 and the CT scanning bed plate 3 still do not collide, and the height y of the collision distance sensor 4 is the safe height.
It should be noted that the safe distance of the collision distance sensor 4 is related to the specific position x where the collision distance sensor 4 is disposed, and under the condition that the sizes of the CT gantry housing 1 and the CT scanning bed are fixed, referring to fig. 3, the larger the distance x from the collision distance sensor 4 to the symmetric plane of the CT scanning bed body 2 in the length direction is, the higher the height of the collision distance sensor 4 in the vertical direction is, the closer the collision distance to the bottom surface of the CT scanning bed plate 3 is, and the smaller the safe distance is.
The number of the collision distance sensors 4 is also related to the specific positions where the collision distance sensors are arranged, for example, when the collision distance sensors 4 are arranged on the axis of the bed body 2 of the CT scanning bed in the length direction, the distances from the collision distance sensors 4 to the bed body 2 of the CT scanning bed in the width direction and the height direction are the maximum distances, so that the collision distance sensors 4 are minimally interfered by misoperation such as doctor positioning, and only one collision distance sensor 4 can be arranged; when the collision distance sensors 4 are arranged at the edge of the CT scanning bed body 2 in the width direction, the safety distance is smaller and the collision distance sensors 4 are arranged at the edge of the CT scanning bed body 2, so that the detection of the collision distance sensors 4 is easily interfered by the positioning of a doctor, the clothes of a detected patient and the like, the two collision distance sensors 4 are respectively arranged at two sides of the CT scanning bed body 2 in the width direction, and the interference of the false action on the detection is reduced by the way of detecting the two collision distance sensors simultaneously.
Preferably, in consideration of cost and malfunction interference, the axis of the collision distance sensor 4 may be overlapped with the axis of the CT scanning bed 2 in the length direction.
Because the CT frame cover 1 tilts back and forth, the CT scanning bed body 2 moves vertically and the CT scanning bed plate 3 moves longitudinally in the CT scanning process, the motion relationship is relatively complex, and the motion relationship needs to be correspondingly simplified so as to facilitate collision detection.
Referring to a simplified schematic diagram of the movement of the CT gantry housing 1 when it tilts forward in fig. 1, in the diagram, a is a connection line between the upper end of the front cover of the CT gantry housing 1 and the axis of the CT gantry housing 1, b is a connection line between the lower end of the front cover of the CT gantry housing 1 and the axis of the CT gantry housing 1, c is a connection line between the lower end of the rear cover of the CT gantry housing 1 and the axis of the CT gantry housing 1, d is a connection line between the upper end of the rear cover of the CT gantry housing 1 after it tilts forward and the axis of the CT gantry housing 1, e is a connection line between the upper end of the front cover of the CT gantry housing 1 after it tilts forward and the axis of the CT gantry housing 1, f is a connection line between the lower end of the front cover of the CT gantry housing 1 after it tilts forward and the axis of the CT gantry housing 1, h is a connection line between the upper end of the rear cover of the CT gantry housing 1 after it tilts forward and the CT gantry housing 1.
As can be seen from fig. 1, when the position of the CT scanning bed is determined, the front-back tilting motion of the CT gantry housing 1 is similar to a seesaw, i.e. when one end is relatively close to the bed plate 3 of the CT scanning bed, the other end is relatively far away from the bed plate 3 of the CT scanning bed, so that there is a possibility of missing collision risk in the detection mode that the distance sensor is arranged on the CT gantry housing 1 to detect the distance between the two, for example, the distance sensor arranged at the lower end of the front cover of the CT gantry housing 1 increases with the increase of the proximity between the two when the CT gantry housing 1 tilts forward.
Therefore, in order to avoid missing the risk of collision, the collision distance sensor 4 is disposed on the CT scanning table, or distance sensors are disposed at multiple positions of the CT gantry housing 1. The collision distance sensor 4 is installed on the CT scanning bed in consideration of installation costs of the sensors and an increase in risk of malfunction introduced by the plurality of sensors. Considering that the vertical lifting of the bed plate 3 of the CT scanning bed is realized by the vertical lifting of the bed plate 2 of the CT scanning bed, the collision distance sensor 4 is arranged on the bed plate 2 of the CT scanning bed so as to ensure that the safe distance from the collision distance sensor 4 to the bed plate 3 of the CT scanning bed is not changed in the vertical lifting process.
Preferably, the collision distance sensor 4 may include an ultrasonic distance sensor, an infrared distance sensor, or a photoelectric distance sensor. When the CT scanning bed is used, the collision distance sensor 4 sends out ultrasonic waves, infrared rays or laser to detect whether an obstacle exists in the detection direction m, if the obstacle exists, the safe distance that the CT frame housing 1 enters the CT scanning bed plate 3 is indicated, collision risk exists when the CT scanning bed plate continues to move, and the collision distance sensor 4 outputs warning information to the control feedback unit 9.
Of course, the collision distance sensor 4 may be provided in any other structure having a similar function in distance, such as a proximity switch.
The infrared sensor 5 detects whether the detected patient is in a safe area through infrared, judges whether the risk that the upper end of the CT frame housing 1 extrudes the detected patient exists, and outputs warning information to the control feedback unit 9 when the risk exists.
Since the detection of the collision distance sensor 4 is influenced by the positioning of the doctor, etc., to avoid frequent shutdown of the CT, a malfunction processing unit 8 is required to analyze whether there is a possibility of collision in the current motion state CT.
The controller 11 is arranged on both the CT scanning bed and the CT frame cover 1, the false operation processing unit 8 is connected with the controller 11, and the motion information of the bed plate 3 of the CT scanning bed and the motion information of the CT frame cover 1 can be obtained, and the possibility of collision can be analyzed according to the motion information.
Preferably, the malfunction processing unit 8 may be an and or gate circuit, and outputs a high level when either one of the CT gantry cover 1 and the CT scanning bed plate 3 moves, so as to convert the movement information of the two into the circuit control signal.
The control feedback unit 9 may include a collision conversion circuit and an and circuit connected to a motor control circuit of the CT motion module 10. The collision conversion circuit is connected with the collision distance sensor 4 and the infrared induction sensor 5, and converts the warning information transmitted by the sensors into high level. The collision conversion circuit and the malfunction processing unit 8 are both communicated with the AND gate circuit, when the collision conversion circuit and the malfunction processing unit are both at high level, the AND gate circuit outputs high level, and the motor control circuit of the CT motion module 10 controls the motor to stop, so that the CT stops.
Preferably, the control feedback unit 9 can be integrated into the system control unit module of the CT itself, so as to simplify the control circuit structure and save the installation space.
In the working process of CT scanning, the collision distance sensor 4 detects whether the CT frame cover 1 enters the safe distance of the bed plate 3 of the CT scanning bed so as to prevent the lower end of the CT frame cover 1 from colliding with the bed plate 3 of the CT scanning bed; the infrared induction sensor 5 detects whether the detected patient is located in a safe area or not so as to prevent the detected patient from being extruded due to the fact that the upper end of the CT machine frame cover 1 is too close to the bed plate 3 of the CT scanning bed. When the CT frame cover 1 enters the safe distance of the bed plate 3 of the CT scanning bed, the collision distance sensor 4 outputs warning information; when the patient leaves the safe area, the infrared sensor 5 outputs warning information.
Meanwhile, the false operation processing unit 8 judges the possibility of collision between the bed plate 3 of the CT scanning bed and the cover 1 of the CT frame by judging whether the bed plate and the cover move or not, and if any one of the bed plate and the cover is in a moving state, judges that the possibility of collision exists and outputs a collision signal; otherwise, the two are both in a static state, and no collision is possible, so that the method belongs to misoperation interference such as doctor positioning and the like. The control feedback unit 9 controls the CT motion module 10 to stop moving when receiving the warning information and the collision signal at the same time.
In this embodiment, whether there is the barrier in its direction of propagation utilizing collision distance sensor 4 to detect, the distance of CT frame housing 1 and CT scanning bed board 3 has been avoided calculating in the motion process, it is simple convenient to judge the mode, and the condition of mistake and leak has been avoided, it is accurate to judge, consequently, it protects when having realized that the patient is examined and CT frame housing 1 lower extreme and CT scanning bed board 3 collision are examined to CT frame housing 1 upper end extrusion, compare in the extrusion of only preventing CT frame housing 1 upper end among the prior art, effectively avoided the emergence of collision between CT frame housing 1 and CT scanning bed.
Meanwhile, by arranging the misoperation processing unit 8, the embodiment realizes the discrimination of the misoperation such as the positioning of a doctor and the like, and avoids the frequent shutdown of the CT.
In addition, the control feedback unit 9 in this embodiment completes collision determination through real-time monitoring of the collision distance sensor 4 and the infrared sensor 5, and compared with the prior art that the real-time movement condition of the CT is calculated through software by using the position information of the CT itself, the data of the real-time movement condition of the CT is more accurate, the control mode is simpler and more convenient, the operation time is short, the response speed is high, and real-time protection in the movement process of the CT is facilitated.
On the basis of the above embodiment, the bed may further include a malfunction approach sensor 6 connected to the malfunction processing unit 8, the malfunction approach sensor 6 is mounted on the bed body 2 of the CT scanning bed, and the detection direction of the malfunction approach sensor 6 is not parallel to the detection direction of the collision distance sensor 4; when the malfunction approach sensor 6 does not detect an obstacle in its detection direction, the malfunction processing unit 8 outputs a collision signal.
Preferably, one malfunction approach sensor 6 may be disposed on each of two sides of the CT scanning bed body 2, and as shown in fig. 4 and 5, a first malfunction approach sensor is disposed on the right side surface of the CT scanning bed body 2, and a second malfunction approach sensor is disposed on the left side surface of the CT scanning bed body 2, with a direction in which the CT scanning bed plate 3 approaches the CT gantry housing 1 as a front view direction.
Preferably, the first malfunction approach sensor and the second malfunction approach sensor may be arranged to be symmetrical with respect to a symmetry plane of the CT scanning bed 2 in the longitudinal direction.
Preferably, the malfunction proximity sensor 6 may include a diffuse reflection photoelectric switch, a capacitance type proximity sensor, or a magnetic proximity sensor.
The first malfunction proximity sensor may be the same or different in type and specification from the second malfunction proximity sensor, and preferably, both the first malfunction proximity sensor and the second malfunction proximity sensor are provided to be the same in type and specification, thereby reducing the number of parts in the apparatus and improving the interchangeability of the parts.
In the present embodiment, since the detection direction of the malfunction approach sensor 6 is not parallel to the detection direction of the collision distance sensor 4, the malfunction approach sensor 6 can detect whether an obstacle exists in the width direction of the CT scanning bed 2, and the obstacle existing in the width direction of the CT scanning bed 2 is not generated by CT movement but generated by doctor positioning or the like, so that the malfunction approach sensor 6 can further eliminate the malfunction, and the accuracy and reliability of the determination by the malfunction processing unit 8 are improved.
Preferably, the detection direction of the malfunction approach sensor 6 may be set to be perpendicular to the detection direction of the collision distance sensor 4.
On the basis of the above embodiment, the bed device may further include a distance sensor 7 connected to the control feedback unit 9, wherein the distance sensor 7 is disposed on an end surface of the bed body 2 of the CT scanning bed away from the CT gantry housing 1 to detect whether the bed plate 3 of the CT scanning bed exits from the CT gantry housing aperture 101 of the CT gantry housing 1; when the distance sensor 7 detects that the bed plate 3 of the CT scanning bed is withdrawn from the aperture 101 of the CT frame cover, the control feedback unit 9 controls the CT motion module 10 to automatically lift through the bed body 2 of the CT scanning bed.
According to the length of the bed body 2 of the CT scanning bed, the length of the bed plate 3 of the CT scanning bed and the minimum linear distance from the bed body 2 of the CT scanning bed to the CT frame housing 1, the distance from the bed plate 3 of the CT scanning bed to the end face, far away from the CT frame housing 1, of the bed body 2 of the CT scanning bed when the bed plate 3 of the CT scanning bed just exits from the aperture 101 of the CT frame housing can be calculated, and the distance is used as the exiting distance.
When the distance detected by the distance sensor 7 is greater than the exit distance, the control feedback unit 9 judges that the bed plate 3 of the CT scanning bed is still positioned in the aperture 101 of the CT frame housing, and the control feedback unit 9 controls the bed plate 2 of the CT scanning bed to lift at a slower speed through the CT motion module 10 so as to prevent the bed plate 3 of the CT scanning bed from colliding with the CT frame housing 1 due to too high lifting speed; when the distance that distance sensor 7 detected is less than or equal to and withdraws from the distance, control feedback unit 9 judges that CT scanning bed board 3 withdraws from CT frame housing aperture 101 in, control feedback unit 9 passes through CT motion module 10 control CT scanning bed board 2 freely to go up and down, and its motion no longer receives the restriction of the warning information of collision distance sensor 4 output to make things convenient for going on fast, improving detection scanning efficiency of CT scanning process.
Preferably, the distance sensor 7 can be arranged on the axis of the bed 2 of the CT scanning bed in the length direction.
The distance sensor 7 may be an ultrasonic distance sensor, an infrared distance sensor, or any other structure having a distance measuring function.
In addition to the CT collision protection device, the present invention also provides a CT collision protection method including the CT collision protection device disclosed in the above embodiment, please refer to fig. 4, the CT collision protection method includes:
step S1, detecting whether a CT frame cover 1 appears in the safe distance of the bed plate 3 of the CT scanning bed, and detecting whether the detected patient is in the safe area;
step S2, judging whether the bed plate 3 of the CT scanning bed and the cover 1 of the CT frame move relatively to avoid the malfunction;
step S3, when there is no malfunction and the CT frame cover 1 enters the safe distance of the bed plate 3 of the CT scanning bed and/or the tested patient enters the safe area, the CT is controlled to stop moving.
It should be noted that in step S1, it is detected whether the CT gantry housing 1 is present within the safety distance of the CT scanning bed plate 3 to prevent the lower end of the CT gantry housing 1 from colliding with the CT scanning bed plate 3; whether the patient to be examined is located in the safety area or not is detected for preventing the upper end of the CT frame casing 1 from pressing the patient to be examined.
Preferably, the detection of whether the CT gantry housing 1 is located within the safe distance of the CT scanning bed plate 3 can be realized by using the collision distance sensor 4 such as an ultrasonic distance sensor, an infrared distance sensor, and the like. The collision distance sensor 4 is vertically arranged on the end face, close to the CT frame cover 1, of the CT scanning bed body 2, the collision distance sensor 4 sends out ultrasonic waves, infrared rays and the like to detect whether obstacles exist in the propagation direction of the collision distance sensor, and if the obstacles exist, the CT frame cover 1 is considered to enter the safe distance of the CT scanning bed plate 3.
In step S2, since there is a possibility that a doctor or clothes may enter a safe area of the CT scan bed top 3 and cause malfunction of CT shutdown when the doctor is in a sitting position in the detection mode of step S1, it is necessary to determine whether there is a possibility of collision between the doctor and the CT scan bed top in order to prevent frequent shutdown. The possibility of collision between the bed plate 3 of the CT scanning bed and the housing 1 of the CT frame can be judged by judging whether the two move relatively or not and by eliminating the possibility of false operation.
Preferably, the motion information transmitted by the controller 11 of the CT scanner can be used to judge whether there is relative motion between the CT scanning bed plate 3 and the CT gantry housing 1, and when both are stationary, it is considered that there is no possibility of collision, otherwise there is a collision risk.
The false action caused by the positioning of the doctor can be discriminated by detecting whether the barrier exists in the width direction of the bed body 2 of the CT scanning bed because the doctor stands near the bed body 2 of the CT scanning bed.
In the present specification, the first and second malfunction sensing sensors are used only for distinguishing the difference in position, and do not include any order limitation.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The CT collision protection device and the CT collision protection method thereof provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (8)
1. A CT collision protection device, comprising:
a collision distance sensor (4) vertically arranged on the end face of the bed body (2) of the CT scanning bed, which is close to the CT frame cover (1), and outputs warning information when detecting that the CT frame cover (1) enters the safe distance of the bed plate (3) of the CT scanning bed;
the infrared induction sensor (5) is arranged at the upper end of the CT rack cover (1), and outputs the warning information after detecting that the patient to be detected leaves a safe area;
a malfunction processing unit (8) for outputting a collision signal when one of the CT scanning bed plate (3) and the CT frame cover (1) moves;
the control feedback unit (9) is used for being connected with the CT motion module (10), the collision distance sensor (4), the infrared induction sensor (5) and the misoperation processing unit (8) are connected with the control feedback unit (9) so as to receive the warning information and the collision signal at the same time and control the CT motion module (10) to stop moving.
2. The CT collision protection device according to claim 1, characterized in that the axis of the collision distance sensor (4) coincides with the axis of the CT scanning bed (2) in the length direction.
3. CT collision protection device according to claim 1, characterized in that the collision distance sensor (4) comprises an ultrasonic distance sensor, an infrared distance sensor or a photoelectric sensor.
4. The CT collision protection device according to any one of claims 1-3, characterized by further comprising a malfunction approach sensor (6) connected to the malfunction processing unit (8), wherein the malfunction approach sensor (6) is mounted on the bed body (2) of the CT scanning bed, and the detection direction of the malfunction approach sensor (6) is not parallel to the detection direction of the collision distance sensor (4);
the malfunction processing unit (8) outputs a collision signal when the malfunction approach sensor (6) does not detect an obstacle in its detection direction.
5. The CT crash guard according to claim 4, characterized in that the detection direction of the malfunction approach sensor (6) is perpendicular to the detection direction of the collision distance sensor (4).
6. The CT crash guard of claim 4, wherein the malfunction proximity sensor (6) comprises a diffusely reflecting photoelectric switch, a capacitive proximity sensor, or a magnetic proximity sensor.
7. The CT collision protection device according to claim 4, further comprising a distance sensor (7) connected to the control feedback unit (9), wherein the distance sensor (7) is disposed on an end surface of the CT scanning couch body (2) away from the CT frame enclosure (1) to detect whether the CT scanning couch plate (3) exits the CT frame enclosure aperture (101) of the CT frame enclosure (1);
when the distance sensor (7) detects that the bed plate (3) of the CT scanning bed exits from the aperture (101) of the CT frame housing, the control feedback unit (9) controls the bed body (2) of the CT scanning bed to freely lift through the CT motion module (10).
8. A CT collision protection method, comprising:
detecting whether a CT frame cover (1) appears in a safe distance of a bed plate (3) of a CT scanning bed and detecting whether a detected patient is located in a safe area;
judging whether the bed plate (3) of the CT scanning bed and the cover (1) of the CT frame move relatively or not and/or judging whether misoperation is possible or not so as to avoid the misoperation;
and when the maloperation condition does not exist and the CT frame cover (1) enters the safe distance of the bed plate (3) of the CT scanning bed and/or the detected patient enters the outside of the safe area, controlling the CT to stop moving.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010567729.2A CN111588404A (en) | 2020-06-19 | 2020-06-19 | CT collision protection device and CT collision protection method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010567729.2A CN111588404A (en) | 2020-06-19 | 2020-06-19 | CT collision protection device and CT collision protection method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112043300A (en) * | 2020-08-31 | 2020-12-08 | 上海西门子医疗器械有限公司 | Collision avoidance apparatus and method, and computer-readable storage medium |
| CN114886704A (en) * | 2022-06-14 | 2022-08-12 | 深圳市联影高端医疗装备创新研究院 | Control method and device of examination bed, computer equipment and storage medium |
| CN116115252A (en) * | 2023-04-14 | 2023-05-16 | 赛诺威盛科技(北京)股份有限公司 | Vertical scanning CT safety protection system and method |
-
2020
- 2020-06-19 CN CN202010567729.2A patent/CN111588404A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112043300A (en) * | 2020-08-31 | 2020-12-08 | 上海西门子医疗器械有限公司 | Collision avoidance apparatus and method, and computer-readable storage medium |
| CN112043300B (en) * | 2020-08-31 | 2023-10-20 | 上海西门子医疗器械有限公司 | Anti-collision device and method, and computer-readable storage medium |
| CN114886704A (en) * | 2022-06-14 | 2022-08-12 | 深圳市联影高端医疗装备创新研究院 | Control method and device of examination bed, computer equipment and storage medium |
| CN114886704B (en) * | 2022-06-14 | 2023-11-21 | 深圳市联影高端医疗装备创新研究院 | Control method and device for examining table, computer equipment and storage medium |
| CN116115252A (en) * | 2023-04-14 | 2023-05-16 | 赛诺威盛科技(北京)股份有限公司 | Vertical scanning CT safety protection system and method |
| CN116115252B (en) * | 2023-04-14 | 2023-12-22 | 赛诺威盛科技(北京)股份有限公司 | Vertical scanning CT safety protection system and method |
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