CN115990096A

CN115990096A - Medical bed and motion control method thereof

Info

Publication number: CN115990096A
Application number: CN202111213782.3A
Authority: CN
Inventors: 刘宁; 齐伟
Original assignee: Shanghai United Imaging Healthcare Co Ltd
Current assignee: Shanghai United Imaging Healthcare Co Ltd
Priority date: 2021-10-19
Filing date: 2021-10-19
Publication date: 2023-04-21

Abstract

Embodiments of the present disclosure provide a medical bed and a motion control method thereof. The medical bed comprises: the detector is arranged on the medical bed and is used for acquiring the position information of the target main body; a control system for determining a change in position of the target subject based on the position information, and controlling the movement of the medical bed according to the change in position.

Description

Medical bed and motion control method thereof

Technical Field

The present disclosure relates to the field of medical devices, and more particularly, to a medical bed and a motion control method thereof.

Background

In the practice of medical beds, it is necessary to move the medical bed between different sites or positions. For example, when a further positron emission tomography (Positron Emission Tomography, PET) scan is required after an electronic computed tomography (Computed Tomography, CT) scan is performed on a patient, the patient needs to be moved from the scanning position of the CT scanner to the scanning position of the PET scanner by pushing the medical bed. For another example, when a patient requires surgery or scanning imaging, the patient needs to be moved from the patient room to the operating room or scanning room by pushing the medical bed. When the medical bed is moved, the medical bed is inconvenient to move due to heavy and laborious movement and the like.

Accordingly, it is desirable to provide a medical bed having an automatic following function and a motion control method of the medical bed.

Disclosure of Invention

One of the embodiments of the present description provides a medical bed. The medical bed comprises: the detector is arranged on the medical bed and is used for acquiring the position information of the target main body; a control system for determining a change in position of the target subject based on the position information, and controlling the movement of the medical bed according to the change in position.

In some embodiments, the target subject comprises a person located within a detection area of the detector, and the positional information comprises a physical location of one or more points within a third of the person's head.

In some embodiments, the medical bed includes at least two passive-type detectors with detection regions at least partially overlapping, the medical bed acquiring positional information of the target subject via the at least two passive-type detectors.

In some embodiments, the control system is further configured to: acquiring a first azimuth angle and a second azimuth angle of the target main body through the at least two passive detectors respectively; and determining location information of the target subject based on the first azimuth and the second azimuth.

In some embodiments, the total field of view of the at least two passive detectors in the horizontal direction is no less than 180 °.

In some embodiments, the detection range corresponding to the total field angle of the at least two passive detectors in the vertical direction covers at least a portion of the target subject.

In some embodiments, the detection range corresponding to the total field angle of the detector in the vertical direction covers the chest and the area above the chest of the target subject.

In some embodiments, the change in position includes a change in distance and/or a change in position of the target subject; the control system is further configured to: acquiring a reference position; and determining a change in position of the target subject based on the reference position and the position information.

In some embodiments, the control system is further configured to: and controlling the medical bed to move along with the target main body according to the position change.

In some embodiments, the medical bed further comprises an obstacle avoidance device for acquiring road condition information around the medical bed, the road condition information at least comprising obstacle information and/or road information in a movement direction of the medical bed; the control system is also used for controlling the movement of the medical bed according to the position change and the road condition information around the medical bed.

One of the embodiments of the present specification provides a method of controlling movement of a medical bed. The method is performed by at least one processor and includes: acquiring position information of a target main body through a detection module, wherein the detection module is arranged on the medical bed; determining a change in position of the target subject based on the position information; and controlling the movement of the medical bed according to the position change.

One of the embodiments of the present description provides a motion control system for a medical bed, the system comprising: the acquisition module is used for acquiring the position information of the target main body through the detection module, wherein the detection module is arranged on the medical bed; a determining module, configured to determine a change in position of the target subject based on the position information; and a control module for controlling the movement of the medical bed according to the position change.

One of the embodiments of the present description provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method as described above when executing the computer program.

One of the embodiments of the present description provides a computer-readable storage medium storing computer instructions that, when read by a computer, perform a method as described above.

Drawings

The present specification will be further elucidated by way of example embodiments, which will be described in detail by means of the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:

FIG. 1 is a schematic illustration of an exemplary configuration of a medical bed according to some embodiments of the present disclosure;

FIG. 2 is an exemplary block diagram of a medical bed motion control system according to some embodiments of the present disclosure;

FIG. 3 is an exemplary flow chart of a medical bed motion control method according to some embodiments of the present description;

FIGS. 4-6 are exemplary diagrams of a probe acquiring position information of a target subject according to some embodiments of the present disclosure;

FIGS. 7-8 are exemplary schematic views of a medical bed according to some embodiments of the present description;

FIG. 9 is an exemplary flow chart of a medical bed motion control method according to other embodiments of the present disclosure;

FIG. 10 is an exemplary diagram of a medical bed acquiring positional information of a target subject according to other embodiments of the present disclosure;

FIG. 11 is an exemplary flow chart of a medical bed motion control method according to other embodiments of the present disclosure;

fig. 12 is an exemplary schematic view of a medical bed acquiring positional information of a target subject according to other embodiments of the present specification.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present specification, and it is possible for those of ordinary skill in the art to apply the present specification to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.

It will be appreciated that "system," "apparatus," "unit" and/or "module" as used herein is one method for distinguishing between different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.

A flowchart is used in this specification to describe the operations performed by the system according to embodiments of the present specification. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.

The embodiment of the specification provides a medical bed, can acquire the position change of target main part (such as medical personnel) through the detector (such as infrared detector) of installing on the medical bed, based on the position change of target main part, control medical bed is automatic to follow this target main part motion, makes the user more laborsaving in the removal in-process of medical bed, can improve medical examination efficiency simultaneously.

FIG. 1 is a schematic illustration of an exemplary configuration of a medical bed according to some embodiments of the present description.

As shown in fig. 1, in some embodiments, the medical bed 100 may include a detector 110, a control system 120, a drive component 130, and a movement component 140. In some embodiments, the patient support 100 may acquire a change in position of the target subject via the detector 110, determine a movement command of the patient support 100 based on the change in position via the control system 120, and send the movement command to the driving unit 130, and the driving unit 130 drives the moving unit 140 to move, thereby controlling the patient support 100 to automatically follow the movement of the target subject.

In some embodiments, the probe 110 may be used to obtain position information, motion information (e.g., displacement, velocity, etc.), pose information, etc. of the target subject. The target subject may be, among other things, a maintenance and/or user of a medical bed located within the detection area of the detector 110, such as a medical care provider, e.g., doctor, nurse, technician, etc. In some embodiments, the location information may include the physical location of one or more points on the central axis of the target subject. The central axis may be a central axis in the vertical direction or a central axis in the horizontal direction. As described herein, a vertical direction may refer to a direction perpendicular to the ground, and a horizontal direction may refer to a direction parallel to the ground; the central axis in the vertical direction may refer to a straight line or a curve formed by connecting geometric center points of a plurality of sections of the target body in the horizontal direction; the central axis in the horizontal direction may refer to a straight line or a curve formed by connecting geometric center points of a plurality of sections of the target body in the vertical direction. In some embodiments, the location information may include the physical location of one or more points on the central axis of the target subject within one third of the area near the head (e.g., the chest or above the chest). For example, the positional information may be the physical position of one of the points on the central axis in the vertical direction above the chest of the target subject, or an average of the physical positions of a plurality of points. In some embodiments, the detector 110 may receive or detect information (e.g., position, orientation, pose, etc.) of the target subject. For example, when a healthcare worker is present within the field of view (i.e., detection zone) of the detector 110, the detector 110 may output a voltage or digital signal to obtain information such as the direction of the target subject.

In some embodiments, the detector 110 may be configured to passively receive signals generated by the target subject, i.e., the detector may receive signals from objects within the detection region without actively transmitting signals to the outside world. In some embodiments, the detector 110 may include an infrared detector, a radar detector, or the like, or any combination thereof. For example, if the detector 110 is a passive infrared detector, when the medical staff is in the detection area of the detector 110, more infrared rays are spontaneously generated due to relatively high heat of the human body, and the detector 110 can passively receive the generated infrared rays to further obtain information such as the position of the target object. In some embodiments, detector 110 may include a detector array, e.g., a detector array of detector 1, detector 2, …, detector n. In some embodiments, each detector in the detector array (or each pixel in each detection) may detect a particular field of view angle. The area covered by the view field angle within a certain range of the distance detector is the detection area of the detector. In some embodiments, the detector array includes, but is not limited to, a one-dimensional detector array, a two-dimensional detector array, and the like. In some embodiments, the detector array may include at least two infrared detectors. In some embodiments, the at least two infrared detectors may be the same or different types of passive detectors. For example, the detector 1, the detectors 2, …, and the detector n may each be a thermopile sensor. As another example, the detectors 1 and 2 may be thermopile sensors, and the other detectors may be pyroelectric sensors, or the like. In some embodiments, the detection regions of the at least two infrared detectors at least partially overlap. By at least partially overlapping the detection areas of at least two detectors, on one hand, gaps among the detection areas of a plurality of detectors can be avoided, and detection blind areas are avoided; on the other hand, the target main body can be detected and positioned through the detector with the partial overlapping area, so that multiple groups of detection data are obtained, and the positioning effect is more accurate. In some embodiments, the detector 110 may acquire the position information of the target subject by detecting with at least two infrared detectors. For example, as shown in fig. 5, the detector 110 may acquire information of a target subject in a first detection area composed of abcdec through the detector 1 located at point a, and acquire information of a target subject in a second detection area composed of FGBCDE through the detector 2 located at point F, wherein the first detection area and the second detection area may have an overlapping area GBCDE.

In some embodiments, the detector 110 may be mounted to one or more of the front, rear, left, right sides of the patient support 100. In some embodiments, the detector 110 may be a horizontally distributed one-dimensional array. For example, the detectors 1, 2, …, n may be spaced along the horizontal line of one side edge of the patient support 100 (as shown in fig. 10 or 12). In some embodiments, the detector 110 may be a vertically distributed one-dimensional array. For example, the detectors 1, 2, …, n may be arranged at intervals along the same straight line in the vertical direction of the edge of one side of the medical bed 100. In some embodiments, the plurality of detectors of the detector 110 may each have a different set tilt angle, i.e., the tilt angle of the central axis of the field of view of the detector from the horizontal or vertical plane. By way of example only, as shown in fig. 10, the detector 110 may include 5 detectors, the detector 1 and the detector 2 may be disposed adjacent (i.e., with little or no gaps therebetween) in a first position of the medical bed 100, and the centers of fields of view of the detector 1 and the detector 2 may each be oriented at the same or different inclinations in different directions with respect to the longitudinal central axis of the medical bed 100; the detector 3 may be disposed in a second position of the medical couch 100, and the angle between the central axis of the field of view and the central longitudinal axis of the medical couch 100 may be 0; the detector 4 and the detector 5 may be adjacently disposed in a third position of the medical bed 100, and the centers of fields of view of the detector 4 and the detector 5 may be oriented in different directions with respect to the longitudinal center axis of the medical bed 100 at the same or different inclinations, respectively. Wherein, the longitudinal direction of the medical bed may refer to the longitudinal direction of the medical bed deck, as shown in fig. 10, and the longitudinal central axis may refer to the central axis of the longitudinal direction of the deck; the first position point, the second position point and the third position point may be on the same horizontal line with a certain interval therebetween. The plurality of detectors are arranged to have different inclination angles, so that the detection range of each detection point (such as the center point or the center point of gravity of the target main body) can be enlarged by the detector 110, the detection range corresponding to the total field angle in the vertical direction can cover an object in a certain height range in the vertical direction, the target main body can be positioned in multiple directions based on the detection range, errors are reduced, and positioning accuracy is improved.

In some embodiments, the plurality of detectors of detector 110 may be a two-dimensional array distribution. Illustratively, the detectors 1, 2 may be spaced along a first horizontal line of one side edge of the bed board of the medical bed 100, the detectors 3, 4 may be spaced along a second horizontal line of the side edge of the medical bed 100, and the first horizontal line may be parallel to the second horizontal line, e.g., the detectors 1, 2 may be disposed as a set of spaces on the upper edge of the side edge of the bed board, and the detectors 3, 4 may be disposed as another set of spaces on the lower edge of the side edge of the bed board.

In some implementations, at least two of the detectors 110 may be disposed adjacent. The adjacent arrangement may be that there is no or little gap between the two detectors. For example, the arrangement of the detectors 1 and 2 or the detectors 4 and 5 shown in fig. 10. In some embodiments, the detection areas of two adjacently disposed detectors may cover different ranges. In some embodiments, the detection regions of two adjacently disposed detectors may at least partially overlap.

In some embodiments, at least two of the detectors 110 may have a total field of view in the horizontal direction of no less than 180 °. The total field angle of the plurality of detectors is an angle formed by two edges of a total detection area (or a total field of view range) of the plurality of detectors, for example, an angle formed by two edges of the total detection area (or the total field of view range) of the plurality of detectors in a horizontal direction is an angle of field in a horizontal direction, and an angle formed by two edges in a vertical direction is an angle of total field in a vertical direction. For example, the detector 110 may include 5 detectors, the detectors 1 and 2 in the first group of detectors may be adjacently disposed at one position point of the medical bed 100 and there is a partially overlapped detection area, the detectors 4 and 5 in the second group of detectors may be adjacently disposed at another position point of the medical bed 100 and there is a partially overlapped detection area, the detectors 3 may be disposed at positions different from those of the first group of detectors and the second group of detectors, and then the detection directions (i.e., the directions of the central axes of the fields of view) of the detectors 3, the first group of detectors and the second group of detectors in the horizontal direction may be respectively oriented in different directions so that the total viewing angle of the detectors 3, the first group of detectors and the second group of detectors in the horizontal direction is greater than or equal to 180 °. By setting the total angle of view of the detector in the horizontal direction to be not less than 180 °, the detector can be made to receive signals of its entire installation side, so as to ensure that the target body can be always in the detection area, thereby better avoiding the occurrence of a situation in which the position information of the target body is lost. For example, as shown in fig. 12, when the target subject is located at the position shown in fig. 12, even if the target subject is not detected in the first detection region and the fifth detection region, the target subject can be detected in time in the second detection region, the third detection region, and the fourth detection region, so that loss of the positional information of the target subject can be avoided. In some embodiments, the total field angle of view of at least two of the detectors 110 in the horizontal direction may be not less than 170 °, or 150 °, or 120 °, etc., which is not limited in this specification.

In some embodiments, as shown in fig. 7 or 8, the detection region of the detector 110 may include an obliquely upper region of the medical bed. In some embodiments, a detection range corresponding to a total field angle of at least two of the detectors 110 in the vertical direction covers at least a portion of the target subject. For example, the detection ranges of the detectors 1, 2, …, and n corresponding to the total field angles in the vertical direction may cover the chest and the chest-above region of the target subject (as shown in fig. 7). In some embodiments, the angle of the center line (or central axis) of the total field angle of the detector 110 with the highest horizontal plane in which the medical couch 100 is located may be in the range of 0 ° to 90 ° or in the range of 15 ° to 60 ° such that the detection region of the detector 110 may include an obliquely upper region of the medical couch or a detection range corresponding to the total field angle of at least two of the detectors 110 in the vertical direction covers at least a portion of the target subject. In some embodiments, the range of angles may be within the angular range of the field of view of the detector in the vertical direction (e.g., 0 deg. to 180 deg.). It will be appreciated that the above-described detector-related angular ranges are by way of example only, and that in some embodiments the angular ranges may include any angle that enables detection of a target subject. Because the human body can swing arms and legs at the middle and lower parts of the human body in the walking process, the detection and positioning of the human body are affected, the image outline of the chest and above is relatively stable, and the positioning is more convenient and accurate. In addition, due to the height limitation of the medical bed and the inclined upward detection mode of the detector, the farther from the medical bed, the higher the height required for entering the detection area of the detector, while the target subject is generally closest to the medical bed 100, when the detector detects the chest and the area above the chest of the target subject, the other people on the rear side of the target subject can be better prevented from entering the detection field of view.

In some embodiments, the control system 120 may determine a change in the position of the target subject, e.g., a change in the position of the target subject relative to the medical bed 100, or a change in the position of the current time of the target subject relative to the initial position or the position of the last time, based on the position information of the target subject. In some embodiments, the position change may include a distance change, a speed change, and/or an orientation change of the target subject. In some embodiments, the control system 120 may determine a change in the position of the target subject based on the reference position and the current position information of the target subject. For example, the control system 120 may determine the speed variation amount of the target subject based on the reference position coordinates of the target subject and time information thereof, and the current position coordinates and time information. In some embodiments, the reference position may include an initial baseline position of the target subject, or last acquired target subject position information.

In some embodiments, the control system 120 may determine movement information of the medical bed 100 based on the change in the position of the target subject. In some embodiments, the movement information may include a direction of movement of the patient support 100 (e.g., left turn, forward, backward, right turn, etc.), a distance of movement (e.g., 0.5 meters forward, 1 meter, 2 meters forward, etc.), a speed of movement, etc. For example, the control system 120 may determine the movement speed of the medical bed 100 based on the speed change of the target subject.

In some embodiments, the control system 120 may include a processor. In some embodiments, the control system 120 may include a single chip microcomputer (Microcontroller Unit, MCU) control system. In some embodiments, control system 120 may include, but is not limited to, programmable chips, desktop computers, notebook computers, cell phone mobile terminals, iPad mobile terminals, and the like.

In some embodiments, the drive member 130 may be used to drive movement of the patient support 100. For example, the driving part 130 may drive the medical bed 100 to perform a corresponding movement based on a movement instruction including movement information of the medical bed 100 transmitted from the control system 120.

In some embodiments, the drive component 130 may include, but is not limited to, an internal combustion engine, a Stirling engine, a steam engine, a jet engine, an electric motor, and the like. In some embodiments, the medical bed 100 may further include a power transmission device, through which the driving part 130 may drive the moving part 140. For example, the driving part 130 may generate power through a power transmission device and transmit the power to the moving part 140 to drive the moving part 140 to move, thereby driving the medical bed 100 to move. Illustratively, in some embodiments, the power transmission device may include, but is not limited to, a worm gear drive, a rack and pinion drive, a chain drive, a belt drive, or the like, capable of transmitting power.

In some embodiments, the moving member 140 may be used to move the patient support 100. In some embodiments, the moving member 140 may include front and rear wheels of the patient support 100. In some embodiments, the moving member 140 may include a drive wheel or a driven wheel. In some embodiments, the rotation of the drive wheel may provide motive power for the whole medical bed 100, and the driven wheel may follow the movement of the drive wheel under the drive of the drive wheel. For example, when the moving member 140 is a driving wheel, the driving member 130 may drive the moving member to rotate, so as to provide forward or backward power to the medical bed 100, and control the movement of the medical bed 100. In some embodiments, the moving member 140 may also be driven by the driving member 130 to turn, thereby controlling the direction of advancement of the patient support 100, e.g., left or right turn.

In some embodiments, drive wheels may be provided on the front wheels of the patient support 100 to enable the patient support 100 to be driven with a front drive, where the moving member 140 is responsible for both power and steering. For example, the front wheel of the patient support 100 is a driving wheel, and when the speeds of the two driving wheels are different, the patient support 100 can be driven to turn, and the rear wheel is a universal wheel for supporting the patient support 100 and moving along with the driving wheels. In some embodiments, drive wheels may be provided on the rear wheels of the patient support 100, with the patient support 100 being driven by a rear drive, the drive wheels being solely responsible for providing power and the front wheels being responsible for steering. In some embodiments, the driving wheels may also be disposed on both the front and rear wheels of the patient support 100, such that the patient support 100 is driven by four-wheel drive, with the driving wheels disposed on the front wheel being responsible for both power and steering and the driving wheels disposed on the rear wheel being responsible for only power. In some embodiments, the drive wheel may be disposed at a bottom side center position of the patient support 100. For example, the patient support 100 may include five wheels, and the drive wheels may be disposed in a central location in the plane of the front and rear wheels for driving the patient support 100 to turn and move, and the other four wheels may be universal wheels for supporting the patient support 100 and following the movement of the drive wheels.

In some embodiments, the medical bed 100 may also include control buttons (not shown). In some embodiments, control buttons may be used to control the turning on or off of one or more of the detector 110, the control system 120, the drive component 130, and/or the automatic movement function of the medical bed 100. For example, the user may activate an automatic movement function of the medical bed 100 by operating a control button, and the control system 120 may acquire position information of the target subject detected by the detector 110 in response to activation of the automatic movement function. As another example, when the medical bed 100 encounters an obstacle or a malfunction during the automatic movement, the user may end the automatic movement function by operating the control button. In some embodiments, the control buttons may include biometric buttons, such as fingerprint recognition buttons. In some embodiments, the user may wake up or turn off the automatic movement function of the medical bed 100 by voice or the like, which is not limited in this specification.

In some embodiments, the medical bed 100 may also include an obstacle avoidance device. In some embodiments, obstacle avoidance devices may be used to obtain obstacle information and/or road information in the direction of movement of the medical bed 100. For example, as shown in fig. 8, the medical bed 100 may acquire obstacle information and/or road information in front of the medical bed 100 through the obstacle avoidance device and transmit the acquired information to the control system 120. In some embodiments, the control system 120 may determine corresponding medical bed 100 movement information, e.g., 1 meter back left turn, etc., based on the received obstacle information and/or road information and the change in position of the target subject. In some embodiments, the obstacle avoidance device may include, but is not limited to, one or more of an ultrasonic detector, an image acquisition device (e.g., a camera, etc.), a lidar, etc.

In some embodiments, an obstacle avoidance device may be mounted to the front side of the patient support 100 (i.e., the forward facing surface of the patient support 100) for detecting obstacle information and/or road information along the path of movement of the patient support 100. In some embodiments, the obstacle avoidance device may be mounted on one or more of the front, rear, left, right sides of the patient support 100, detect obstacle information and/or roadway information on one or more sides of the patient support 100. In some embodiments, when the obstacle avoidance device is on the same side of the medical bed 100 as the detector 110, the obstacle avoidance device may be turned off or the operation of the detector 110 may be prevented from being disturbed by image recognition or the like. In some embodiments, the obstacle avoidance device may be a detector 110, i.e., the detector 110 has both target subject detection functionality and obstacle/road information acquisition functionality. For example, the detector 110 may include a plurality of detectors mounted to four sides of the medical bed 100, and when one side of the detectors may be used to detect the position information of the target subject, one or more of the other three sides may be used as obstacle avoidance devices to obtain obstacle information and/or road information around the medical bed 100. In some embodiments, the obstacle avoidance device may employ the same or a different configuration of devices than the probe 110.

It should be noted that the above description is provided for illustrative purposes only and is not intended to limit the scope of the present description. Many variations and modifications will be apparent to those of ordinary skill in the art, given the benefit of this disclosure. The features, structures, methods, and other features of the exemplary embodiments described herein may be combined in various ways to obtain additional and/or alternative exemplary embodiments. For example, the patient support 100 may further include a voice recognition device by which patient support movement is controlled in response to a user's voice instructions. As another example, the drive component 130 may control the movement of the patient support 100 by driving other power modules on the patient support 100. For another example, the above-described structure of the medical bed 100 may be applied to other medical devices, such as scanners, etc. However, such changes and modifications do not depart from the scope of the present specification.

Fig. 2 is an exemplary block diagram of a medical bed motion control system according to some embodiments of the present description.

As shown in fig. 2, in some embodiments, the motion control system 200 may include an acquisition module 210, a determination module 220, and a control module 230. In some embodiments, the acquisition module 210 may acquire and transmit the position information of the target subject to the determination module 220, from which the determination module 220 may determine a change in position of the target subject, from which the control module 230 controls the movement of the medical bed 100.

The acquisition module 210 may be configured to acquire location information of the target subject. For example, the acquisition module 210 may be configured to acquire the location information of the target subject through the detection module. The detection module is mounted to a medical bed, such as medical bed 100. In some embodiments, the detection module (e.g., detector 110) may include at least two passive detectors, such as passive infrared detectors, with detection regions of the at least two passive detectors at least partially overlapping. In some embodiments, the acquisition module 210 may be configured to acquire the positional information of the target subject via at least two passive-type detectors. For example, the acquisition module 210 may acquire the first azimuth and the second azimuth of the target subject by at least two passive-type detectors, respectively; and determining location information of the target subject based on the first azimuth and the second azimuth.

In some embodiments, the obtaining module 210 may also be configured to obtain traffic information. For example, the acquisition module 210 may acquire road condition information through an ultrasonic probe. In some embodiments, the road condition information may include, but is not limited to, obstacle information and/or road information in the direction of movement of the medical bed, and the like.

The determination module 220 may be used to determine a change in the position of the target subject. For example, the determination module 220 may determine a change in the location of the target subject based on the location information of the target subject. In some embodiments, the determination module 220 may obtain the reference location; and determining a change in position of the target subject based on the reference position and the position information of the target subject.

The control module 230 may be used to control the movement of the patient support. For example, the control module 230 may be used to control the movement of the patient support 100 via the drive component 130 according to the change in position of the target subject. In some embodiments, the control module 230 may be used to control the patient support 100 to follow the target subject's movement based on the change in position of the target subject. In some embodiments, the control module 230 may be used to control the movement of the patient support 100 based on the change in the position of the target subject and the information about the road conditions surrounding the patient support.

For more details on the acquisition module 210, the determination module 220, and the control module 230, see fig. 3 and related contents, which are not described here.

Fig. 3 is an exemplary flow chart of a medical bed motion control method according to some embodiments of the present description.

In some embodiments, the motion control method 300 may be performed by the medical bed 100 or the motion control system 200. For example, the motion control method 300 may be stored in the storage device of the medical bed 100 or a remote server in the form of a program or instructions that, when executed by the medical bed 100, may implement the motion control method 300. In some embodiments, the user may initiate or stop execution of the motion control method 300 by operation of a control button, thereby initiating or stopping an automatic follow-up procedure of the medical bed 100. The schematic operation of the motion control method 300 presented below is illustrative. In some embodiments, the process may be accomplished with one or more additional operations not described above and/or one or more operations not discussed. In addition, the order in which the operations of the motion control method 300 are illustrated in FIG. 3 and described below is not intended to be limiting. As shown in fig. 3, the process 300 includes the following steps.

In step 310, the location information of the target subject is obtained by the detection module. In some embodiments, step 310 may be performed by the medical bed 100 (e.g., the detector 110) or the acquisition module 210.

In some embodiments, the target subject may include personnel, e.g., doctors, nurses, technicians, caregivers, etc., located within the detection zone of the detection module. In some embodiments, the location information may include the physical location of one or more points on the central axis of the target subject. The central axis may be a central axis in the vertical direction or a central axis in the horizontal direction. As described herein, a vertical direction may refer to a direction perpendicular to the ground, and a horizontal direction may refer to a direction parallel to the ground; the central axis in the vertical direction may refer to a straight line or a curve formed by connecting geometric center points of a plurality of sections of the target body in the horizontal direction; the central axis in the horizontal direction may refer to a straight line or a curve formed by connecting geometric center points of a plurality of sections of the target body in the vertical direction. In some embodiments, the location information may include the physical location of one or more points on the central axis of the target subject near the head third area (e.g., chest or over chest). In some embodiments, the physical location may include information such as a distance between the target subject and the medical bed 100 and/or a position of the target subject relative to the medical bed 100.

In some embodiments, the detection module (e.g., the detector 110) may output a voltage or digital signal when the target subject is present within the field of view of the detection module, thereby obtaining positional information of the target subject. In some embodiments, the detection module may acquire the position information of the target subject through at least two infrared detectors. In some embodiments, the detection areas of at least two infrared detectors may at least partially overlap (as shown in fig. 4), where the overlapping detection areas can avoid an undetectable gap between the detectors, and when the target body appears in the overlapping area, the plurality of infrared detectors simultaneously detect and locate, so that the position information determination may be more accurate. Through the arrangement of a plurality of infrared detectors, the position information of the target main body can be received, the accuracy of the position judgment of the target main body is enhanced, and the position accuracy is improved.

In some embodiments, a detection module (e.g., detector 110) may include an infrared detector array, each detector in the detector array (or each pixel in each detection) may detect a particular field of view angle. When the target subject is present within the field of view of certain pixels of a detector (e.g., detector 110), the partial detector pixels output voltages or digital signals, thereby obtaining the direction information of the target subject, and the center position is obtained through calculation. When a plurality of detectors are adopted for detection, coordinate information of a target main body can be obtained; orientation information of the target subject with respect to a medical bed, such as medical bed 100, may be obtained based on the detection angle of the detector. For more content about the acquisition of the position information of the target subject by the detection module, refer to other places in the specification (such as fig. 1 and the related description), and will not be described herein.

In some embodiments, the detection module (e.g., the detector 110) may acquire a first azimuth angle and a second azimuth angle of the target subject via at least two passive infrared detectors, respectively, and determine the position information of the target subject based on the first azimuth angle and the second azimuth angle. In some embodiments, the azimuth angle may be expressed as the angle between the line between the detection point of the target subject (e.g., a point on the central axis of the target subject) and the detector detecting the target subject and the horizontal or vertical centerline axis of the medical bed. Because the position between the detector and the couch is fixed and known, the azimuth angle may reflect the direction or angle information (i.e., azimuth information) of the target subject relative to the couch. For example, as shown in fig. 5 and 6, the detector 110 may exemplarily employ two one-dimensional 8-pixel passive infrared detectors, where 8 pixels of the infrared detectors correspond to 8 sector-shaped detection areas (or field of view ranges), the two infrared detectors may be horizontally and alternately distributed on the same horizontal line of the medical bed 100, where the infrared detector at point a may acquire information in a first detection area, the infrared detector at point F may acquire information in a second detection area, the shadow area BCDEG and its lower area are overlapping areas of the two infrared detectors, and H is a target subject position (e.g., a geometric center of a human body).

As shown in fig. 6, the infrared detector a may acquire a first azimuth angle θ of the target subject H ₁ The infrared detector F can obtain the second azimuth angle theta of the target body H ₂ The distance af=l between the two infrared detectors is known, and the distances between the target body H and the detectors a and B are a, B, respectively, i.e. θ in the figure ₁ 、θ ₂ L is known, and a and b are unknown. According to the triangular sine theorem:

and (3) solving to obtain:

thus, the coordinates of the target main body H relative to the point A of the infrared detector are obtained as follows:

in some embodiments, a detection module (e.g., detector 110) may be mounted to one or more of the front, back, left side, right side of the patient support 100. In some embodiments, the total field angle of at least two passive detectors may be in the range of 90 ° -180 ° in the horizontal direction. In some embodiments, the at least two passive detectors may have a total field angle in the horizontal direction of no less than 180 °. The total field angle of the plurality of passive detectors is the total detection coverage of the plurality of detectors. The total field angle is not smaller than 180 degrees, so that the detection module can receive infrared signals of the whole installation side, and the situation that the position information of the target main body is lost is avoided better.

In some embodiments, as shown in fig. 7 or 8, the detection region of the detection module (e.g., detector 110) may include an obliquely upper region of the medical bed. In some embodiments, the detection range corresponding to the total field angle of at least two passive-type detectors in the vertical direction covers at least a portion of the target body (as shown in fig. 4) to ensure that the target body is within the detection height range of the detectors. The total field angle of the plurality of detectors is an angle formed by two edges of a total detection area (or a total field of view range) of the plurality of detectors, for example, an angle formed by two edges of a total detection area (or a total field of view range) of the plurality of detectors in a vertical direction is the total field angle in the vertical direction. In some embodiments, the detection module (e.g., detector 110) covers the chest and the area above the chest of the target subject (as shown in fig. 7) at a detection range corresponding to the total field angle in the vertical direction. In some embodiments, the detection module (such as the detector 110) may include a plurality of infrared detectors distributed in a two-dimensional array, where the plurality of infrared detectors are distributed in a grid shape, and a total detection range angle of the plurality of infrared detectors on the same horizontal line in a horizontal direction is not less than 180 °, and each of the plurality of infrared detectors on the same vertical line can detect an area above the chest of the target main body.

In some embodiments, the position information of the target subject may be acquired by the detection module in response to manipulation of the medical bed (e.g., control buttons of the medical bed 100) by the target subject.

Step 320, determining a change in position of the target subject based on the position information. In some embodiments, step 320 may be performed by the medical bed 100 (e.g., the control system 120) or the determination module 220.

In some embodiments, the position change may include a distance change, a speed change, and/or an orientation change of the target subject. For example, the positional change may include a change in distance, a change in velocity, and/or a change in orientation between the target subject and the medical bed 100 (a first orientation angle θ as shown in fig. 6 ₁ Or a second azimuth angle theta ₂ Angle change amount of (c) of the vehicle). In some embodiments, the position change may include time information of the amount of position change of the target subject in terms of the position change. In some implementationsIn an embodiment, the speed information of the target subject may be determined based on time information of the position change.

In some embodiments, a change in the position of the target subject may be determined based on the reference position of the target subject and the position information. In some embodiments, the reference position may include position information of the last detected target subject, or initial position information of the target subject, or preset position information between the target subject and the medical bed.

In some embodiments, the target subject position variation may be determined based on a difference between the current position information of the target subject and the reference position. For example, the distance change amount of the target subject may be determined based on the current coordinate information of the target subject and the coordinate information of the reference position. As another example, the azimuth angle at the current position of the target subject (e.g., the first azimuth angle θ ₁ Or a second azimuth angle theta ₂ ) The azimuth variation amount of the target subject is determined with the azimuth at the reference position.

Step 330, controlling the movement of the medical bed according to the position change. In some embodiments, step 330 may be performed by the medical bed 100 (e.g., the control system 120 or the drive component 130) or the control module 230.

In some embodiments, the patient support 100 may be controlled to follow the target subject in response to changes in the position of the target subject. For example, movement information may be determined based on a change in the position of the target subject, and the medical bed 100 may be controlled to automatically follow the movement of the target subject according to the movement information. In some embodiments, the motion information may include a direction of motion, a distance of motion, an angle of motion, a speed of motion, etc., or any combination thereof. For example, the motion information may be 0.1 meter forward, 0.3 meter, 0.5 meter, 1 meter, etc., or offset 30 degrees to the left, or at a uniform motion of 1 meter/second, etc.

In some embodiments, the distance between the medical bed 100 and the target subject may be controlled to be maintained within a preset distance range (e.g., 0.5-2 m). If the target main body is too close to the medical bed 100, collision can occur between the target main body and the medical bed, so that the potential safety hazard is high; if the target subject is far from the medical bed 100, the detection effect of the detection module may be poor, the positioning accuracy is not high, the error is large, and a large negative influence is caused on the automatic following function of the medical bed 100. By controlling the medical bed to be kept within the preset distance range from the target main body, collision can be avoided, hidden mounting hazards can be reduced, and detection precision and positioning accuracy can be improved.

In some embodiments, the position change information of the target subject may be acquired in real time, controlling the medical bed 100 to follow the movement of the target subject.

In some embodiments, the automated movement of the medical bed may be controlled based on user input information. For example, a user may input a destination to which the medical couch 100 needs to reach through an interactive interface or a user terminal, and the medical couch 100 may plan a movement trajectory according to its start position and the destination position, and drive the medical couch 100 to move along the trajectory to the target position based on the movement trajectory.

In some embodiments, road condition information around the medical bed 100 may be acquired by an obstacle avoidance device (as shown in fig. 8), and the movement of the medical bed 100 may be controlled according to the position change of the target subject and the road condition information. In some embodiments, the road condition information may include obstacle information and/or road information around the medical bed 100 (e.g., front, rear, left, right, etc.). In some embodiments, the obstacle avoidance device may acquire road condition information by acquiring images around the medical bed 100, for example, may identify objects outside the medical bed 100 and the target subject in the images by image recognition technology, and determine the objects as obstacles. In some embodiments, the obstacle avoidance device may identify obstacle information and/or road condition information around the medical bed 100 by means of sonic collection or lidar detection, etc., which is not limited in this disclosure. For example, if the obstacle avoidance device detects an obstacle ahead, the control module 230 may control the medical bed 100 to automatically slow down or stop or detour (e.g., change direction of movement); if the obstacle avoidance device detects that the left side is obstructed, the control module 230 can control the medical bed 100 to automatically turn right; if the obstacle avoidance device detects an obstacle on the right side, the control module 230 may control the patient support 100 to automatically turn left, etc. In some embodiments, the obstacle avoidance apparatus is mounted primarily in front of the patient support 100 (generally, the forward facing surface of the patient support 100) for detecting obstacle information and/or road information on the movement path of the patient support 100. In some embodiments, the obstacle avoidance device may be mounted to one or more of the front, rear, sides of the medical bed 100.

In some embodiments, the control module 230 or the control system 120 may automatically control the medical couch 100 to end or cease the automatic movement mode when an abnormality occurs in the medical couch 100, the target subject is out of detection range, the medical couch 100 is too fast, or the medical couch 100 is unable to automatically avoid an obstacle. In some embodiments, the user may manually end or disable the automatic movement mode of the medical bed 100, e.g., voice control or control via an operating button. In some embodiments, the automatic movement mode of the medical bed 100 may be ended automatically or manually by a user operating a control button or voice control after the medical bed 100 reaches the destination.

Fig. 9 and 10 are schematic diagrams of a motion control method of a target subject positioned behind a medical bed according to some embodiments of the present disclosure. Wherein FIG. 9 is an exemplary flow chart of a medical bed motion control method according to some embodiments of the present disclosure; fig. 10 is an exemplary schematic diagram of a medical bed acquiring positional information of a target subject according to some embodiments of the present description. It should be noted that the front side of the medical bed in this specification may refer to the direction of movement of the medical bed when it is advanced, the rear side may be the side opposite to the front side of the medical bed, and the side may refer to both sides of the direction of advance.

In one embodiment, as shown in fig. 10, the detection module (e.g., the detector 110) of the medical bed 100 may include 5 detectors disposed at the rear of the medical bed, where the detector 1 corresponds to a first detection zone, the detector 2 corresponds to a second detection zone, the detector 3 corresponds to a third detection zone, the detector 4 corresponds to a fourth detection zone, and the detector 5 corresponds to a fifth detection zone. Wherein detectors 1 and 2 are positioned adjacent (i.e., with little or no gap between each other) at one of the points behind the patient support 100 and the detection zones have a common edge; detectors 4 and 5 are positioned adjacent to another point behind the patient support 100 and the detection zones have a common edge; the detector 3 is positioned at a position which is different from the rear position of the detector 1 (or the detector 2) and the position of the detector 4 (or the detector 5), and a certain gap is reserved between the detector 3 and the detector 4; there is a partially overlapping detection area for detector 2, detector 3 and detector 4. In some embodiments, when the target subject is positioned behind the patient support 100, the user may initiate an automatic movement mode by operating a control button on the patient support 100, and the detection module (e.g., detector 110) may be activated in response to the automatic movement mode to simultaneously detect by the 5 detectors, and obtain the relative coordinates of the target subject positioned in the detection zone, i.e., the distance of the target subject relative to the patient support and the orientation of the target subject relative to the longitudinal central axis of the patient support.

Further, the control system 120 may determine a relative change in the position of the target subject, i.e., a change in the distance between the target subject and the medical bed, and a change in the position of the target subject relative to the central axis of the medical bed, based on the position information of the target subject and the reference position of the target subject; and determines movement information of the medical bed 100 based on the position change. For example, as shown in fig. 9, if the distance between the target subject and the medical bed 100 becomes smaller, that is, the target subject approaches the medical bed, indicating that the medical bed is required to advance, the medical bed can be driven to advance at an acceleration or uniform speed by the driving unit 130; if the distance between the target subject and the medical bed increases, i.e., the target subject is far away from the medical bed, indicating that the medical bed is required to be retracted, the medical bed can be driven to be decelerated or retracted by the driving part 130; if the position of the target body relative to the central axis of the medical bed is shifted to the left, indicating that a right turn of the medical bed is required, the right turn of the medical bed, i.e., the right movement, can be driven by the driving part 130; if the position of the target body relative to the central axis of the couch is shifted to the right, indicating a need for a left turn of the couch, the left turn of the couch, i.e., left movement, may be driven by the drive member 130. When it is detected that the relative coordinates of the target subject no longer change, indicating that the target subject stops moving, i.e. reaches the destination, the movement may be ended. In some embodiments, the automatic movement mode of the medical bed may be turned off automatically or by a user manually operating a control button after the medical bed reaches the destination.

Fig. 11 and 12 are schematic diagrams of a motion control method when a target subject is positioned to the left side of a medical bed according to some embodiments of the present description. Wherein FIG. 11 is an exemplary flow chart of a medical bed motion control method according to some embodiments of the present disclosure; fig. 12 is an exemplary schematic diagram of a medical bed acquiring positional information of a target subject according to some embodiments of the present description. It should be noted that the front side of the medical bed in this specification may be directed in the direction of movement of the medical bed when it is advanced, the left side being the left side of the direction of advance.

In a specific embodiment, as shown in fig. 12, the detection module (e.g., the detector 110) of the medical bed 100 may include 5 detectors disposed at the left side of the medical bed, where the detector 1 corresponds to a first detection area, the detector 2 corresponds to a second detection area, the detector 3 corresponds to a third detection area, the detector 4 corresponds to a fourth detection area, and the detector 5 corresponds to a fifth detection area. Wherein detectors 1 and 2 are positioned adjacent (i.e., with little or no gap between each other) at one of the points on the left side of medical bed 100, and the detection areas have a common edge; detectors 4 and 5 are adjacently disposed at another point on the left side of medical bed 100, and the detection areas have a common edge; the detector 3 is positioned at a position which is different from the position of the detector 1 (or the detector 2) and the position of the detector 4 (or the detector 5) on the left side, and a certain gap is reserved between the detector 3 and the detector 2 and the detector 4; there is a partially overlapping detection area for detector 2, detector 3 and detector 4.

In some embodiments, when the target subject is positioned to the left of the patient support 100, the user may initiate an automatic movement mode by operating a control button on the patient support 100, and the detection module (e.g., detector 110) may be activated in response to the automatic movement mode to simultaneously detect by 5 detectors, to obtain the relative coordinates of the target subject positioned in the detection zone, i.e., the distance of the target subject relative to the patient support and the orientation of the target subject relative to the transverse central axis of the patient support. Wherein, the lateral direction of the medical bed may refer to the width direction of the medical bed deck, i.e., the short side direction of the medical bed deck shown in fig. 12, and the lateral center axis may refer to the center axis of the deck in the width direction.

Further, the control system 120 may determine a relative change in the position of the target subject, i.e., a change in the distance between the target subject and the medical bed, and a change in the position of the target subject relative to the central axis of the medical bed, based on the position information of the target subject and the reference position of the target subject; and determining movement information of the medical bed based on the position change. For example, as shown in fig. 11, if the distance between the target subject and the medical bed becomes smaller, i.e., the target subject approaches the medical bed to the right, indicating that a right turn of the medical bed is required, the right turn of the medical bed may be driven by the driving part 130; if the distance between the target subject and the medical bed becomes large, i.e., the target subject is far left from the medical bed, indicating that a left turn of the medical bed is required, the left turn of the medical bed can be driven by the driving part 130; if the position of the target body relative to the central axis is shifted forward, indicating that the medical bed is required to be advanced, the medical bed can be driven to be advanced by the driving part 130; if the position of the target body relative to the central axis is shifted rearward, indicating that the patient bed is required to be retracted, the patient bed may be driven to slow down or even retract by the driving part 130. When the relative coordinates of the target subject no longer change, indicating that the target subject stops moving, i.e., reaches the destination, the movement may be ended.

It should be noted that the motion control methods described above (e.g., method 900 and method 1100) or illustrated in the flowcharts of the figures (e.g., fig. 9-12) correspond to the motion control methods when the target subject is located at the rear and the left of the medical bed, and the target subject may be located at any side of the medical bed in some embodiments, by way of example only. In some embodiments, the steps shown in the motion control methods described above may be performed in a computer system, such as a set of computer-executable instructions, and, although a logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in an order different than what is shown or described herein.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.

Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.

Furthermore, the order in which the elements and sequences are processed, the use of numerical letters, or other designations in the description are not intended to limit the order in which the processes and methods of the description are performed unless explicitly recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of various examples, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the present disclosure. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing server or mobile device.

Likewise, it should be noted that in order to simplify the presentation disclosed in this specification and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the present description. Indeed, less than all of the features of a single embodiment disclosed above.

In some embodiments, numbers describing the components, number of attributes are used, it being understood that such numbers being used in the description of embodiments are modified in some examples by the modifier "about," approximately, "or" substantially. Unless otherwise indicated, "about," "approximately," or "substantially" indicate that the number allows for a 20% variation. Accordingly, in some embodiments, numerical parameters set forth in the specification and claims are approximations that may vary depending upon the desired properties sought to be obtained by the individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method for preserving the general number of digits. Although the numerical ranges and parameters set forth herein are approximations that may be employed in some embodiments to confirm the breadth of the range, in particular embodiments, the setting of such numerical values is as precise as possible.

Each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., referred to in this specification is incorporated herein by reference in its entirety. Except for application history documents that are inconsistent or conflicting with the content of this specification, documents that are currently or later attached to this specification in which the broadest scope of the claims to this specification is limited are also. It is noted that, if the description, definition, and/or use of a term in an attached material in this specification does not conform to or conflict with what is described in this specification, the description, definition, and/or use of the term in this specification controls.

Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to only the embodiments explicitly described and depicted in the present specification.

Claims

1. A medical bed, comprising:

The detector is arranged on the medical bed and is used for acquiring the position information of the target main body;

a control system for determining a change in position of the target subject based on the position information, and controlling the movement of the medical bed according to the change in position.

2. The medical bed of claim 1, wherein the target subject comprises a person located within a detection area of the detector, the location information comprising a physical location of one or more points within a third of the person's head.

3. The medical bed according to claim 1, comprising at least two passive-type detectors with detection areas at least partially overlapping, the medical bed acquiring positional information of the target subject by the at least two passive-type detectors.

4. A medical bed according to claim 3, wherein the control system is further adapted to:

acquiring a first azimuth angle and a second azimuth angle of the target main body through the at least two passive detectors respectively; and

position information of the target subject is determined based on the first azimuth and the second azimuth.

5. A medical bed according to claim 3, wherein the total field angle of view of the at least two passive detectors in the horizontal direction is not less than 180 °.

6. A medical bed according to claim 3, wherein the detection range corresponding to the total field angle of the at least two passive detectors in the vertical direction covers at least a portion of the target subject.

7. The medical bed according to claim 6, wherein a detection range corresponding to a total field angle of the detector in a vertical direction covers a chest and a chest-above region of the target subject.

8. The medical bed according to claim 1, wherein the medical bed is a patient support,

the position change comprises a distance change amount and/or an azimuth change amount of the target main body;

the control system is further configured to:

acquiring a reference position; and

a change in position of the target subject is determined based on the reference position and the position information.

9. The patient support of claim 1, wherein the control system is further configured to control the patient support to follow the movement of the target subject in response to the change in position.

10. The medical bed according to any one of claims 1 to 9, wherein,

The medical bed further comprises an obstacle avoidance device, and the obstacle avoidance device is used for acquiring road condition information around the medical bed, wherein the road condition information at least comprises obstacle information and/or road information in the movement direction of the medical bed;

the control system is also used for controlling the movement of the medical bed according to the position change and the road condition information around the medical bed.

11. A method of motion control of a medical bed according to any one of claims 1-10, performed by at least one processor, the method comprising:

acquiring position information of a target main body through a detection module, wherein the detection module is arranged on the medical bed;

determining a change in position of the target subject based on the position information; and

and controlling the movement of the medical bed according to the position change.