CN210383917U - Anti-collision device and medical system comprising moving bed - Google Patents
Anti-collision device and medical system comprising moving bed Download PDFInfo
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- CN210383917U CN210383917U CN201920784027.2U CN201920784027U CN210383917U CN 210383917 U CN210383917 U CN 210383917U CN 201920784027 U CN201920784027 U CN 201920784027U CN 210383917 U CN210383917 U CN 210383917U
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Abstract
The embodiment of the utility model discloses buffer stop and medical system including removing the bed, the device includes: one or two information acquisition mechanisms, which comprise a card body fixed on the front end corner of the moving bed, a longitudinal distance sensor arranged on the card body and used for detecting z-direction distance information and a transverse distance sensor arranged on the card body and used for detecting x-direction distance information; and the information processing mechanism is used for driving the longitudinal distance sensor and the transverse distance sensor to respectively transmit preset detection signals, receiving z-direction distance information and x-direction distance information which are respectively generated according to the transmitted preset detection signals, and executing preset z-direction anti-collision operation when the distance corresponding to the z-direction distance information exceeds a z-direction distance threshold value and/or executing preset x-direction anti-collision operation when the distance corresponding to the x-direction distance information exceeds an x-direction distance threshold value. The problem of prior art's medical system can only detect the collision incident when the moving bed collides the scanning aperture is solved.
Description
Technical Field
The embodiment of the utility model provides a relate to the medical equipment field, especially relate to an buffer stop and including the medical system of removal bed.
Background
For a medical imaging system or a medical radiotherapy system, if the C-shaped scanning aperture or the circular scanning aperture is included, when the moving bed enters the C-shaped scanning aperture or the circular scanning aperture, the moving bed may collide with the C-shaped scanning aperture or the circular scanning aperture, which may result in abnormal use of the medical imaging system or the medical radiotherapy system, and even personal injury to a patient or an operator.
In order to prevent the moving bed from colliding with the C-shaped scanning aperture or the circular scanning aperture, in the prior art, a mechanical limit switch is usually arranged on the side surface of the bed, and when the side surface of the bed collides with the C-shaped scanning aperture or the circular scanning aperture, the limit switch is extruded by the C-shaped scanning aperture or the circular aperture, the limit switch on the side of the accelerator treatment bed is triggered, and the moving bed is stopped according to the trigger of the limit switch. This approach, while solving the problem of collisions between the C-shaped scanning aperture or the circular scanning aperture and the moving bed, can only be detected after a collision, is less real-time, and causes more or less physical or mental harm to the bed user.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides an buffer stop and medical system including moving the bed has solved prior art's medical system and can only detect the problem of collision incident when moving the bed and colliding C shape scanning aperture or circular scanning aperture.
In a first aspect, an embodiment of the present invention provides an anti-collision device for locating on a front end angle of a moving bed of a medical system with a C-shaped scanning aperture or a circular scanning aperture, the front end angle is an end angle of the moving bed towards the scanning aperture, and the medical system is a medical imaging system or a medical radiotherapy system, including:
the system comprises one or two information acquisition mechanisms, wherein each information acquisition mechanism comprises a card body, a longitudinal distance sensor and a transverse distance sensor, the card body is used for being fixed on the front end corner of a moving bed, the longitudinal distance sensor is arranged on the card body and is used for detecting distance information in the z direction, the transverse distance sensor is arranged on the card body and is used for detecting distance information in the x direction, the z direction is the moving direction of the moving bed, and the x direction is the direction perpendicular to the z direction in the plane where the moving bed is located;
the information processing mechanism is used for driving a longitudinal distance sensor and a transverse distance sensor in the information acquisition mechanism to respectively transmit preset detection signals, receiving z-direction distance information and x-direction distance information which are respectively generated by the longitudinal distance sensor and the transverse distance sensor according to the transmitted preset detection signals, executing preset z-direction anti-collision operation when the distance corresponding to the z-direction distance information exceeds a z-direction distance threshold value, and/or executing preset x-direction anti-collision operation when the distance corresponding to the x-direction distance information exceeds an x-direction distance threshold value.
In a second aspect, the embodiment of the present invention further provides a medical system including a moving bed, where the medical system is a medical imaging system or a medical radiotherapy system, including:
a C-shaped scanning aperture or a circular scanning aperture;
a scanning mechanism disposed on the C-shaped scanning aperture or the circular scanning aperture;
the moving bed is used for bearing an object to be detected and driving the object to be detected to enter the C-shaped scanning aperture or the circular scanning aperture so that the object to be detected can receive the preset scanning of the scanning mechanism;
the information acquisition module comprises a longitudinal distance sensor and a transverse distance sensor, wherein the longitudinal distance sensor is arranged at two front end angles of the moving bed and used for detecting z-direction distance information, the transverse distance sensor is used for detecting x-direction distance information, the z direction is the moving direction of the moving bed, the x direction is the direction perpendicular to the z direction in the plane of the moving bed, and the front end angle is the end angle of the moving bed facing to the scanning aperture;
the processing module is used for driving the longitudinal distance sensor and the transverse distance sensor to respectively transmit preset detection signals, receiving z-direction distance information and x-direction distance information which are respectively generated by the longitudinal distance sensor and the transverse distance sensor according to the transmitted preset detection signals, executing preset z-direction anti-collision operation when the distance corresponding to the z-direction distance information exceeds a z-direction distance threshold value, and/or executing preset x-direction anti-collision operation when the distance corresponding to the x-direction distance information exceeds an x-direction distance threshold value.
The embodiment of the utility model provides an anti-collision device's technical scheme, compare in prior art, it surpasss z to the anticollision operation to carry out when the distance that corresponds to the information of z direction distance, and the distance that x direction distance information corresponds surpasss x and predetermines x to the anticollision operation when the distance threshold value, can detect out the collision incident before moving the bed and bump, and trigger corresponding anticollision operation, prevent to move the bed and bump to C shape scanning aperture or circular scanning aperture, thereby prevent to cause health or mental injury to the object of examining, medical system's security has been improved greatly.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of a medical system provided with a collision prevention device in a moving bed according to an embodiment of the present invention;
fig. 2A is a schematic block diagram of an anti-collision device according to an embodiment of the present invention;
fig. 2B is a schematic block diagram of another collision avoidance apparatus according to an embodiment of the present invention;
fig. 2C is a schematic block diagram of another collision avoidance apparatus according to an embodiment of the present invention;
fig. 3A is a schematic view of a U-shaped card body according to a first embodiment of the present invention;
fig. 3B is a schematic view of another U-shaped card body according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of an information processing mechanism according to a first embodiment of the present invention;
fig. 5 is a schematic diagram of a four-way waveform provided by the first embodiment of the present invention;
fig. 6 is a schematic diagram of a cylindrical linear accelerator system according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described clearly and completely through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example one
The embodiment of the utility model provides an anti-collision device for on locating the front end angle of the moving bed that has the medical system in C shape scanning aperture or circular scanning aperture (see fig. 1), the front end angle is the end angle that moves the bed towards scanning aperture, and this medical system is medical imaging system or medical radiotherapy system. As shown in fig. 1 and 2A, the collision preventing apparatus includes: the information acquisition mechanisms (11 and 12) and the information processing mechanism 21, wherein the information acquisition mechanisms (11 and 12) comprise card bodies fixed on the corners of the front moving bed, longitudinal distance sensors arranged on the card bodies and used for detecting z-direction distance information, and transverse distance sensors arranged on the card bodies and used for detecting x-direction distance information, wherein the z direction is the moving direction of the moving bed 3, and the x direction is the direction perpendicular to the z direction in the plane where the moving bed 3 is; the information processing mechanism 21 is configured to drive the longitudinal distance sensor and the transverse distance sensor to respectively emit preset detection signals, receive z-direction distance information and x-direction distance information generated by the longitudinal distance sensor and the transverse distance sensor according to the emitted preset detection signals, and execute a preset z-direction anti-collision operation when a distance corresponding to the z-direction distance information exceeds a z-direction distance threshold, and/or execute a preset x-direction anti-collision operation when a distance corresponding to the x-direction distance information exceeds an x-direction distance threshold.
The medical system may be a medical imaging system, such as a CBCT (Cone beam CT, CBCT for short) including a C-shaped scanning aperture, a CT (Computed Tomography, CT for short) including a circular scanning aperture, a magnetic resonance system, a cylindrical (O-arm) linear accelerator system, and the like. The present embodiment will be described by taking a cylindrical linear accelerator as an example. The cylindrical linear accelerator includes an O-shaped arm, i.e., a circular scanning aperture, a scanning mechanism is usually disposed on the scanning aperture, and a moving bed drives a subject to enter the circular scanning aperture (O-shaped arm) to receive scanning of the scanning mechanism.
Wherein, the information processing mechanism can be connected with only one information acquisition mechanism. As shown in fig. 2A, the anti-collision mechanism disposed at the left front corner of the moving bed includes a first longitudinal distance sensor 111 and a first transverse distance sensor 112, and both the first longitudinal distance sensor 111 and the first transverse distance sensor 112 are in communication connection with the first information processing unit 21; as shown in fig. 2B, the anti-collision mechanism disposed at the right front end corner of the moving bed includes a second longitudinal distance sensor 121 and a second transverse distance sensor 122, and both the second longitudinal distance sensor 121 and the second transverse distance sensor 122 are in communication connection with the second information processing unit 22. It is understood that the information processing mechanism may also be connected to two information collecting mechanisms at the same time, as shown in fig. 2C, and the first longitudinal distance sensor 111 and the first transverse distance sensor 112 disposed at the front left corner of the moving bed, and the second longitudinal distance sensor 121 and the second transverse distance sensor 122 disposed at the front right corner of the moving bed are both connected to the information processing unit 23 in communication, that is, the information processing unit 23 receives and processes the distance information of the four distance sensors at the same time.
It is understood that the information processing unit usually collects the distance information once every preset time interval, such as 0.5s, 0.3s, etc., and the preset time interval is not limited herein.
In some embodiments, as shown in fig. 1, the clamping body is an end corner sleeve of the moving bed, and can be directly sleeved on a front end corner of the moving bed, and the end corner sleeve is provided with a longitudinal distance sensor and a transverse distance sensor on two vertical sides corresponding to the front end corner of the moving bed. Wherein, the vertical side of the moving bed is a plane perpendicular to the upper surface thereof.
In some embodiments, the card body is U-shaped in cross section, as shown in fig. 3A and 3B, and the bottom surface of the card body is provided with a longitudinal distance sensor and one side surface of the card body is provided with a lateral distance sensor, or the bottom surface of the card body is provided with a lateral distance sensor and one side surface of the card body is provided with a longitudinal distance sensor, wherein the side surface is parallel to the U-shaped cross section. It will be appreciated that the particular side surface on which the distance sensor is located will depend on the orientation of the distance sensor required. Alternatively, fig. 3A is an information collecting mechanism disposed at a left front corner of the moving bed, and fig. 3B is an information collecting mechanism disposed at a right front corner of the moving bed.
The longitudinal distance sensor and the lateral distance sensor are both reflection type distance sensors as an example. The U-shaped card body comprises two side walls 13 and a bottom 14 connecting the two side walls 13. For the information collecting mechanism at the left front end corner, the longitudinal distance sensor emitting portion 1111 and the longitudinal distance sensor receiving portion 1112 are both disposed on the bottom surface of the U-shaped card body bottom 14 and face opposite to the two side walls 13 of the U-shaped card body, and the lateral distance sensor emitting portion 1121 and the lateral distance sensor receiving portion 1122 are both disposed on the side surface of the U-shaped card body bottom 14. Accordingly, as shown in fig. 3B, the longitudinal distance sensor emitting portion 1211 and the longitudinal distance sensor receiving portion 1212 of the information collecting mechanism at the right front end corner are provided on the bottom surface of the U-shaped card body bottom portion 14 and are directed opposite to the two side walls 13 of the U-shaped card body, and the lateral distance sensor emitting portion 1221 and the lateral distance sensor receiving portion 1222 are provided on the other side surface of the U-shaped card body bottom portion 14.
In order to transmit the distance information collected by each distance sensor to the information processing unit, the information collecting mechanism of the present embodiment is further provided with a transmitting part 131, the transmitting part 131 is arranged in one side wall 13 of the U-shaped card body (see fig. 3A and 3B), and transmits the distance information to the information processing unit through the CAN bus 1311, so that the information collecting mechanism has high interference resistance and stability.
It can be understood that the arrangement positions of the longitudinal distance sensor and the transverse distance sensor can be exchanged, as long as the information acquisition mechanism ensures that the longitudinal distance sensor faces the scanning aperture and the transverse distance sensor is perpendicular to the moving direction of the moving bed when being installed. In addition, the lateral distance sensor arranged on the side surface of the bottom of the U-shaped card body can also be arranged on the side surfaces of the two side walls of the U-shaped card body.
It should be noted that the foregoing embodiment is a preferred embodiment, and the present embodiment is not limited thereto, and the distance sensor may be disposed at another position of the card body, for example, on the side wall 13 of the U-shaped card body, so that the distance sensor is located above the moving bed, and in this case, the distance sensor is higher than the side wall of the U-shaped card body, and if the distance sensor is a longitudinal distance sensor, it is only required to be directed toward the scanning aperture direction, and if the distance sensor is a transverse distance sensor, it is only required to be directed toward the x direction.
Preferably, the side wall 13 of the U-shaped card body of this embodiment is further opened with a fixing hole 132, and the information collecting mechanism is firmly and accurately locked on the moving bed through the fixing hole 132.
The longitudinal distance sensor and the transverse distance sensor of the present embodiment are preferably ultrasonic radar sensors, and the emitting parts of the longitudinal distance sensor and the transverse distance sensor emit ultrasonic radar signals with preset frequency under the driving of the driving unit of the information processing mechanism, and the driving signals only need to adopt common driving frequency, such as 40 KHz.
The information processing mechanism is provided with a driving unit for driving the longitudinal distance sensor and the lateral distance sensor, an input unit for receiving the distance information, a processing unit for processing the distance information, and an output unit for outputting a control signal according to a processing result of the processing unit. Taking one information processing mechanism corresponding to two information acquisition mechanisms as an example, as shown in fig. 4, the information processing mechanism includes an input unit 211, an information processing unit 212, and an output unit 213, wherein the input unit 211 is configured to send distance information acquired by a corresponding distance sensor to the information processing unit 212, then the information processing unit 212 processes the distance information, and sends a processing result to the output unit 213, and the output unit 213 outputs a control signal according to the processing result. Optionally, the information processing mechanism further includes an input connector 2101 that supplies an electric signal to the input unit 211, and an output connector 2102 that supplies an electric signal to the output unit 213, and a left drive unit 2141 that supplies a drive signal to the information collecting mechanism of the left front corner, and a right drive unit 2142 that supplies a drive signal to the information collecting mechanism of the right front corner.
When the longitudinal distance sensor and the transverse distance sensor are ultrasonic radar sensors, the information processing unit 212 calculates the distance from the moving bed to the circular scanning aperture according to the ultrasonic transmission formula S of 0.5 × t × 340m/S, and the accuracy of the distance can reach ± 1 mm. And then outputs the processing result to the output unit 213 according to the relationship between the calculated distance and the corresponding distance threshold. As shown in fig. 5, when the distance corresponding to any one of the distance sensors is smaller than the distance threshold, which means that there is a collision risk at the end angle of the distance sensor, the information processing unit 212 outputs a control signal through the output unit 213, so that the controller of the tubular linear accelerator performs an emergency stop operation according to the control signal. Compared with the prior art, the treatment bed can simply and conveniently realize the judgment of the barrier, thereby preventing the collision between the treatment bed and the barrier (cylindrical structure).
In order to improve the safety of the moving bed operation, the x-direction distance threshold of the embodiment includes a plurality of sub x-direction distance thresholds, and the preset x-direction collision avoidance operations corresponding to each sub x-direction distance threshold are different; the z-direction distance threshold comprises a plurality of sub z-direction distance thresholds, and preset z-direction anti-collision operations corresponding to each sub z-direction distance threshold are different. Illustratively, the z-direction distance threshold includes a first z-direction distance threshold and a second z-direction distance threshold, where the first z-direction distance threshold is greater than the second z-direction distance threshold, the preset z-direction collision avoidance operation corresponding to the first z-direction distance threshold is to output the prompt information, and the preset z-direction collision avoidance operation corresponding to the second z-direction distance threshold is to output the emergency stop signal. Then, in the operation process of the scanning bed, if the z-direction distance determined by the information processing mechanism according to the received z-direction distance information is greater than a second z-direction distance threshold and smaller than a first z-direction distance threshold, outputting prompt information through an output unit; and if the z-direction distance determined by the information processing mechanism according to the received z-direction distance information is smaller than a second z-direction distance threshold value, outputting an emergency stop signal through the output unit, so that a control module of the medical system executes emergency stop actions according to the emergency stop signal, wherein the emergency stop actions comprise stopping the movement of the moving bed, stopping the rotation of the C-shaped scanning aperture or the circular scanning aperture and stopping the scanning of the scanning part. The prompt information is beneficial for technicians or physicists to know the operation condition of the cylindrical linear accelerator moving bed in time so as to carry out examination and calibration in relevant aspects in time.
The embodiment of the utility model provides an anti-collision device's technical scheme, compare in prior art, it surpasss z to the anticollision operation to carry out when the distance that corresponds to the information of z direction distance, and the distance that x direction distance information corresponds surpasss x and predetermines x to the anticollision operation when the distance threshold value, can detect out the collision incident before moving the bed and bump, and trigger corresponding anticollision operation, prevent to move the bed and bump to C shape scanning aperture or circular scanning aperture, thereby prevent to cause health or mental injury to the object of examining, medical system's security has been improved greatly.
Example two
The embodiment of the utility model provides a medical system including moving bed, this medical system be medical imaging system or medical radiotherapy system. As shown in fig. 6, the medical system includes: a C-shaped scanning aperture or a circular scanning aperture 4, a scanning mechanism, a moving bed 3, an information acquisition module and a processing module; the scanning mechanism is arranged on the C-shaped scanning aperture or the round scanning aperture; the moving bed 3 is used for bearing an object to be detected and driving the object to be detected to enter the C-shaped scanning aperture or the circular scanning aperture so that the object to be detected receives the preset scanning of the scanning mechanism; the information acquisition module comprises longitudinal distance sensors (111, 121) arranged at two front end angles of the moving bed and used for detecting z-direction distance information, and transverse distance sensors (112, 122) used for detecting x-direction distance information, wherein the z direction is the moving direction of the moving bed 3, and the x direction is the direction perpendicular to the z direction in the plane of the moving bed 3; the processing module is used for driving the longitudinal distance sensors (111, 121) and the transverse distance sensors (112, 122) to respectively emit preset detection signals, receiving z-direction distance information and x-direction distance information generated by the longitudinal distance sensors (111, 121) and the transverse distance sensors (112, 122) according to the emitted preset detection signals, executing preset z-direction anti-collision operation when the distance corresponding to the z-direction distance information exceeds a z-direction distance threshold value, and/or executing preset x-direction anti-collision operation when the distance corresponding to the x-direction distance information exceeds an x-direction distance threshold value.
The medical system may be a medical imaging system, such as a CBCT (Cone beam CT, CBCT for short) including a C-shaped scanning aperture, a CT (Computed Tomography, CT for short) including a circular scanning aperture, a magnetic resonance system, a cylindrical (O-arm) linear accelerator system, and the like. The present embodiment will be described by taking a cylindrical linear accelerator as an example. The cylindrical linear accelerator includes an O-shaped arm, i.e., a circular scanning aperture, a scanning mechanism is usually disposed on the scanning aperture, and a moving bed drives a subject to enter the circular scanning aperture (O-shaped arm) to receive scanning of the scanning mechanism.
During the course of the moving bed entering the tubular structure, it may happen that the moving bed collides with the tubular structure. When the moving bed collides with the tubular structure, the front corner of the moving bed generally collides with the tubular wall of the tubular structure, and for this reason, the information acquisition module is disposed at the front corner of the moving bed in this embodiment.
In some embodiments, the information acquisition module is two information acquisition mechanisms described in the foregoing embodiments, and the two information acquisition mechanisms are respectively fixed to two front corners of the moving bed through the card body. It should be noted that, for the description of the information acquisition mechanism, refer to the foregoing embodiments, which are not repeated herein.
In some embodiments, the longitudinal distance sensors in the information acquisition modules are fixed to two front corners of the moving bed by means of bonding, and the transverse distance sensors are fixed to two side faces of the moving bed by means of bonding. Preferably, the transverse distance sensor and the longitudinal distance sensor are respectively arranged on two vertical side surfaces of the front end corner and are adjacent to an intersection line of the two vertical side surfaces.
The treatment module is preferably, but not limited to, disposed inside the moving bed, and may be disposed at a gas position of the cylindrical linear accelerator. The processing module is connected with a control mechanism of the cylindrical linear accelerator through wired communication, so that the anti-interference performance and the stability of communication are improved.
The treatment module 23 in fig. 6 is connected simultaneously to a longitudinal distance sensor 111 and a transverse distance sensor 112 located in the left front corner of the moving bed 3, and to a longitudinal distance sensor 121 and a transverse distance sensor 122 located in the right front corner of the moving bed 3. It is understood that two processing modules may also be used to process the distance information of the distance sensor at the front end corner of each moving bed, which is specifically referred to the foregoing embodiments, and the present embodiment is not described herein again.
Wherein the preset z-direction collision avoidance operation and the preset x-direction collision avoidance operation both comprise stopping the movement of the moving bed, stopping the movement of the C-shaped scanning aperture and the circular scanning aperture, and stopping the scanning of the scanning mechanism of the medical system.
Preferably, the information processing module can construct the collision trend map according to the left-direction distance information generated by a first longitudinal distance sensor arranged at the left front corner of the moving bed and the left-direction distance information generated by a first transverse distance sensor, and according to the right-direction distance information generated by a second longitudinal distance sensor arranged at the right front corner of the moving bed and the right-direction distance information generated by a second transverse distance sensor. As shown in fig. 5, the small square waveform is the threshold distance waveform of each distance sensor, the outer large square waveform is the actual distance waveform of each distance sensor, and when the distance corresponding to any one distance sensor is smaller than the distance threshold, the intersection between the actual distance waveform and the threshold distance waveform is generated, which means that there is a collision risk at the end angle of the distance sensor, and at this time, the information processing unit 212 in fig. 4 outputs a control signal through the output unit 213, so that the controller of the tubular linear accelerator performs an emergency stop operation according to the control signal. Compared with the prior art, the barrier can be simply and conveniently distinguished, so that the treatment bed is prevented from colliding with the barrier (a cylindrical structure), the measurement precision is as high as 1mm, the stability is good, and the use is flexible.
The embodiment of the utility model provides an anti-collision device's technical scheme, compare in prior art, processing module surpasss z to control when the distance that z direction distance information corresponds and predetermines z to crashproof operation through the z direction, and x direction distance information corresponds and carries out when surpassing x to the distance threshold value and predetermine x to crashproof operation, can detect out the collision incident before moving the bed and bump, and trigger corresponding crashproof operation, prevent to move the bed and bump to C shape scanning aperture or circular scanning aperture, thereby prevent to cause health or mental injury to the object of examining, medical system's security has been improved greatly.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. An anti-collision device, for locating on the front corner of a moving bed of a medical system with a C-shaped scanning aperture or a circular scanning aperture, the front corner being the corner of the moving bed facing the scanning aperture, and the medical system being a medical imaging system or a medical radiotherapy system, comprising:
the system comprises one or two information acquisition mechanisms, wherein each information acquisition mechanism comprises a card body, a longitudinal distance sensor and a transverse distance sensor, the card body is used for being fixed on the front end corner of a moving bed, the longitudinal distance sensor is arranged on the card body and is used for detecting distance information in the z direction, the transverse distance sensor is arranged on the card body and is used for detecting distance information in the x direction, the z direction is the moving direction of the moving bed, and the x direction is the direction perpendicular to the z direction in the plane where the moving bed is located;
the information processing mechanism is used for driving a longitudinal distance sensor and a transverse distance sensor in the information acquisition mechanism to respectively transmit preset detection signals, receiving z-direction distance information and x-direction distance information which are respectively generated by the longitudinal distance sensor and the transverse distance sensor according to the transmitted preset detection signals, executing preset z-direction anti-collision operation when the distance corresponding to the z-direction distance information exceeds a z-direction distance threshold value, and/or executing preset x-direction anti-collision operation when the distance corresponding to the x-direction distance information exceeds an x-direction distance threshold value.
2. The apparatus according to claim 1, wherein the clamping body is an end corner sleeve of a moving bed, and the longitudinal distance sensor and the transverse distance sensor are respectively arranged on two vertical sides of the end corner sleeve corresponding to a front end corner of the moving bed.
3. The apparatus according to claim 1, wherein the card body is U-shaped in cross section and the bottom surface of the card body is provided with a longitudinal distance sensor and one side surface of the card body is provided with a lateral distance sensor or the bottom surface of the card body is provided with a lateral distance sensor and one side surface of the card body is provided with a longitudinal distance sensor, wherein the side surface is parallel to the U-shaped cross section.
4. The device of claim 1, wherein the information processing mechanism is connected with one or two information collecting mechanisms, and the information processing mechanism and the information collecting mechanisms are connected through wired communication.
5. The device according to claim 1, wherein the x-direction distance threshold comprises a plurality of sub x-direction distance thresholds, and the preset x-direction collision avoidance operation corresponding to each sub x-direction distance threshold is different;
the z-direction distance threshold comprises a plurality of sub z-direction distance thresholds, and preset z-direction anti-collision operations corresponding to each sub z-direction distance threshold are different.
6. A medical system comprising a moving bed, wherein the medical system is a medical imaging system or a medical radiotherapy system, comprising:
a C-shaped scanning aperture or a circular scanning aperture;
a scanning mechanism disposed on the C-shaped scanning aperture or the circular scanning aperture;
the moving bed is used for bearing an object to be detected and driving the object to be detected to enter the C-shaped scanning aperture or the circular scanning aperture so that the object to be detected can receive the preset scanning of the scanning mechanism;
the information acquisition module comprises a longitudinal distance sensor and a transverse distance sensor, wherein the longitudinal distance sensor is arranged at two front end angles of the moving bed and used for detecting z-direction distance information, the transverse distance sensor is used for detecting x-direction distance information, the z direction is the moving direction of the moving bed, the x direction is the direction perpendicular to the z direction in the plane of the moving bed, and the front end angle is the end angle of the moving bed facing to the scanning aperture;
the processing module is used for driving the longitudinal distance sensor and the transverse distance sensor to respectively transmit preset detection signals, receiving z-direction distance information and x-direction distance information which are respectively generated by the longitudinal distance sensor and the transverse distance sensor according to the transmitted preset detection signals, executing preset z-direction anti-collision operation when the distance corresponding to the z-direction distance information exceeds a z-direction distance threshold value, and/or executing preset x-direction anti-collision operation when the distance corresponding to the x-direction distance information exceeds an x-direction distance threshold value.
7. The system according to claim 6, wherein the longitudinal distance sensors in the information acquisition module are fixed to two front corners of the moving bed by means of bonding, and the transverse distance sensors are fixed to two side faces of the moving bed by means of bonding.
8. The system according to claim 6, wherein the information acquisition module comprises two information acquisition mechanisms, and the information acquisition mechanisms comprise a card body fixed on the front corner of the moving bed, a longitudinal distance sensor arranged on the card body and used for detecting z-direction distance information, and a transverse distance sensor arranged on the card body and used for detecting x-direction distance information, wherein the z-direction is the moving direction of the moving bed, and the x-direction is the direction perpendicular to the z-direction in the plane of the moving bed.
9. The system according to claim 8, characterized in that the card body is an end corner sleeve of a moving bed, and the end corner sleeve is provided with the longitudinal distance sensor and the transverse distance sensor on two vertical sides corresponding to a front end corner of the moving bed respectively.
10. The system of claim 8, wherein the card body is U-shaped in cross section and the bottom surface of the card body is provided with a longitudinal distance sensor and one side surface of the card body is provided with a lateral distance sensor or the bottom surface of the card body is provided with a lateral distance sensor and one side surface of the card body is provided with a longitudinal distance sensor, wherein the side surface is parallel to the U-shaped cross section.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114279336A (en) * | 2021-12-16 | 2022-04-05 | 河北谊安奥美医疗设备有限公司 | Detection device and detection method for measuring displacement distance of electric operating table |
| 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 |
-
2019
- 2019-05-28 CN CN201920784027.2U patent/CN210383917U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114279336A (en) * | 2021-12-16 | 2022-04-05 | 河北谊安奥美医疗设备有限公司 | Detection device and detection method for measuring displacement distance of electric operating table |
| 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 |
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