JP2004344656A - Ｐｉｄコントローラを使用して電動移動式ｃ形アームにおける対象物衝突を検出するための方法及び装置 - Google Patents

Ｐｉｄコントローラを使用して電動移動式ｃ形アームにおける対象物衝突を検出するための方法及び装置 Download PDF

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Publication number
JP2004344656A
JP2004344656A JP2004147369A JP2004147369A JP2004344656A JP 2004344656 A JP2004344656 A JP 2004344656A JP 2004147369 A JP2004147369 A JP 2004147369A JP 2004147369 A JP2004147369 A JP 2004147369A JP 2004344656 A JP2004344656 A JP 2004344656A
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Japan
Prior art keywords
arm
position error
error
controller
limit
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JP2004147369A
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Japanese (ja)
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JP2004344656A5 (enExample
Inventor
Brett Alan Karaus
ブレット・アラン・カラウス
John Matthew Simmons
ジョン・マシュー・シモンズ
David Ellis Barker
デビッド・エリス・バーカー
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GE Medical Systems Global Technology Co LLC
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GE Medical Systems Global Technology Co LLC
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Publication of JP2004344656A publication Critical patent/JP2004344656A/ja
Publication of JP2004344656A5 publication Critical patent/JP2004344656A5/ja
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/10—Safety means specially adapted therefor
    • A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Radiology & Medical Imaging (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
JP2004147369A 2003-05-19 2004-05-18 Ｐｉｄコントローラを使用して電動移動式ｃ形アームにおける対象物衝突を検出するための方法及び装置 Pending JP2004344656A (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US10/440,821 US7029175B2 (en) 2003-05-19 2003-05-19 Method and apparatus for object collision detection utilizing a PID controller in a motorized, mobile C-arm

Publications (2)

Publication Number Publication Date
JP2004344656A true JP2004344656A (ja) 2004-12-09
JP2004344656A5 JP2004344656A5 (enExample) 2009-08-27

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JP2004147369A Pending JP2004344656A (ja) 2003-05-19 2004-05-18 Ｐｉｄコントローラを使用して電動移動式ｃ形アームにおける対象物衝突を検出するための方法及び装置

Country Status (4)

Country Link
US (1) US7029175B2 (enExample)
EP (1) EP1479343A1 (enExample)
JP (1) JP2004344656A (enExample)
CN (1) CN100536772C (enExample)

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JP2007019730A (ja) * 2005-07-06 2007-01-25 Fujinon Corp リモコン雲台システム
JP2008018240A (ja) * 2006-07-11 2008-01-31 Siemens Ag 産業用ロボットを備えたｘ線システム
JP2009517099A (ja) * 2005-11-24 2009-04-30 スイスレイ・インターナショナル・インコーポレイテッド Ｘ線画像を生成する装置
JP2010172578A (ja) * 2009-01-30 2010-08-12 Toshiba Corp Ｘ線診断装置

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USD558877S1 (en) * 2004-11-26 2008-01-01 Kabushiki Kaisha Toshiba X-ray apparatus for medical treatment
US7600915B2 (en) 2004-12-01 2009-10-13 Trinity Orthopedics, Llc Imager based object positioner system and method
DE102005014188A1 (de) * 2005-03-29 2006-10-12 Siemens Ag Vorrichtung für die Aufnahme von Projektionsbildern
WO2007062133A2 (en) * 2005-11-23 2007-05-31 Trinity Orthopedics Method and system for guidance system positioner
US7609813B2 (en) * 2006-11-08 2009-10-27 General Electric Company System and method for improved collision detection in an imaging device
DE102007002401A1 (de) * 2007-01-17 2008-07-31 Siemens Ag Medizinische Untersuchungs- oder Interventionseinrichtung
JP2010221003A (ja) * 2009-02-26 2010-10-07 Fujifilm Corp 放射線撮影装置
US8708561B2 (en) 2009-03-20 2014-04-29 Orthoscan, Inc. Mobile imaging apparatus
JP4998506B2 (ja) * 2009-04-22 2012-08-15 トヨタ自動車株式会社 ロボット制御装置、ロボット制御方法、及び脚式ロボット
DE102009037316A1 (de) * 2009-08-14 2011-02-17 Karl Storz Gmbh & Co. Kg Steuerung und Verfahren zum Betreiben einer Operationsleuchte
KR20120058826A (ko) * 2010-11-30 2012-06-08 삼성전자주식회사 의료 장비의 제어 방법
WO2012082799A1 (en) 2010-12-13 2012-06-21 Orthoscan, Inc. Mobile fluoroscopic imaging system
FR2972914B1 (fr) * 2011-03-24 2014-03-07 Gen Electric Appareil a rayons x mobile pourvu d'un dispositif d'anticollision
CN102836506B (zh) * 2011-06-20 2015-07-08 重庆微海软件开发有限公司 超声治疗设备的安全防撞系统和方法
CN102506926B (zh) * 2011-09-27 2014-09-24 无锡日联科技有限公司 透视检测机运动防撞控制方法
CN103371837B (zh) * 2012-04-27 2017-05-24 Ge医疗系统环球技术有限公司 用于往复式运动装置的抗碰撞方法和装置
US8944681B2 (en) 2012-05-03 2015-02-03 General Electric Company Mobile X-ray machine with an anticollision device
JP6238611B2 (ja) 2012-09-28 2017-11-29 キヤノン株式会社 移動型放射線撮影装置、放射線撮影システム、及び制御方法
WO2015167174A1 (en) * 2014-05-02 2015-11-05 Samsung Electronics Co., Ltd. Radiographic imaging apparatus and method of controlling the same
US10716521B2 (en) * 2014-06-26 2020-07-21 Frencken Europe B.V. Patient support system and levelling system for such a patient support system
CN104533852A (zh) * 2014-12-12 2015-04-22 广西科技大学 汽车零部件疲劳试验多通道电液伺服控制系统
CN104500509A (zh) * 2014-12-12 2015-04-08 广西科技大学 汽车部件疲劳试验多通道电液伺服控制系统
KR20160095913A (ko) 2015-02-04 2016-08-12 삼성전자주식회사 엑스선 촬영 장치 및 그 제어 방법
US9883843B2 (en) * 2015-03-19 2018-02-06 Medtronic Navigation, Inc. Apparatus and method of counterbalancing axes and maintaining a user selected position of a X-Ray scanner gantry
CN106361430B (zh) * 2015-07-21 2019-08-27 西门子(深圳)磁共振有限公司 能防止碰撞的医疗器械
US10299740B2 (en) * 2015-09-29 2019-05-28 General Electric Company Methods and systems for cone-beam computed tomography
EP3373818B1 (en) 2015-11-09 2024-03-06 Radiaction Ltd. Radiation shielding apparatuses
CN113939228B (zh) 2019-01-02 2025-02-25 瑞迪艾森有限公司 用于医学成像仪的补充碰撞检测和防止系统
KR102791638B1 (ko) 2019-01-02 2025-04-03 레디액션 엘티디. 방사선 보호 장치 및 이를 위한 재료
US12011306B2 (en) 2019-01-02 2024-06-18 Radiaction Ltd Patient head protection device
KR102225315B1 (ko) * 2019-06-03 2021-03-10 재단법인대구경북과학기술원 시스템 제어 장치 및 방법
US11856899B2 (en) 2019-06-20 2024-01-02 Reinke Manufacturing Co., Inc. Monitoring and control of a movable tower in an irrigation system
JP7538544B2 (ja) 2019-07-02 2024-08-22 ラディアクション リミテッド 展開可能放射線遮蔽体カバー
US12226169B2 (en) 2022-07-15 2025-02-18 Globus Medical, Inc. Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
US20240020840A1 (en) 2022-07-15 2024-01-18 Globus Medical, Inc. REGISTRATION OF 3D and 2D IMAGES FOR SURGICAL NAVIGATION AND ROBOTIC GUIDANCE WITHOUT USING RADIOPAQUE FIDUCIALS IN THE IMAGES

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DE69327436T2 (de) 1992-09-14 2000-08-03 Koninklijke Philips Electronics N.V., Eindhoven Gerät, insbesondere zur Röntgen-Untersuchung, mit Anordnung zum Kollisionsschutz
US5485502A (en) * 1994-07-26 1996-01-16 Lunar Corporation Radiographic gantry with software collision avoidance
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US5651044A (en) 1995-10-02 1997-07-22 General Electric Company Capacitive proximity detector for radiation imager position control
JP2000197621A (ja) * 1999-01-06 2000-07-18 Toshiba Corp 医用画像撮影装置
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DE60031277T2 (de) * 1999-12-22 2007-05-10 Koninklijke Philips Electronics N.V. Medizinisches gerät mit einem zusammenstosssensor
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JP4737808B2 (ja) * 2000-09-29 2011-08-03 株式会社東芝 Ｉｖｒ−ｃｔ装置
DE10114316A1 (de) 2001-03-23 2002-09-26 Kaltenbach & Voigt Zahnärztlicher Behandlungsplatz
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JP3884377B2 (ja) * 2002-12-27 2007-02-21 ジーイー・メディカル・システムズ・グローバル・テクノロジー・カンパニー・エルエルシー Ｘ線撮影装置
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007019730A (ja) * 2005-07-06 2007-01-25 Fujinon Corp リモコン雲台システム
JP2009517099A (ja) * 2005-11-24 2009-04-30 スイスレイ・インターナショナル・インコーポレイテッド Ｘ線画像を生成する装置
JP2008018240A (ja) * 2006-07-11 2008-01-31 Siemens Ag 産業用ロボットを備えたｘ線システム
JP2010172578A (ja) * 2009-01-30 2010-08-12 Toshiba Corp Ｘ線診断装置

Also Published As

Publication number Publication date
US7029175B2 (en) 2006-04-18
CN1550212A (zh) 2004-12-01
EP1479343A1 (en) 2004-11-24
US20040234039A1 (en) 2004-11-25
CN100536772C (zh) 2009-09-09

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