RU2013149272A - Безопасность в динамическом трехмерном медицинском окружении - Google Patents

Безопасность в динамическом трехмерном медицинском окружении Download PDF

Info

Publication number
RU2013149272A
RU2013149272A RU2013149272/08A RU2013149272A RU2013149272A RU 2013149272 A RU2013149272 A RU 2013149272A RU 2013149272/08 A RU2013149272/08 A RU 2013149272/08A RU 2013149272 A RU2013149272 A RU 2013149272A RU 2013149272 A RU2013149272 A RU 2013149272A
Authority
RU
Russia
Prior art keywords
free space
dimensional model
medical
moreover
movement
Prior art date
Application number
RU2013149272/08A
Other languages
English (en)
Russian (ru)
Inventor
Иво Виллем Йосеф ХАМЕРСМА
Йохан Юлиана ДРИС
ХАРТОГ Маркус Йоханнес Хармен ДЕН
Ианник МОРВАН
ДЕ МОЛЕНГРАФТ Маринус Якобус Герардус ВАН
Original Assignee
Конинклейке Филипс Н.В.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Конинклейке Филипс Н.В. filed Critical Конинклейке Филипс Н.В.
Publication of RU2013149272A publication Critical patent/RU2013149272A/ru

Links

Classifications

    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • 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
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37567—3-D vision, stereo vision, with two cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/21—Collision detection, intersection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • General Physics & Mathematics (AREA)
  • Surgery (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Computer Graphics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Image Processing (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
  • Image Analysis (AREA)
RU2013149272/08A 2011-04-06 2012-03-30 Безопасность в динамическом трехмерном медицинском окружении RU2013149272A (ru)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
EP11305396.1 2011-04-06
EP11305396 2011-04-06
EP11305493.6 2011-04-27
EP11305493 2011-04-27
PCT/IB2012/051550 WO2012137116A1 (en) 2011-04-06 2012-03-30 Safety in dynamic 3d healthcare environment

Publications (1)

Publication Number Publication Date
RU2013149272A true RU2013149272A (ru) 2015-05-20

Family

ID=45976460

Family Applications (1)

Application Number Title Priority Date Filing Date
RU2013149272/08A RU2013149272A (ru) 2011-04-06 2012-03-30 Безопасность в динамическом трехмерном медицинском окружении

Country Status (6)

Country Link
US (2) US11372391B2 (enExample)
EP (1) EP2695027B1 (enExample)
JP (1) JP6499863B2 (enExample)
CN (1) CN103582851B (enExample)
RU (1) RU2013149272A (enExample)
WO (1) WO2012137116A1 (enExample)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012208037A1 (de) * 2012-05-14 2013-11-14 Siemens Aktiengesellschaft Patientenlagerungsvorrichtung, eine medizinischen Bildgebungsvorrichtung mit der Patientenlagerungsvorrichtung sowie ein Verfahren zu einer Markierung einer maximalen Aufenthaltsfläche
JP2016502926A (ja) 2013-01-17 2016-02-01 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 天井懸架システム
KR20140141186A (ko) * 2013-05-31 2014-12-10 삼성전자주식회사 엑스선 촬영 장치 및 그 제어 방법
WO2015017639A1 (en) * 2013-07-31 2015-02-05 The Uab Research Foundation Assessing machine trajectories for collision avoidance
US9348337B2 (en) * 2014-05-14 2016-05-24 Swissray Asia Healthcare Co., Ltd. Environment recognition guide system for movable medical equipment and method
DE102015201070B4 (de) * 2015-01-22 2020-04-23 Siemens Healthcare Gmbh Röntgenaufnahmesystem
CN105147311B (zh) * 2015-08-12 2018-10-30 深圳安科高技术股份有限公司 用于ct系统中的可视化设备辅助扫描定位方法和系统
EP4088890A1 (en) 2017-02-07 2022-11-16 Veo Robotics, Inc. Workspace safety monitoring and equipment control
US11820025B2 (en) 2017-02-07 2023-11-21 Veo Robotics, Inc. Safe motion planning for machinery operation
DE102017214919A1 (de) * 2017-08-25 2019-02-28 Siemens Healthcare Gmbh Bildgebende medizinische Einrichtung und Verfahren zum Betrieb einer bildgebenden medizinischen Einrichtung
EP3483839B1 (en) * 2017-11-08 2025-09-10 Siemens Healthineers AG Dynamic generation of a medical scene model
US11114199B2 (en) 2018-01-25 2021-09-07 Mako Surgical Corp. Workflow systems and methods for enhancing collaboration between participants in a surgical procedure
US11407111B2 (en) * 2018-06-27 2022-08-09 Abb Schweiz Ag Method and system to generate a 3D model for a robot scene
EP3662834A1 (en) 2018-12-07 2020-06-10 Koninklijke Philips N.V. Positioning a medical x-ray imaging apparatus
EP3693137A1 (de) * 2019-02-05 2020-08-12 Siemens Healthcare GmbH Verfahren zum herstellen eines pfadplanungsmoduls und zum betreiben eines roboters, pfadplanungsmodul und roboter
EP4034350A1 (en) * 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
JP7314091B2 (ja) 2020-03-31 2023-07-25 富士フイルム株式会社 情報処理装置、情報処理方法、及び情報処理プログラム
CN112168192A (zh) * 2020-09-30 2021-01-05 上海联影医疗科技股份有限公司 一种医学设备的运动控制方法及系统
US11953908B2 (en) 2021-10-12 2024-04-09 Google Llc Deployable safety fence for mobile robots
CN116548988B (zh) * 2022-01-28 2025-11-28 上海西门子医疗器械有限公司 一种x射线成像中定位可运动部件的方法和装置

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE456048B (sv) 1982-02-24 1988-08-29 Philips Norden Ab Sett och anordning for att bestemma kollisionsrisken for tva inbordes rorliga kroppar
US5050204A (en) * 1989-05-04 1991-09-17 Siczek Bernard W C-arm diagnostic equipment
US5325468A (en) * 1990-10-31 1994-06-28 Sanyo Electric Co., Ltd. Operation planning system for robot
US5485502A (en) * 1994-07-26 1996-01-16 Lunar Corporation Radiographic gantry with software collision avoidance
DE19743500A1 (de) * 1997-10-01 1999-04-29 Siemens Ag Medizinische Einrichtung mit einer Vorrichtung zum Erfassen der Position zumindest eines sich in einem Raum befindenden Objektes
US7149262B1 (en) * 2000-07-06 2006-12-12 The Trustees Of Columbia University In The City Of New York Method and apparatus for enhancing data resolution
US7372977B2 (en) 2003-05-29 2008-05-13 Honda Motor Co., Ltd. Visual tracking using depth data
US10354224B2 (en) 2003-11-07 2019-07-16 Sysmex Corporation Clinical laboratory systems, methods and computer programs for managing clinical laboratory work, management devices, and terminal devices
EP1605406A3 (en) * 2004-06-11 2006-09-20 Lyyn AB Detection of objects in colour images
JP3920317B2 (ja) * 2004-08-02 2007-05-30 松下電器産業株式会社 物品運搬用ロボット
DE102005009437A1 (de) 2005-03-02 2006-09-07 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Einblenden von AR-Objekten
EP1717757A1 (de) * 2005-04-28 2006-11-02 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur grafischen Darstellung der Umgebung eines Kraftfahrzeugs
US8384763B2 (en) * 2005-07-26 2013-02-26 Her Majesty the Queen in right of Canada as represented by the Minster of Industry, Through the Communications Research Centre Canada Generating a depth map from a two-dimensional source image for stereoscopic and multiview imaging
JP4506685B2 (ja) * 2006-02-17 2010-07-21 トヨタ自動車株式会社 移動型ロボット
US9084622B2 (en) * 2006-08-02 2015-07-21 Omnitek Partners Llc Automated laser-treatment system with real-time integrated 3D vision system for laser debridement and the like
DE102007013299A1 (de) * 2007-03-06 2008-09-11 Cedes Ag Sensorvorrichtung sowie Anlage mit einem Förderer und einer Sensorvorrichtung
JP4576445B2 (ja) 2007-04-12 2010-11-10 パナソニック株式会社 自律移動型装置および自律移動型装置用プログラム
CN201060195Y (zh) * 2007-07-31 2008-05-14 天津九安医疗电子股份有限公司 女性生理状态电子检测仪
ITVI20070299A1 (it) * 2007-11-14 2009-05-15 Antoine Assaf Apparato e metodo per il rilevamento di tessuti adiposi.
US20100091909A1 (en) 2008-10-10 2010-04-15 Harris Corporation Systems and methods for unequal error protection and soft decision calculations
CN101518661B (zh) * 2009-04-03 2013-02-27 北京工业大学 基于生理信号的心室辅助系统
CN102460205A (zh) 2009-06-23 2012-05-16 皇家飞利浦电子股份有限公司 位置确定系统
US8918209B2 (en) * 2010-05-20 2014-12-23 Irobot Corporation Mobile human interface robot
US8570320B2 (en) * 2011-01-31 2013-10-29 Microsoft Corporation Using a three-dimensional environment model in gameplay

Also Published As

Publication number Publication date
US12085915B2 (en) 2024-09-10
CN103582851A (zh) 2014-02-12
US20140022353A1 (en) 2014-01-23
EP2695027B1 (en) 2015-08-12
WO2012137116A1 (en) 2012-10-11
US20220283563A1 (en) 2022-09-08
JP2014511731A (ja) 2014-05-19
EP2695027A1 (en) 2014-02-12
US11372391B2 (en) 2022-06-28
CN103582851B (zh) 2016-05-11
JP6499863B2 (ja) 2019-04-10

Similar Documents

Publication Publication Date Title
RU2013149272A (ru) Безопасность в динамическом трехмерном медицинском окружении
JP2014511731A5 (enExample)
JP2017174125A5 (enExample)
EP3093194A3 (en) Information provision device, information provision method, and carrier means
IL313175A (en) System and method for augmented and virtual reality
WO2014132090A3 (en) Optical navigation & positioning system
JP2016526313A5 (enExample)
JP2016534461A5 (enExample)
MX2016016803A (es) Generacion de datos del sensor virtual para deteccion de topes.
JP2017508171A5 (enExample)
EP3509296A4 (en) PICTURE RECORDING SYSTEM WITH SEVERAL VIEWPOINTS, THREE-DIMENSIONAL ROOM RECONSTRUCTION SYSTEM AND THREE-DIMENSIONAL ROOM DETECTION SYSTEM
WO2014032020A3 (en) Feature based high resolution motion estimation from low resolution images captured using an array source
EP3547259A3 (en) Image-based position detection method, image-based position detection apparatus, device and storage medium
JP2019500693A5 (enExample)
JP2011022796A5 (enExample)
BR112012018141A2 (pt) métodos de gerar cenas para ambiente virtual de um programa de entretenimento visual e de capturar vistas e movimentos de um ator atuando dentro de cenas geradas, sistema de gerar cenas para ambiente virtual de um programa de entretenimento visual, e, meio de armazenamentio legível pelo computador
JP2017215306A5 (enExample)
WO2013119408A3 (en) Method and system for automatic 3-d image creation
EP2755187A3 (en) 3d-animation effect generation method and system
JP2014168227A5 (enExample)
WO2014183098A3 (en) Mobile device interfaces
FI2973476T3 (fi) Järjestelmiä ja menetelmiä stereokuvaukseen kameraryhmillä
MX394969B (es) Sistema de generacion de datos de forma tridimensional e informacion de textura, programa de control de formacion de imagenes y metodo de generacion de datos de forma tridimensional e informacion de textura
EP2503438A3 (en) Mobile terminal and control method thereof
WO2013035096A3 (en) System and method of tracking an object in an image captured by a moving device