RU2774139C9 - System for controlling at least one movement of motorized component of radiological equipment, and radiological equipment, in which it is used - Google Patents

Abstract

FIELD: medical equipment.

SUBSTANCE: group of inventions relates to medical equipment, namely to a system for controlling the movement of a component of radiological equipment and radiological equipment containing such a control system. The first end of a device with a control lever is fixed to a base to ensure its inclination relatively to the base. The control lever is adapted for manipulations by an operator by grabbing its handle with the hand. The first and the second electrical sensors are connected to the control lever handle. The first and the second electrical sensors are placed respectively at the first and the second points of the handle to detect the presence of fingers at the first and the second points, respectively. Another electrical sensor is connected to the base and is made with the possibility of detection of a position of the control lever relatively to the base. An electronic unit of the system is electrically connected to electrical sensors. The electronic unit provides movement depending on the position of the control lever, only if the first and/or the second electrical sensors detect the presence. The electronic unit provides movement at the first speed, if the first or the second sensor detects the presence. The electronic unit provides movement at the second speed, if the first and the second sensors detect the presence. Moreover, the second speed is greater than the first speed.

EFFECT: risk of unintended movements is reduced, and safety is increased due to detection by two electrical sensors connected to a lever for controlling the movement of motorized components, made with the possibility of allowing/prohibiting movement.

11 cl, 2 dwg

Description

Field of invention

The present invention relates to a control system for at least one movement of a motorized component of radiological equipment and radiological equipment in which it is used.

Prerequisites for the creation of the invention

Modern radiology equipment has various motorized components that interact with patients and/or operators and/or the external environment (e.g. patient table, radiogenic tube head, support stand, etc.) and is provided with a motion control system for the motorized components.

One of the solutions adopted in such control systems is the so-called "joystick", that is, a lever, the end of which is fixed to the base, and made with the possibility of manipulation by the operator, usually at the other end; the movement of the component depends on the position of the lever.

It may happen that the operator performs an unintended manipulation of the lever or the lever is moved in an unintended way by some object. In these cases, the component also moves, even if it is not necessary or desired by the operator.

There is a risk that this movement could result in equipment and/or patient damage.

Radiological equipment is known to present other risks. For many years, the most acutely felt need is that associated with spurious radiation (that is, undesirable for the operator) of X-rays. Such a risk is eliminated, for example, by the solution described and illustrated in US Patent Application Published No. 2017/128030 A1.

The essence of the invention

The main purpose of the present invention is to improve existing radiological equipment from a safety point of view.

This goal is largely achieved due to what is expressed in the attached claims, which form an integral part of the present description.

The idea behind the present invention is to connect at least two electrical sensors, in particular two capacitive sensors, to a movement control lever of one or more motorized components, configured to enable/disable movement. As can be understood from the following detailed description, various strategies can be adopted based on detection by the two sensors to reduce the risk of unintended movements.

According to a preferred embodiment, the control system comprises a device with a control lever having a first end fixed to the base to at least tilt relative to the base, and the control lever is operable by an operator by gripping its handle; at least a first electrical sensor and a second electrical sensor are connected to the handle of the control lever; the first electrical sensor is located at the first point of the handle of the control lever and is configured to detect the presence of at least one finger of the operator's hand at the first point; a second electrical sensor is located at the second point of the handle of the control lever and is configured to detect the presence of at least one finger of the operator's hand at the second point; at least one other electrical sensor is connected to the base and is configured to detect the position of the control lever, in particular the degree of inclination and, possibly, the direction of inclination relative to the base; the control system further comprises an electronic unit electrically connected to the electrical sensors and configured to cause movement depending on the position of the control lever only if the first electrical sensor detects the presence (typically the presence of at least one finger of the operator's hand), and /or only if the second electrical sensor detects presence (generally the presence of at least one finger of the operator's hand).

List of figures

The present invention will be better understood from the following detailed description, which is to be read in conjunction with the accompanying drawings, in which:

in fig. 1 shows very schematically an embodiment of a control system according to the present invention, and

in fig. 2 shows a general block diagram of the radiological equipment according to the present invention.

As can be readily understood, there are various ways to practice the present invention, which is defined in its main advantageous aspects in the appended claims.

Detailed description

In FIG. 1 shows very schematically an embodiment of a control system 100 according to the present invention; it is essentially divided into a control device 110 and an electronic unit 120 electrically connected to each other by an electrical cable 140.

In general, system 100 may include various control devices that are identical or similar to device 110 electrically coupled to unit 120.

In general, the electronic unit 120, which is typically of the computerized type, is adapted to perform other operations as well as operations performed in conjunction with the device 110; therefore, block 120 can be considered part of the control system of the present invention, but also part of other systems. For this reason, in FIG. 2, system 100 has been represented as a dotted line box within which block 120 is placed.

In FIG. 2 shows a general block diagram of a radiological equipment 1000 according to the present invention; there is a control system 100, a motorized component 200 (there will generally be others), and, for example, other components 300, 400 and 500 of the radiological equipment 1000. For example, two electrical cables exit from the block 120, which then enter the motorized component 200; these cables transmit electrical signals to drive movement. In addition, there are other cables that enter and leave the block 120 to perform other operations.

The device 110 includes a fixed base 112 and a movable control arm 114; the lever 114 has a first end fixed to the base 112 and is operable by the operator's hand, in particular by means of its handle, by changing its inclination. According to the example shown in FIG. 1, at the first end, the lever 114 has an element, in particular a bulge (for example, contained in the socket of the base 112), which allows at least the lever 114 (which may be referred to as a "two-dimensional hinge") to be pivoted.

According to the example shown in FIG. 1, a dotted line separates the boss and the handle, which are adjacent and connected directly; alternatively, the two elements may be configured differently and/or separated and connected by another element. In either case, the handle extends in one direction and can be conceptually divided into three zones: a first end zone near the base, a second end zone away from the base, and a third intermediate zone between the first zone and the second zone.

A first electrical sensor 116 and a second electrical sensor 118 are provided, associated with the lever 114, namely the handle; the first electrical sensor 116 is located at the first point 117 of the lever 114 (namely the handle), for example in the second zone or in the third zone, and is configured to detect the presence of at least one finger of the operator's hand, which grips the handle at the first point 117; the second electrical sensor 118 is placed at the second point 119 of the lever 114 (namely the handle), for example in the third zone or in the first zone, and is configured to detect the presence of at least one finger of the operator's hand, which grips the handle at the second point 119. The distance between the second point 119 and the base 112 (in the extension direction of the lever handle 114) is less than the distance between the first point 117 and the base 112 (in the direction of the extension of the lever handle 114).

It should be noted that the electrical sensors on the handle of the control system according to the present invention are designed to detect the presence of a human body part; therefore, when placed on the handle, they usually detect the presence of a finger or two fingers of the hand; however, they can come into contact with other parts of the human body (for example, the hand or arm from hand to elbow) and detect such presence.

At least one further electrical sensor is provided in communication with base 112 and configured to detect the position of lever 114 - this is known in the "joystick" art so no details will be given (generally the joystick lever can be tilted in any direction). direction, it can rotate around its axis, and can move slightly along its axis; it may additionally be provided with one or more buttons); in fig. 1, for example, two more electrical sensors 113A and 113B are shown for detecting any lever tilt.

According to conventional technical terminology, the term "electrical sensor" means an electrical component that has no moving mechanical parts and therefore does not correspond to an electrical button, electrical switch, or electrical microswitch.

Electronic devices can be divided, for example and advantageously, into three parts: a lever 114 (circuit 115), a base 112 (circuit 111) and an electronic unit 120.

The sensor 116 is electrically connected to the circuit 115, for example, through two electrical conductors; sensor 118 is electrically connected to circuit 115, for example, through two electrical conductors; sensor 113A is electrically connected to circuit 111, for example, through two electrical conductors; sensor 113B is electrically connected to circuit 111, for example, through two electrical conductors; circuit 115 is connected to circuit 111, for example and advantageously, by three electrical conductors (alternatively, there may be two or four): a first conductor 131, a second conductor 132, and a third conductor 133; the circuit 111 is connected to the block 120 via an electrical cable 140 formed by a certain number of conductors.

Electrical signals obtained through detection by sensors 116 and 118 are received in circuit 115 which processes them and sends them to circuit 111. Electrical signals obtained through detection by sensors 113A and 113B are received in circuit 111 which processes them. Circuit 111 sends the signals processed by sensors 116, 118, 113A, and 113B to electronics 120.

The electronics 120 is, among other things, capable of inducing movements of the component 200 based on the signals received from the circuit 115 (due to the detections made by the sensors 116, 118, 113A and 113B) and, in particular, depending on the position of the lever 114.

According to an alternative embodiment, the control lever is not provided with electronic circuitry, i.e. the electronic devices are divided into two parts instead of three parts. In this case, the functions of circuit 115 and circuit 111 will be performed by one circuit in base 112.

According to the present invention, in general, the electronic unit 120 is configured to cause one (or more) movements depending on the position of the lever 114, namely the degree of its inclination and, possibly, the direction of its inclination, only if the sensor 116 on the handle detects some presence (typically the presence of a finger of the hand that grasps the handle of lever 114) and/or sensor 118 on the handle detects some presence (typically the presence of a finger of the hand that grasps the handle of lever 114).

Thanks to the double sensor on the handle, unintended movements of the radiological equipment component can be prevented. As can be understood below, various strategies based on dual sensor detection can be adopted to reduce the risk of unintended movements. In any case, the choice to use the control lever knob with electrical sensors, in particular capacitive sensors, rather than buttons or switches, reduces this risk; it is indeed possible to distinguish the touch of many objects on the sensor from the touch of a finger on the sensor.

According to the first possibility, the movement is simply subject to detection by a part of either of the two sensors.

In accordance with the second possibility, the movement is only to be detected by one of the two sensors, which is located in the end zone of the control handle; this solution is advantageous if it is considered possible that another sensor is signaling a detection, but the operator has not intentionally triggered such a detection.

According to the third possibility, the movement is only to be detected by one of the two sensors, which is located in the intermediate zone of the control handle; this solution is advantageous if it is considered possible that another sensor is signaling a detection, but the operator has not intentionally triggered such a detection.

According to a fourth possibility, the movement is to be detected by both the first of the two sensors (eg, sensor 116) and the second of the two sensors (eg, sensor 118); this solution is very safe as it is very unlikely that the operator or object will inadvertently touch both sensors and inadvertently tilt the lever.

In accordance with the fifth possibility, the electronic unit 120 is configured to cause a movement depending on the position of the lever 114:

- at the first speed, if the sensor 116 detects the presence (in particular of a finger), or if the sensor 118 detects the presence (in particular of a finger);

- at a second speed if the sensor 116 detects the presence (in particular of a finger) and the sensor 118 detects the presence (in particular of a finger);

preferably the second speed is higher than the first speed.

Thus, any unintended activations cause movements at a reduced speed, and therefore are less dangerous.

The sensors in the control lever are preferably of the capacitive type.

The number of sensors in the control lever can also be more than two; however, using two sensors is a good compromise between security and simplicity.

The location of the sensors on the control lever is chosen according to the lever and the application. The location shown in Fig. 1 is indicative only.

According to an embodiment of the present invention, the electrical signals processed by the various electronic circuits may be of the analog and/or digital type.

Typically, electrical signals that are output from electrical sensors (labeled 116, 118, 113A, and 113B in FIG. 1) are analog.

According to an embodiment of the present invention, the signals that are output from the circuit 115 may be analog or digital type signals.

According to an embodiment of the present invention, the signals that exit circuit 111, i.e., device 110, may all be analog type signals, or all may be digital type signals, or some may be analog type signals and some may be digital type signals.

The lever 114, in particular its circuit 115, is electrically connected to the base 112, in particular its circuit 111, through a limited number of electrical conductors, preferably two or three; this is advantageous for facilitating movement of the arm 114 relative to the base 112.

Only two of these conductors may be provided; in this case, circuit 115 must be able to combine detection by the sensors with the supply of power from circuit 111.

There can be three such conductors (as shown in Fig. 1); in this case, the first electrical conductor 131 is used to transmit the ground voltage, the second electrical conductor 132 is used to transmit the supply voltage, the third electrical conductor 133 is used to transmit the detection signals of the sensors 116 and 118.

If three electrical conductors and analog type signals are used to connect circuit 115 to circuit 111, it is preferred that:

- the first analog level indicated that no electrical sensor detects the presence (in particular of a finger), while it preferably corresponds to the supply voltage;

- the second analog level indicated that only the sensor 116 detects the presence (in particular of a finger);

- the third analog level indicated that only the sensor 118 detects the presence (in particular of a finger);

- the fourth analog level indicated that both the sensor 116 detects the presence (particularly of a finger) and the sensor 118 detects the presence (particularly of a finger);

- the fifth analog level indicates the faulty state of the device 110 (in particular, the lever 114), while it preferably corresponds to the earth voltage.

Claims (26)

1. System (100) for controlling at least one movement of a component of radiological equipment (1000), while the specified component is motorized and configured to interact with patients, and / or operators, and / or the external environment, and the system contains a device (110) with a control lever (114) having a first end fixed to the base (112) to provide at least its inclination relative to the base (112), and at the same time the control lever is configured to be manipulated by the operator by grabbing its handle with a hand; wherein at least one first electrical sensor (116) and one second electrical sensor (118) are connected to said handle of said control lever (114); moreover, the specified first electrical sensor (116) is located at the first point (117) of the specified handle of the specified control lever (114) and is configured to detect the presence of at least one finger of the specified hand at the specified first point (117); moreover, the specified second electrical sensor (118) is located at the second point (119) of the specified handle of the specified control lever (114) and is configured to detect the presence of at least one finger of the specified hand at the specified second point (119); moreover, at least one more electrical sensor (113A, 113B) is associated with the specified base (112) and is configured to detect the position of the specified control lever (114) relative to the specified base (112); additionally containing an electronic unit (120) electrically connected (140) with electrical sensors (113A, 113B, 116, 118); characterized in that said electronic unit (120) is configured to cause said movement depending on the position of said control lever (114) only if said first electrical sensor (116) detects the presence, and/or only if if said second electrical sensor (118) detects the presence, and at the same time, the specified electronic unit (120) is configured to cause the specified movement depending on the position of the specified control lever (114): at a first speed if said first electrical sensor (116) detects presence or said second electrical sensor (118) detects presence; at a second speed if said first electrical sensor (116) detects presence and said second electrical sensor (118) detects presence; wherein said second speed is greater than said first speed. 2. The system (100) according to claim 1, where the specified first point (117) is located in the first zone of the specified handle of the specified lever (114) and the second point (119) is placed in the second zone of the specified handle of the specified lever (114), while the specified the first zone is removed from the specified second zone, characterized in that the specified electronic unit (120) is configured to cause the specified movement depending on the position of the specified control lever (114) and depending on the positions and/or distance from the specified first zone to the specified second zones. 3. The system (100) according to claim. 1 or 2, characterized in that the specified electronic unit (120) and the specified device (110) are configured to exchange digital type electrical signals to transmit detection signals of the specified electrical sensors (113A, 113B, 116 , 118). 4. The system (100) according to claim 1 or 2, characterized in that the specified electronic unit (120) and the specified device (110) are configured to exchange electrical signals of the analog type to transmit detection signals of the specified electrical sensors (113A, 113B, 116 , 118). 5. System (100) according to claim 3 or 4, characterized in that only two electrical conductors connect said control lever (114) to said base (112). 6. System (100) according to claim 3 or 4, characterized in that only three electrical conductors (131, 132, 133) connect said control lever (114) to said base (112), the first electrical conductor (131) serves to ground voltage transmission, the second electrical conductor (132) is used to transmit the supply voltage, the third electrical conductor (133) is used to transmit detection signals of said first electrical sensor (116) and said second electrical sensor (118). 7. System (100) according to claim 6, characterized in that: - the first analog level indicates that no electrical sensor (116, 118) detects the presence, while it preferably corresponds to the supply voltage; - the second analog level indicates that only the specified first electrical sensor (116) detects the presence; - the third analog level indicates that only said second electrical sensor (118) detects presence; the fourth analog level indicates that both said first electrical sensor (116) detects presence and said second electrical sensor (118) detects presence; - the fifth analog level indicates the faulty state of said device (110), and it preferably corresponds to the ground voltage. 8. System (100) according to any one of the preceding claims, characterized in that it comprises two or more control devices (110). 9. Radiological equipment (1000) containing the control system (100) according to any of the previous paragraphs. 10. Radiological equipment (1000) according to claim 9, characterized in that said base (112) is fixed or built into the control panel. 11. Radiological equipment (1000) according to claim 9 or 10, characterized in that said electronic unit (120) is of a computerized type and adapted to perform other operations in the equipment.

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