TW201542172A - Environment recognition auxiliary guiding system and method thereof for moveable medical apparatus - Google Patents

Abstract

An environment recognition auxiliary guiding system and a method thereof for a moveable medical apparatus are disclosed. The environment recognition auxiliary guiding system includes a depth camera, an environment data storage device and an object image recognition device. When the object image recognition device determines that a match condition is sustained by recognizing and comparing an environment image pixel depth signal obtained by the depth camera to a predefined object image pixel depth signal stored in the environment data storage device, the medical apparatus is driven to move along a predefined guiding route. Alternatively, the depth camera can be replaced with an image capturing device.

Description

Environmental identification auxiliary guiding system and method for mobile medical equipment

The present invention relates to a control system and method for a mobile medical device, and more particularly to a mobile medical device incorporating a camera and an object image recognition device for driving a predetermined guiding route of the medical device along the environmental space. Go on.

Today's medical routine inspections often use X-ray equipment. In addition to the fixed X-ray equipment, there are mobile X-ray machines that are more convenient to use in a variety of environments, while mobile X-ray machines are used to avoid taking pictures during surgery, serious or inconvenient patients in the ward. Running between the examination rooms can also reduce the possible damage caused by the above-mentioned patients' movement and ensure the safety of the critically ill patients.

In the mobile traditional X-ray equipment, although the volume and weight are relatively light and lightweight, it still has a certain size and weight due to complicated accessories, which affects the flexibility and convenience of movement, and the operator moves X-ray photography. When the device is installed, it is easy to cause poor visibility in the front because of the large size. It is more difficult to control because the weight of the machine is too heavy. When the line of sight is not good, it is impossible to know in advance whether there are obstacles or people in front, and it is often known that the machine is too heavy. Difficulties in maneuvering and the inability to stop immediately or turn to X-ray equipment are not costly. If the fault is caused by a collision, it will cost a lot of maintenance. In addition, if the front is pedestrian or child, or even the patient is collided, it is even more unimaginable.

In addition, mobile X-ray equipment is mostly used in medical institutions, especially in large medical institutions. However, large medical institutions are classified into small clinics and wards, and other examination rooms, operating rooms, and treatment rooms. X-ray machines are also required, and there are many people coming and going in medical institutions. If the operator is not familiar with the route and the environment, the time for X-ray equipment to move to the correct inspection location will be prolonged, which may seriously delay the treatment and aggravate the condition. In another case, moving to the wrong check location causes the patient to be photographed incorrectly, therefore, There is even the possibility of misdiagnosis.

In order to improve the mobile X-ray equipment that each operator can use the correct route and fast, convenient and safe, how to solve the above-mentioned lack of the prior art is a subject that is pursued by those involved in the industry.

Therefore, in order to solve the above problems, an object of the present invention is to provide an environmental identification auxiliary guiding system for a mobile medical treatment device, which combines an environmental identification guiding system to a mobile medical treatment device to solve the operator's movement. The inconvenience caused by the diagnosis and treatment equipment can also reduce the operation time and improve the safety and correctness of the operation.

Another object of the present invention is to provide a mobile medical treatment device having an assisted guiding traveling system, which obtains an environmental image pixel depth signal existing by a preset guiding route in an environmental space, and then stores a predetermined object in advance. The image pixel depth signals are compared to determine if the medical device is able to travel.

The technical means for achieving the above object is combined with an environmental identification guiding system in an mobile medical treatment device, which comprises an environmental data storage device and an object image recognition device, both of which are connected to the processing unit. And storing the predetermined object image pixel depth signal of the object existing along the preset guiding route in the environment space, the ambient image pixel depth signal and the environmental data storage device are performed by the object image recognition device The predetermined object image pixel depth signal stored in the comparison is performed, and when the environmental image pixel depth signal and the predetermined object image pixel depth signal are compared and matched, a traveling control signal is generated to the motor control circuit, The motor control circuit controls the drive motor to operate to drive the diagnostic device to travel along the predetermined guide path.

The environment identification guiding system further includes an image capturing device and a display device.

Wherein the predetermined object image pixel depth signal S3 is a building wall The image pixel depth signal of one of the face, the cylinder, the corner, and the protrusion may also include one of the room number and the identification card of the room.

In terms of effects, the above-mentioned technical means adopted by the present invention allows the operator to easily grasp the designated point when moving the X-ray diagnosis and treatment device by simply using the auxiliary guidance of the environmental identification guidance system of the present invention. The route is to solve the inconvenience caused by the unfamiliar environment of the operator when moving the medical equipment, and to reduce the operation time and improve the mobile safety in all aspects.

The specific embodiments of the present invention will be further described by the following examples and the accompanying drawings.

100‧‧‧Medical equipment

200‧‧‧Environmental Identification Guidance System

1‧‧‧Mobile carrier

2‧‧‧ wheel body

3‧‧‧Drive motor

4‧‧‧Motor control circuit

5‧‧‧Processing unit

6‧‧‧Deep camera

61‧‧‧Image processing device

62‧‧‧Image capture device

63‧‧‧ display device

7‧‧‧Environmental data storage device

8‧‧‧ Object image recognition device

9‧‧‧Warning device

91‧‧‧Sound warning device

92‧‧‧Lighting warning device

A1, A2, A3...An‧‧‧ objects

L‧‧‧Preset guided route

M1‧‧‧ moving direction

P‧‧‧Environmental space

R‧‧‧ room

R1‧‧‧ room number

S1‧‧‧Environmental Image Pixel Depth Signal

S2‧‧‧ Instant video

S3‧‧‧Predetermined object image pixel depth signal

S31, S32, S33...S3n‧‧‧Predetermined object image pixel depth signal

S4‧‧‧Travel control signal

S5‧‧‧ warning signal

1 is a schematic diagram showing the circuit system of an environmental identification assist guiding system for a mobile medical device according to a preferred embodiment of the present invention.

FIG. 2 is a view showing a correspondence relationship between predetermined object image pixel depth signals of objects existing in a preset guiding route in the present invention.

Figure 3 shows a schematic view of the diagnostic device of the present invention traveling along a predetermined guiding route.

Figure 4 shows a control flow chart of the present invention.

Referring to FIG. 1, the present invention shows a medical device 100 in which a mobile carrier 1 is provided with a wheel body 2, a drive motor 3, and a motor control circuit 4. The drive motor 3 is connected to the motor control circuit 4. The operation of the drive motor 3 can be controlled by the motor control circuit 4 under a user operation, thereby driving the wheel body 2 such that the mobile carrier 1 of the medical treatment device 100 is in a moving direction M1 in an environmental space P. A preset guide route L travels.

In the present invention, an environmental identification guiding system 200 is included in the medical device 100, and the environment identification guiding system 200 is linked to the medical device 100. The motor control circuit 4 controls the operation of the drive motor 3 accordingly.

The environmental identification guiding system 200 of the present invention comprises a processing unit 5, a depth camera 6, an environmental data storage device 7, and an object image recognition device 8. The depth camera 6 is connected to the processing unit 5 via an image processing device 61, and the depth camera 6 is disposed in front of the medical device 100 facing the moving direction M1 to obtain an environmental image pixel existing in front of the medical device 100. Depth signal S1.

The environmental data storage device 7 is connected to the processing unit 5 and stores a predetermined object image of the plurality of objects A1, A2, A3, ... An preset in the environmental space P and preset along the preset guiding route L. Pixel depth signals S31, S32, S33...S3n. The correspondence between the preset guide route L, the objects A1, A2, A3...An, and the predetermined object image pixel depth signals S31, S32, S33, ..., S3n is shown in FIG.

The object image recognition device 8 is connected to the processing unit 5, and the ambient image pixel depth signal S1 obtained by the depth camera 6 can be compared with the predetermined object image pixel depth signal S3 stored in the environment data storage device 7. Identification.

The depth camera 6 obtains the environmental image pixel depth signal S1, and compares the environmental image pixel depth signal S1 with the predetermined object image pixel depth signal S3 stored in the environmental data storage device 7 by the object image recognition device 8 It is recognized that when the environmental image pixel depth signal S1 and the predetermined object image pixel depth signal S3 are matched by the comparison, a traveling control signal S4 is generated to the motor control circuit 4, and the driving motor is controlled by the motor control circuit 4. 3 running to drive the medical treatment device 100 to travel along the preset guiding route L.

FIG. 3 shows a schematic diagram of the medical treatment device 100 traveling along a predetermined guiding route L in an environmental space P. The figure shows that the medical treatment device 100 can travel along a predetermined guiding route L in the environmental space P under the operation of the operator. While traveling, the depth camera 6 will acquire the respective objects A1, A2, A3, ... An along the preset guiding route L (for example, the building wall, the column, the corner, the projection in the environmental space P) Ring The image pixel depth signal S1 is used for instant comparison identification. When the environmental image pixel depth signal S1 and the predetermined object image pixel depth signal S3 are matched by the comparison, the travel control signal S4 can be normally generated to the motor control circuit 4, and the motor control circuit 4 controls the drive motor 3 Running to drive the medical treatment device 100 to travel along the preset guiding route L.

The processing unit 5 can also be connected to a warning device 9. The alert device 9 can include an audible alert device 91 and a illuminating alert device 92. When the environmental image pixel depth signal S1 and the predetermined object image pixel depth signal S3 do not match the recognition, the travel control signal S4 is not generated, so the medical device 100 is not driven to travel. In this case, the processing unit 5 can generate an alert signal S5 to the alert device 9 to emit a sound or light alert in due course.

In addition, each item of the preset guiding route L may also include the room number R1 or the identification card of the room R in the environmental space P. The object image recognition device 8 of the present invention can recognize the room number R1 of the room R or the identification card to determine whether it is the correct target position.

Referring to FIG. 1 again, an image capturing device 62 may be included in the present invention, and is connected to the processing unit 5 via the image processing device 61. The image capturing device 62 is disposed at a position in front of the moving direction M1 of the medical device 100 to obtain an instant image of the objects A1, A2, A3, ... An existing in the front of the medical device 100 along the preset guiding route L. S2

The image capturing device 62 can also be connected to a display device 63, and the display device 63 can be disposed at a position behind the moving direction of the medical device 100 (ie, facing the user). In this way, the user can see the live image in front of the mobile carrier 1 via the display device 63 when the medical device 100 is moved.

Figure 4 shows a control flow chart of the present invention. Referring to Figures 1 to 3, the control flow of the present invention will be described. When performing the auxiliary guiding function of the present invention, the step The method includes pre-establishing a predetermined object image of the plurality of objects A1, A2, A3, ... An existing in the storage environment space P along the preset guiding route R in the environmental data storage device 7 of the environmental identification guiding system 100. Pixel depth signals S31, S32, S33, ..., S3n (step 101).

When the operator is pushing the medical treatment device 100 to travel along the preset guiding route R, the depth camera 6 configured in the environmental recognition guiding system 200 of the present invention immediately captures the presence of the medical device 100 in front of the medical device 100. The environmental image pixel depth signal S1 (step 102), and the environmental image pixel depth signal S1 is sent to the processing unit 5.

At the same time, the image capturing device 62 can capture the instant image S2 of the objects A1, A2, A3, ... An existing in the front of the medical device 100 along the preset guiding route L, and can also be displayed by a display device 63. The live image S2 (step 103).

The object image recognition device 8 compares the environmental image pixel depth signal S1 obtained by the depth camera 6 with the predetermined object image pixel depth signal S3 stored in the environmental data storage device 7 (step 104).

When the ambient image pixel depth signal S1 and the predetermined object image pixel depth signal S3 are matched by the comparison (step 105), a travel control signal S4 is generated to the motor control circuit 4, and the motor control circuit 4 controls the The drive motor 3 operates to drive the medical treatment device 100 to travel along the predetermined guide route L (step 106).

When the environmental image pixel depth signal S1 and the predetermined object image pixel depth signal S3 do not match the recognition, the travel control signal S4 is not generated, so the medical device 100 is not driven to travel (step 107). In this case, sound or light warnings may also be issued in a timely manner (step 108).

The above embodiments are merely illustrative of the structural design of the present invention and are not intended to limit the present invention. Any modifications and variations of the above-described embodiments can be made by those skilled in the art, and such changes are still within the spirit of the invention and the scope of the invention as defined below. Therefore, the scope of protection of the present invention should be as set forth in the appended claims.

100‧‧‧Medical equipment

200‧‧‧Environmental Identification Guidance System

1‧‧‧Mobile carrier

2‧‧‧ wheel body

3‧‧‧Drive motor

4‧‧‧Motor control circuit

5‧‧‧Processing unit

6‧‧‧Deep camera

61‧‧‧Image processing device

62‧‧‧Image capture device

63‧‧‧ display device

7‧‧‧Environmental data storage device

8‧‧‧ Object image recognition device

9‧‧‧Warning device

91‧‧‧Sound warning device

92‧‧‧Lighting warning device

S1‧‧‧Environmental Image Pixel Depth Signal

S2‧‧‧ Instant video

S3‧‧‧Predetermined object image pixel depth signal

S4‧‧‧Travel control signal

S5‧‧‧ warning signal

Claims (9)

An environmental identification assisting guiding system for a mobile medical device is configured to have at least one wheel body, a driving motor and a motor control circuit in a mobile carrier of a medical device, wherein the motor control circuit is connected to the driving motor, and the motor is controlled The circuit controls the operation of the driving motor, thereby driving the medical device to travel in a moving direction in a predetermined guiding route of the environmental space. The environment identification guiding system comprises: a processing unit; and a depth camera, through an image processing The device is connected to the processing unit, and the depth camera is disposed at a position in front of the moving direction of the medical device to capture an environmental image pixel depth signal existing in front of the medical device; an environmental data storage device is connected to the device The processing unit pre-stores a predetermined object image pixel depth signal of the plurality of objects existing along the preset guiding route in the environmental space; an object image recognition device is connected to the processing unit for the depth camera The obtained environmental image pixel depth signal and the environmental data storage The predetermined object image pixel depth signal stored in the device is compared and identified; wherein the processing unit receives the environmental image pixel depth signal obtained by the depth camera, and the ambient image pixel depth signal is used by the object image recognition device Comparing with the predetermined object image pixel depth signal stored in the environmental data storage device; when the environmental image pixel depth signal and the predetermined object image pixel depth signal are compared and matched, a travel control signal is generated to The motor control circuit controls the driving motor to operate by the motor control circuit to drive the medical device to travel along the preset guiding route. The environmental identification auxiliary guiding system of the mobile medical device according to claim 1, further comprising an image capturing device connected thereto via the image processing device And the image capturing device is disposed at a position in front of the moving direction of the medical device to capture an instant image of the object existing along the preset guiding route in front of the medical device. The environmental identification auxiliary guiding system of the mobile medical device according to claim 1, further comprising a display device connected to the image capturing device, wherein the display device is disposed on the mobile carrier and is located at The position of the movement direction of the medical device. The environmental identification auxiliary guiding system of the mobile medical device according to claim 1, wherein the predetermined object image pixel depth signal is a building wall, a cylinder, a corner, and a convexity existing in the environmental space. Image pixel depth signal for one of the objects. The environmental identification auxiliary guiding system of the mobile medical device according to claim 1, wherein the predetermined object image pixel depth signal is a room pixel number of one room and an image pixel depth signal of one of the identification cards. The environmental identification auxiliary guiding system of the mobile medical device according to claim 1 further includes a warning device connected to the processing unit. An environmental identification assisting guiding method for a mobile medical device, wherein a mobile carrier of a medical device is provided with at least one wheel body, a driving motor and a motor control circuit, wherein the motor control circuit is connected to the driving motor, and the motor is controlled The circuit controls the operation of the driving motor, thereby driving the medical device to travel in a moving direction in a predetermined guiding route of the environmental space, the method comprising the steps of: (a) constructing and storing in an environmental data storage device a predetermined object image pixel depth signal of a plurality of objects existing along the predetermined guiding route in the environmental space; (b) capturing an environment existing in front of the medical device with a depth camera while the medical device is traveling An image pixel depth signal; (c) receiving the environmental image pixel depth signal obtained by the depth camera, and the environmental image pixel depth signal and the pre-stored in the environmental data storage device The object image pixel depth signal is compared and identified; (d) when the ambient image pixel depth signal and the predetermined object image pixel depth signal are compared and matched, a travel control signal is generated to the motor control circuit, by the motor A control circuit controls the operation of the drive motor to drive the diagnostic device to travel along the predetermined guide path. The method for assisting the environment identification of the mobile medical device according to the seventh aspect of the invention, further comprising: capturing, by an image capturing device, an instant of the object existing along the preset guiding route in front of the medical device; image. The environmental identification assisted guiding method of the mobile medical device according to the seventh aspect of the invention, further comprising displaying the instant image by a display device.