US20110214588A1

US20110214588A1 - Guidance system for a medical facility

Info

Publication number: US20110214588A1
Application number: US13/024,974
Authority: US
Inventors: Peter Grübling; Klaus Herrmann; Ulrich Weber
Original assignee: Siemens AG
Current assignee: Siemens AG
Priority date: 2010-02-15
Filing date: 2011-02-10
Publication date: 2011-09-08
Also published as: EP2359792A3; DE102010008014A1; CN102160838A; EP2359792A2

Abstract

A guidance system for a medical facility includes at least one floor element that extends along a path of the medical facility and is arranged in a floor area of the path. The at least one floor element is configured for magnetic interaction such that through the magnetic interaction of the floor element with a magnetic guide element arranged on a mobile transport device, a magnetic attraction is generated. The mobile transport device is guided along the at least one floor element by the generated magnetic attraction during forward motion of the mobile transport device along the path through the medical facility.

Description

This application claims the priority benefit of DE 10 2010 008 014.4 filed Feb. 15, 2010, which is hereby entirely incorporated by reference.

BACKGROUND

The present embodiments relate to a guidance system for a medical facility.
In a medical facility (e.g., a medical system) such as, for example, a clinic, patients positioned on a patient transport device (e.g., trolley) may be conveyed great distances from one room to the next in order to conduct particular investigations/therapies in certain rooms, for example.
One example of a medical system is a particle therapy system. Particle therapy is an established method for the treatment of tumor conditions, for example. As a particle therapy system is comparatively costly, a particle therapy system may be operated in an efficient manner. In order to facilitate efficient operation, a known approach is to irradiate a patient in a treatment room and to undertake little preparation/aftercare on the patient in the treatment room. Preparation includes, for example, the immobilization of a patient. The preparation/aftercare may thus take place in a separate room.
In some cases, the patient transport device may travel considerable distances between the preparation room and the treatment room over routes that for reasons of radiation protection, may be maze-like in nature. The patient may thus be conveyed backwards and forwards between the preparation room and the treatment room.
In the prior art, the transport of a patient couch may be monitored using an optical system, and the patient couch may be steered automatically via an integrated control mechanism.

SUMMARY AND DESCRIPTION

The present embodiments may obviate one or more of the drawbacks or limitations in the related art. For example, in one embodiment, a guidance system for medical facilities, which facilitates the conveyance of a mobile transport device in a readily controllable manner and minimizes a force used for the conveyance, is provided. In another embodiment, a mobile transport device that is operable to be conveyed along the guidance system in a readily controllable manner and with a minimum of force is specified. In yet other embodiments, a medical facility including the guidance system and a method for steering a mobile transport device, which provide simple and safe guidance, are provided.
One embodiment of a guidance system for medical facilities includes at least one floor element that extends along a path (e.g., a target path) of the medical facility and is arranged in a floor region of the path. The floor element is configured for magnetic interaction such that by the magnetic interaction of the floor element with a magnetic guide element arranged on a mobile transport device, a magnetic attraction may be generated. The mobile transport device may be guided along the floor element by the magnetic attraction during forward motion of the mobile transport device along the path through the medical facility. The floor element may be manufactured from ferrous metal sheet and/or ferromagnetic steel, as examples.
The guidance system, with an appropriately configured mobile transport device and by employing the magnetic attraction, may guide the mobile transport device on the path. The magnetic interaction brings about a magnetic attraction between the floor element and the magnetic guide element. The magnetic attraction directly exercises a resetting force on the mobile transport device. The magnetic attraction exerts a direct force on the mobile transport device so that upon being moved forwards, the transport device is drawn to the target path, which is characterized by the floor element. Should the mobile transport device veer off track and diverge from the path, the magnetic attraction causes the mobile transport device to be drawn back laterally to the path. In the vicinity of the floor element (e.g., a rail), the greater the divergence from the floor element (e.g., from the central axis of the rail), the larger the resetting force is.
The guidance system includes elements that enter into magnetic interaction with each other. The guidance system may be constructed in a comparatively simple manner and may require little maintenance but nevertheless, offers effective and contact-free guidance of the mobile transport device.
The guidance system serves to prevent the mobile transport device, which is being moved forward along the path, from veering off the target path at locations including numerous corners, for example, and colliding with a wall. Collisions of this kind may pose a problem (e.g., in radiation therapy) if a patient is already stereotactically fixed and is not to be physically shaken.
Compared with optical or electromagnetically-inductive sensors and a corresponding electronic controller used to control the mobile transport device, the guidance system offers a series of advantages. The complex sensor and control technology is cost-intensive and may also be susceptible to faults. The controller and the motor mechanism that are arranged on the mobile transport device result in increased space requirements and greater weight. An energy supply for the controller is also needed. The energy supply may include a battery with a charge status that is monitored. Alternatively, the energy supply may be supplied via cables, which give rise to significant disadvantages in terms of freedom of movement. The same advantages also apply compared with active control of the mobile transport device. Active control makes use of induction loops attached to the floor for the correct guidance of the mobile transport device.
Compared with a floor-mounted rail in mechanical contact with the mobile transport device to guide the mobile transport device, the guidance system of the present embodiments offers the advantage of magnetic and thus contactless guidance. The safety of the medical facility may thereby be improved, as mechanical rail systems represent dangerous trip hazards or uneven floors and also present cleaning problems from a hygiene perspective. The guidance system of the present embodiments may provide a smooth floor.
In one embodiment, the floor element includes an elongated, rail-like body made of ferromagnetic material. The elongated, rail-like body includes, at least partially, a ferrous metal sheet and/or ferromagnetic steel.
The use of a ferromagnetic material provides magnetic interaction with a magnetic guide element of the mobile transport device. A ferrous metal sheet and/or the ferromagnetic steel may be several centimeters wide (e.g., between 5 and 15 cm) and several millimeters thick (e.g., between 2 and 20 mm).
The floor element (e.g., the elongated, rail-like body) may taper at a start of the path and/or at an end of the path. The tapering causes the magnetic interaction with the mobile transport device to weaken at the start and/or the end, facilitating the mobile transport device to be led to the floor element without jolting.
In one embodiment, the floor element includes an element generating a magnetic field (e.g., a permanent magnet). A curved section may, for example, be configured in this way. The magnetic effect may be strengthened in this manner. The magnet or magnets used in the curved section is/are oppositely poled to the guide element of the mobile transport device so that an attractive effect arises.
The floor element may be set into the floor. The floor element may, for example, be prepared or incorporated with the floor covering such that an overall smooth surface is produced (e.g., there are no rims, channels or edges).
The medical facility (e.g., medical system) of the present embodiments includes the guidance system discussed above. The medical system may be a particle therapy system, for example. The particle therapy system includes at least one treatment or diagnostic room and one preparation room, in which a patient is prepared for a subsequent diagnosis or treatment.
The guidance system is arranged along the path at least between winding stretches between the preparation room and the treatment or diagnostic room. The workflow may be simplified in this way.
The mobile transport device (e.g., a patient transport device) of the present embodiments includes a magnetic guide element. The magnetic guide element is configured to enter into magnetic interaction with a floor element such that by the magnetic interaction, a magnetic attraction may be generated. The floor element may be arranged in a floor region and may extend along a path. The mobile transport device may be laterally guided on the path by the generated magnetic attraction during forward motion of the mobile transport device along the path.
The magnetic guide element may include a permanent magnet. The permanent magnet may permit a weight and space-saving construction of the mobile transport device. The permanent magnet may, for example, be a Neodymium Iron Boron (NdFeB) magnet. NdFeB magnets are strong, provide a high degree of attraction and thus sufficiently positive guidance. A magnet diameter of 125 mm, for example, may provide a holding force of 130 kg. NdFeB magnets may have a diameter of between 100 and 200 mm and a thickness of 10 to 30 mm, for example. NdFeB magnets retain magnetic properties for a period of time of 10 years or longer, for example.
The permanent magnet may be provided with a plastic coating. The plastic coating may be several mm in thickness, for example. The plastic coating prevents the permanent magnet from directly contacting or “clashing” with the floor element (e.g., when the mobile transport device is sprung) and thus no rigidly fixed distance between the permanent magnet and the floor element applies.
The magnetic guide element is arranged such that the magnetic guide element is a minimal distance from the floor (e.g., less than 10 cm). In one embodiment, the magnetic guide element is less than 5 cm from the floor. In another embodiment, the magnetic guide element is between 2 and 20 mm from the floor. A high degree of attraction is provided in this way.
In one embodiment, the magnetic guide element is arranged in a front part (e.g., half) of the mobile transport device, where the front half is defined in relation to the standard direction of motion (e.g., a direction of motion preferably adopted during use in a standard manner). The magnetic guide element may, for example, be arranged such that the magnetic guide element is arranged in front of a furthest forward wheel in the direction of motion. The transport device may include a front axle that is characterized by the position of the furthest forward wheel. The magnetic guide element may be arranged in the region of the front axle (e.g., in the same position as (in line with), slightly ahead of or behind the front axle in relation to the direction of motion). The position of the magnetic guide element may be selected on the basis of size, axle construction, weight distribution and/or the characteristics of the corners to be negotiated.
The magnetic guide element may lie on a longitudinal central axis of the mobile transport device.
In one embodiment, the mobile transport device includes another magnetic guide element. The other magnetic guide element is arranged in a rear part (e.g., a rear half) of the mobile transport device. The rear part may be towards a back of the mobile transport device relative to the direction of motion. The other magnetic guide element may, for example, be arranged such that the magnetic guide element is located behind a rearmost wheel of the mobile transport device. The mobile transport device includes a rear axle that is characterized by the position of the rearmost wheel. The other guide element may be arranged in an area of the rear axle (e.g., in the same position as (in line with), slightly ahead of or behind the rear axle relative to the direction of motion). Such an arrangement may be helpful if the mobile transport device is to be shifted backwards in addition to forward motion along the path.
In one embodiment, a wheel is linked to the magnetic guide element via a steering mechanism. The magnetic attraction exerted on the magnetic guide element may be transferred to the wheel via the steering mechanism. The wheel position may be at least partially influenced by the magnetic attraction, such that the position of the wheel affects steering of the mobile transport device along the path and thus affects redirection of the mobile transport device to the target path.
In one embodiment of a method for steering a mobile transport device along a path in a medical facility, in which a guidance system with a floor element is arranged along the path, the floor element comes into magnetic interaction with a magnetic guide element of the mobile transport device such that when moved forward, the mobile transport device is steered along the floor element by a magnetic attraction between the magnetic guide element and the floor element.
The preceding and the following description of the individual features relate both to the device and to the method, without this being explicitly mentioned in every single case; the individual features disclosed may also be significant to the present embodiments in other combinations than those discussed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a view of an irradiation room of a particle therapy system with an access path, along which one embodiment of a guidance system is arranged;

FIG. 2 shows an enlarged representation of an area from FIG. 1 indicated by II;

FIG. 3 shows an enlarged representation of an area from FIG. 1 indicated by III;

FIG. 4 shows a side view of the area from FIG. 3 indicated by IV;

FIG. 5 shows a side view of one embodiment of a patient transport device;

FIG. 6 shows a top view of one embodiment of the patient transport device;

FIG. 7 shows a front view of one embodiment of the patient transport device;

FIG. 8 shows an enlarged representation of an area from FIG. 7 indicated by VIII;

FIG. 9 shows a representation corresponding to FIG. 8 with a lateral displacement of a magnet relative to a magnetic rail;

FIG. 10 shows a side view of one embodiment of a patient transport device;

FIG. 11 shows a side view of one embodiment of a patient transport device with a steering mechanism;

FIG. 12 shows a top view of one embodiment of the patient transport device shown in FIG. 11;

FIG. 13 shows a side view of one embodiment of the patient transport device shown in FIG. 5; and

FIG. 14 shows one embodiment of the structure of a magnetic guide element with two oppositely poled permanent magnets.

DETAILED DESCRIPTION OF THE DRAWINGS

FIG. 1 shows part of a particle therapy system 11 with a treatment room 13. For reasons of radiation protection, the treatment room 13 may be entered via a maze-like access path 15 (e.g., an entry path). A patient on a patient couch is conveyed along the path 15 in order to reach the treatment room 13. A guidance system 17 is arranged along the path 15. With the aid of the guidance system 17, passage of the patient couch is supported along the path 15, as is described in greater detail with reference to the following figures.
The guidance system 17 includes a floor element 19 configured in rail-like form. The floor element comes into magnetic interaction with the patient couch or another transport device. The floor element 19 tapers in end regions 21 that are, for example, in a preparation room (e.g., at the start of the maze-like path 15) and/or in the treatment room 13.
The tapering of the floor element 19 is shown more clearly in FIG. 2, which represents an area indicated by II in FIG. 1 in enlarged form. The tapering of the floor element 19 in the end regions 21 reduces the magnetic interaction with the floor element 19 at the end regions 21. Because of the reduced magnetic interaction, the patient couch may be introduced into the guidance system 17 gently and largely without jolting.
FIG. 3 shows an enlarged representation of an area of FIG. 1 indicated by III. The floor element 19 may be differently constructed in different sections. In sections that generally take a straight course, the floor element 19 may include an elongated ferrous metal sheet or a ferromagnetic steel sheet 23 (e.g., a ferrous metal sheet). In other sections (e.g., highly tortuous sections 25), the floor element 19 includes a plurality of small permanent magnets 27 (e.g., 5 mm to 20 mm in size). As a result of the use of the plurality of small permanent magnets 27, the patient couch may continuously travel, so that jolting caused by the attraction forces of the individual floor magnets is largely avoided.
FIG. 4 shows a side view of an area from FIG. 3 identified with IV. Both the ferrous metal sheet 23 and the plurality of small permanent magnets 27 are set into the floor and provided with a coating 29 so that a smooth floor surface results. The magnetic field lines 31 are also shown in FIG. 4. The magnetic field lines 31 symbolize the magnetic field produced by the small permanent magnets 27. The magnetic field of the small permanent magnets 27 is oriented such that through interaction with a magnetic guide element of the patient couch, an attraction force is created.
FIG. 5 shows a side view of one embodiment of a mobile patient couch 33 (e.g., a patient bed or a patient table). The mobile patient couch 33 includes a table top 35, and a patient (not shown) is positioned on the table top 35. The patient couch 33 may, for example, include four wheels 37 so that the patient couch 33 is mobile. In other embodiments, more wheels (e.g., five or six wheels) or fewer wheels may be provided. An operative (not shown) may push the patient couch 33 ahead of the operative. As a result of the construction of the patient couch, the patient couch may have a preferred direction of motion, in which the patient couch is conveyed during standard use. The patient couch 33 may include a handle 39 for this purpose. In one embodiment, two of the four wheels 37 or all of the four wheels 37 are castering, so winding stretches may also be negotiated with the patient couch 33.
A permanent magnet 41 may be arranged in a frontal area of the patient couch 33 (e.g., relative to the direction in which the patient couch 33 may be propelled in standard use). In one embodiment, the permanent magnet 41 may include a material including Neodymium Iron Boron. As shown in FIG. 5, the permanent magnet 41 may be arranged ahead of a front axle (e.g., an axle for front steerable wheels 37). Alternatively, the permanent magnet 41 may be arranged in line with or slightly behind the front axle. The permanent magnet 41 is at a small distance (e.g., between 1 mm and 10 mm) from the floor.
FIG. 6 shows a top view of one embodiment of the patient couch 33 with the table top 35 removed. FIG. 6 shows the floor element 19, which came into magnetic interaction with the permanent magnet 31 of the patient couch 33. When the patient couch 33 is pushed in the direction of the arrow, the magnetic attraction between the permanent magnet 41 and the floor element 19 causes the patient couch 33 to be guided along the floor element 19.
FIG. 7 shows a front view of one embodiment of the patient couch 33. FIG. 7 shows that the floor element 19 is set into the floor. As a result of the floor element 19 being set into the floor, a smooth floor surface without grooves and edges is created.
FIG. 8 shows an enlarged representation of an area from FIG. 7 indicated by VIII. The magnetic interaction between the permanent magnet 41 and the floor element 19, symbolized by magnetic field lines 43, is shown in FIG. 8. The permanent magnet 41 may be provided with a plastic coating 42.
FIG. 9 illustrates the situation that may occur when upon being moved forward, the patient couch 33 moves away from the floor element 19. As a result of the magnetic attraction 45 (e.g., forces), the permanent magnet 41 is drawn towards the floor element 19 so that the patient couch 33 is automatically guided along the floor element 19. This happens with very little extra human effort, as the forces do not have a braking effect. The forces are absorbed through the wheels and may generate a slightly increased rolling friction as a result of the greater vertical bearing force of the castors.
FIG. 10 shows one embodiment of a patient couch 33 that includes another guide element 47 compared with the patient couch 33 shown in FIG. 5. The other guide element 47 is arranged in a rear area (e.g., part) of the patient couch 33. The other guide element 47 may be advantageous when the patient couch 33 is moved in an opposite direction of the preferred direction of motion.
FIG. 11 shows a patient couch 33, which differs from the patient couch shown in FIG. 5 in that the permanent magnet 41 is coupled with front steerable wheels 37′ (e.g., two front wheels) via a steering mechanism 49.
The effect of the steering mechanism 49 is illustrated in greater detail within FIG. 12. The two front wheels 37′ are guided on a parallel course by the steering mechanism 49. The steering mechanism 49 is coupled with the magnetic guide element (e.g., with the permanent magnet 41) such that the steering mechanism 49 directs the two front wheels 37′ in the direction of a target curve according to the force exerted on the permanent magnet 41, by which the permanent magnet 41 is attracted to the floor element 19.
If the patient couch 33 diverges from the target curve (e.g., so the permanent magnet 41 is no longer centered over the floor element 19), a horizontal moment has an effect on the permanent magnet 41 that works towards the floor element 19. In this case, the significantly greater vertical moment plays no role. The horizontal moment is transferred to the steering of the front wheels 37′ via a lever mechanism, so that the patient couch 33 is guided back to the target curve.
FIG. 13 shows a side view of one embodiment of a mobile patient couch 33 that is slightly modified compared with FIG. 5. The permanent magnet 41 is arranged between the front wheels 37 and the rear wheels 37.
FIG. 14 shows one embodiment of the guide element, in which the single permanent magnet is replaced by two oppositely poled permanent magnets 41′, 41″ arranged next to each other. The opposite poling is symbolized by the thick arrows. The two oppositely poled permanent magnets 41′, 41″ may be made of NdFeB and may be cuboid in form (e.g., with dimensions of 50×75×10 mm), for example. In one embodiment, a distance between the floor element 19 and the permanent magnets 41′, 41″ is 10 mm. A floor covering 51 (e.g., consisting of linoleum) may be arranged over the floor element 19 and may be a steel rail (e.g., an 8 mm thick steel rail).
A narrow spacer 53 made of plastic, for example, may be inserted between the two oppositely poled permanent magnets 41′, 41″. The narrow spacer 53 may maintain a distance of 20 mm between the two oppositely poled permanent magnets 41′, 41″.
A shared yoke 55 made of ferromagnetic material (e.g., a thick steel plate), for example, may be disposed over the two oppositely poled permanent magnets 41′, 41″.
The advantage of this arrangement lies in the fact that the magnetic field lines run in a self-contained manner through a system including the floor element 19, the permanent magnet 41′, the yoke 55, and the permanent magnet 41″. A high degree of attraction is thus achieved with small/low-weight magnets, and the magnetic stray fields (e.g., unused field lines outside the system) are reduced.
While the present invention has been described above by reference to various embodiments, it should be understood that many changes and modifications can be made to the described embodiments. It is therefore intended that the foregoing description be regarded as illustrative rather than limiting, and that it be understood that all equivalents and/or combinations of embodiments are intended to be included in this description.

Claims

1. A guidance system for a medical facility, the guidance system comprising:

a floor element that extends along a path through the medical facility and is arranged in a floor area of the path; and

a magnetic guide element arranged on a mobile transport device,

wherein the floor element is configured for magnetic interaction such that a magnetic attraction is generated through the magnetic interaction of the floor element with the magnetic guide element, and

wherein the magnetic guide element is operable to guide the mobile transport device along the floor element during forward motion of the mobile transport device along the path through the medical facility.

2. The guidance system as claimed in claim 1, wherein the floor element comprises an elongated body made of a ferromagnetic material.

3. The guidance system as claimed in claim 1, wherein the floor element tapers at a start, an end or the start and the end of the path.

4. The guidance system as claimed in claim 1, wherein the floor element comprises a component that generates a magnetic field.

5. The guidance system as claimed in claim 1, wherein the floor element is set into the floor area.

6. A medical facility comprising:

a patient transport corridor with a guidance system, the guidance system comprising:

a floor element that extends along a path of the medical facility and is arranged in a floor area of the path; and

a magnetic guide element that is arranged on a mobile transport device,

7. The medical facility as claimed in claim 6, further comprising a treatment or diagnostic room of a particle therapy system,

wherein the path is at least partly in the treatment or diagnostic room.

8. A mobile transport device comprising:

a magnetic guide element that is configured to come into magnetic interaction with a floor element such that through the magnetic interaction a magnetic attraction is generated, the floor element being arranged in a floor area and extending along a path,

wherein the magnetic guide element is operable to guide the mobile transport device on the path during forward motion of the mobile transport device along the path.

9. The mobile transport device as claimed in claim 8, wherein the magnetic guide element comprises a permanent magnet.

10. The mobile transport device as claimed in claim 8, wherein the magnetic guide element comprises a plastic coating.

11. The mobile transport device as claimed in claim 8, wherein the magnetic guide element is at a distance less than 10 cm from the floor area.

12. The mobile transport device as claimed in claim 8, further comprising a front part located forwards relative to the direction of motion,

wherein the magnetic guide element is arranged in the front part.

13. The mobile transport device as claimed in claim 12, further comprising:

a rear part located backwards relative to the direction of motion; and

another magnetic guide element, the other guide element being arranged in the rear part.

14. The mobile transport device as claimed in claim 12, further comprising:

a steering mechanism; and

a wheel that is connected to the magnetic guide element via the steering mechanism,

wherein the steering mechanism is operable to transfer the magnetic attraction exerted on the magnetic guide element to the wheel.

15. The mobile transport device as claimed in claim 8, wherein the magnetic guide element comprises two oppositely poled permanent magnets arranged at a distance from each other.

16. A method for steering a mobile transport device along a path in a medical facility, the method comprising:

magnetically interacting a guidance system having a floor element arranged along the path with a magnetic guide element of the mobile transport device; and

guiding the mobile transport device along the path using a magnetic attraction between the magnetic guide element and the floor element when the mobile transport device is moved forward.

17. The guidance system as claimed in claim 2, wherein the ferromagnetic material comprises ferrous metal sheet or ferromagnetic steel.

18. The guidance system as claimed in claim 4, wherein the component that generates a magnetic field comprises a permanent magnet.

19. The guidance system as claimed in claim 5, wherein the floor element forms a smooth surface with the floor area.

20. The mobile transport device as claimed in claim 9, wherein the permanent magnet is a Neodymium Iron Boron magnet.