WO2016114423A1

WO2016114423A1 - Automatic repositioning system for medical equipment

Info

Publication number: WO2016114423A1
Application number: PCT/KR2015/000366
Authority: WO
Inventors: 방영봉; 예성준; 최지원; 이창혁
Original assignee: 재단법인차세대융합기술연구원
Priority date: 2015-01-14
Filing date: 2015-01-14
Publication date: 2016-07-21
Also published as: KR101570140B1

Abstract

The present disclosure relates to an automatic repositioning system for medical equipment, comprising: a first medical equipment; a second medical equipment having a first position relationship with the first medical equipment; a position detection device for detecting the first position relationship between the first medical equipment and the second medical equipment; and a repositioning apparatus for moving the second medical equipment in a position relationship other than the first position relationship into the first position relationship, wherein the position detection device detects position by coming into contact with the first medical equipment and the second medical equipment.

Description

Automatic Positioning System for Medical Equipment

The present disclosure relates to an automatic repositioning system of medical equipment, to accurately position medical equipment, and in particular, to detect and reposition a relative position between two medical equipment. It relates to a system for positioning.

Here, background art is provided with respect to the present disclosure, and these do not necessarily mean known art.

1 illustrates a method of aligning a surgical table 110 and a scanning system 120 according to Korean Patent Publication No. 10-2001-0023551. When a portion of the radiopaque table extension 111 is moved into the opening 121 of the scanning system 120 for scanning, its movement range is dependent on the extent to which the patient's head and torso are scanned by the scanner 120. It is. Initial alignment of the table extension 111 may be determined by visual inspection. Also optionally, the scanner 120 may be equipped with an LED light source or other light source for alignment with the table extension 111. And, the table 110 may have an alignment tab 112 that is moved into an alignment slot 122 on the scanner 120. When the tab 112 is positioned in the slot 122, the table 110 is aligned with the scanner 120.

The tab 112 is fixed to the table 110, and the slot 122 is fixed to a portion of the scanner 120. Therefore, the table 110 and the scanner 120 can have only one positional relationship. In addition, the alignment precision between the two devices using the tab 112 and the slot 122 is inevitably lowered by wear as the number of uses increases.

2 illustrates a patient transfer system according to Korean Patent Publication No. 10-2014-0133484. The patient transport system is configured by a patient transport device 213 having a plurality of wheels 212, a registration device 231 for registering movement information, and a registration device 231 for docking onto a medical device 260. A control unit 211 is formed that changes the position of one or more wheels 212 of the plurality of wheels 212 in accordance with the registered information. The control unit 211 assists the operator's operation staff when the patient transfer device 213 is approaching the medical device 260. The patient transfer device 213 may determine the distance to the counterpart using the

ultrasonic sensors

221 and 240, or may be fastened to the front lower side using the optical sensor 221 to detect the floor marking 250. Such information may be linked with an external evaluation device 234 to cause the device to send control information 233.

When using an ultrasonic sensor, the position coordinates of the patient transfer device 213 cannot be known only by the output value of the sensor, and thus it is difficult to move to the correct position without the help of the external equipment 231. In the case of using the optical sensor, the floor marking 250 must be displayed in advance on the moving path, and the change of the moving path and the change of the target point become very cumbersome.

If you are a medical equipment operator or an operator operating more than one device in another industry, you may need to reposition some of the equipment and return to its original position, depending on the situation. . In the present disclosure, a system that can solve the previous problem, which can be repeatedly used and can be repositioned with high precision, will be described.

This will be described later in the section titled 'Details of the Invention.'

Here, a general summary of the disclosure is provided, which should not be understood as limiting the periphery of the disclosure.

According to an aspect of the present disclosure, a position sensing for detecting a first positional relationship between a first medical device, a second medical device having a first positional relationship with the first medical device, and a first medical device and the second medical device Equipment and a position return device for moving the second medical equipment in a positional relationship other than the first positional relationship to the first positional relationship, wherein the position sensing equipment is in contact with the first medical equipment and the second medical equipment; The present invention relates to an automatic positioning system of sensing medical equipment.

This will be described later in the section titled 'Details of the Invention.'

1 is a view showing an example of a medical equipment positioning system shown in Korea Patent Publication No. 10-2001-0023551.

2 is a view showing an example of a patient transport system according to Korea Patent Publication No. 10-2014-0133484.

3 is a view showing an example of an automatic position return system of medical equipment according to the present disclosure.

4 is a view showing an example of a positioning method according to the position detection equipment according to the present disclosure.

5 is a view showing an example of a running part of the medical equipment according to the present disclosure.

6 is a view illustrating an example of a method for setting a driving route of a medical device according to the present disclosure.

7 is a view illustrating an example of a method of reducing a driving path error of a medical device according to the present disclosure.

8 is a view showing an experiment trajectory according to the configuration of the automatic position return system according to the present disclosure.

9 is a view showing a process of using the automatic position return system of the medical equipment according to the present disclosure.

10 is a view showing another embodiment of the position detection equipment according to the present disclosure.

11 is a view showing another embodiment of the position detection equipment according to the present disclosure.

12 is a view showing another embodiment of the position detection equipment according to the present disclosure.

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings.

3 (a) and 3 (b) is a view showing an example of the automatic medical equipment return system according to the present disclosure.

According to Figure 3 (a), there is shown a position detection device 30 in the form of a two-section link for detecting the relative position between the two medical equipment. The position detecting device 30 is composed of two

links

301 and 302, three

angle detecting sensors

311, 312 and 313, and a connector 322 for transmitting a signal of the sensor. The two

links

301, 302 are rotatably coupled. At both ends of the combined link are further rotatably coupled two end links 303, 304, which may each be coupled to a prespecified portion of the medical device. The coupling parts of the

links

301, 302, 303, and 304 are attached with

angle sensors

311, 312, and 313, respectively, to measure the rotation angle between the two links, and the electrical signals of these

sensors

311, 312, and 313 are respectively attached. Is sent to the device for processing the location information through the connector 322 attached to the position detection device (30). The

angle sensors

311, 312, and 313 are absolute encoders capable of maintaining absolute position values at all times regardless of the power state, incremental encoders outputting relative values, magnetic absolute (IC type non-contact Hall sensor encoders), It can be a magnetic incremental (hall sensor encoder) or a potentiometer. In this embodiment, there are two links and three angle sensors, but these can be added or reduced as needed.

End links 303 and 304 are each attached to different medical devices. The first end link 303 is attached to a medical device formed with a detachable position detecting device attachment portion 330, the second end link 304 is fixed to the medical device through a fastening method such as screws, rivets. Position sensing equipment attachment portion 330 is composed of a rail 331 and the end link fastening portion 333 that is seated on the rail 331 to move. If the user wants to change the fixed position arbitrarily, there is an obstacle between the two medical equipments, and thus, the terminal link fastening portion 333 is moved on the rail 331 in consideration of the situation such as changing the fixed position. Change it at your convenience. In addition, an end link fixing device 332 is slidably mounted to the end link fastening portion 333, so that the end link fixing is inserted when the end link 303 is inserted into the end link fastening portion 333 and positioned. The device 332 is moved to allow full engagement.

Coupling portions of the

links

301, 302, 303, and 304 may allow the respective links to flow up and down in the rotation axis direction. The height of the equipment to be moved may be different from the height of the fixed equipment, or when the equipment is moved, the bottom surface may be uneven to maintain a constant moving surface during the movement. In consideration of this, adding fluidity in the link rotation axis direction to the link can cope with the above-described situation.

In FIG. 4, each of the distal links 303 and 304 is attached to the two

medical devices

50 and 60, and then a positional relationship between the two

medical devices

50 and 60 by the position sensing device 30 is obtained. Explaining. According to FIG. 4, the length of each

link

301 and 302 may be defined as l . In this embodiment, the lengths of the two

links

301 and 302 are arbitrarily defined as l, and may be changed according to design. The first end link 303 or the first medical device 50 and the first link have an angle of θ ₁ , and the first link and the second link have an angle of θ ₂ , and the second link and the second end link have an angle of θ ₁ . An angle formed by the 304 or the second medical device 60 may be represented by θ ₃ . Equation 1 to Equation 3 can be converted into x and y values of the xy Cartesian coordinate system by using each angle value as a variable. Using these three encoder outputs, the relative coordinate positions of the two medical devices can be obtained.

Equation 1

Equation 2

Equation 3

Figure 3 (b) shows the running portion 40 and the position detection device 30 of the medical equipment combined. Position sensing equipment 30 is attached to one side of the medical equipment. The driving unit 40 is located under the medical equipment and includes at least two casters 420 and a driving control unit 410. The driving controller 410 may again have a location storage unit capable of storing the location of the current medical equipment and a moving path setting unit configured to set a moving path according to the location and the current location of the stored medical equipment. All electrical signals related to the position of the position detecting device 30 are sent to the driving control unit 410. The signal may be stored as a digital signal in the storage unit or used by the movement path setting unit for calculation according to the movement path setting. This electrical signal is transmitted through the connector of the control unit and the connector 322 of the position sensing equipment.

According to Figure 5 (a), the caster 420 is located under the medical equipment to drive the medical equipment. By rotating the steering lever 43 by hand, the direction of the caster may be turned in a desired direction, but when moving in the automatic mode, the caster 42 is fixed in a predetermined direction and steering is performed by the difference in the rotational speed of both wheels. By installing a separate actuator to steer the caster, it is possible to control the rotational speed of the caster wheel as well as to move the medical equipment while controlling the direction.

According to FIG. 5B, the caster 420 has a structure such that the caster wheel 421 is driven by an actuator 422. The actuator 422 decelerates by a timing belt 426 and transmits power to an input pulley 427 formed in an electromagnetic clutch 423. The electromagnetic clutch 423 again decelerates by a timing belt 426 connected to an output pulley 428 formed on the opposite side of the input pulley 427, and to the caster wheel 421. Delivers power (stage 2) The electromagnetic clutch 423 serves to transfer or disconnect power between the actuator 422 and the caster wheel 421. In a general situation, the electromagnetic clutch 423 cuts power transmitted to the caster wheel 421 so that the user can manually move the position of the medical equipment. However, in a situation in which the automatic position return of the medical equipment is required, the movement path setting unit is set. An electromagnetic clutch 423 connects power to the caster wheels 421 so that the medical equipment can move in the path.

Using two parallel wheels, the process of controlling the medical device to the target position can be thought of as two steps. The first is to create a movement route between the starting point and the target point, and the second is to control and move the medical equipment that can move along the generated path.

6 (a) and 6 (b), the moving path setting unit generates a moving path using circular arcs and straight lines. FIG. 6A illustrates a case where the initial progress direction 601 and the target point entry direction 602 of the medical device 60 cross each other. When the final straight line travel distance d is more than d _threshold which is the set value set to stably enter the target point, create a travel path composed of two straight lines and one circular arc. Here, one arc has a final straight line travel distance d equal to or greater than the d _threshold value, and has sufficient curvature R to be in contact with the two

straight lines

601 and 602.

In FIG. 6B, the case where the initial progress direction 601 and the target point entry direction 602 of the medical device 60 do not intersect is also considered. In this case, the straight line between the initial progress direction 601 of the medical equipment and the target point entry direction 602 does not intersect. In this case, the initial progress direction 601 of the medical equipment as shown in the medical equipment 60 shown in FIG. ) Rotates at a predetermined angle to intersect the target point entry direction 602, and sets the movement path by the path generation method shown in FIG.

According to FIG. 7, an error may occur when the medical device 60 moves along a set movement path, and a method of removing the medical device 60 is described. The error appears as an error while the medical device 60 moves along the generated path. The driving unit controller of the medical equipment performs control in a direction of eliminating this error, and may allow the medical equipment to follow the path. It is a nonholonomic system that controls two drive wheel rotations to follow a desired path, and various control methods are known.

In FIG. 8, the automatic medical return system shown in the present disclosure comprises three absolute value encoders having 15 bit resolution, a step motor, and an MCU for controlling the entire system with a period of 1 kHz. The result of experimenting with this branch is shown.

The experiment was performed to set the initial position at an arbitrary position, move the medical equipment to another arbitrary position, and then find the initial position. 8 shows the trajectory generated from the two positions and the actual movement path as the trajectory indicated by the experimental result. As a result of the ten experiments, it was found that the initial position was well found at any position, and as shown in Table 1, the average position error was less than 1 mm. If necessary, the positional and angular errors can be much higher by increasing the resolution of the absolute encoder and performing feedback control using a servomotor on the drive wheels.

Table 1

Starting State		Avg. abs. error [mm]	Deviation [mm]
Figure 8 (a)	x position	0.57	0.014
	y position	0.32	0.11
	Angle	0.70	0.023
Figure 8 (b)	x position	0.45	0.019
	y position	0.76	0.45
	Angle	0.53	0.033

FIG. 9 illustrates a process in which the mobile imaging medical apparatus 60 according to an embodiment of the present disclosure deviates from an original position and then returns to an accurate position.

The C-arm, which is a mobile radiography apparatus, is composed of a radiating unit emitting radiation, a radiation detecting unit facing the radiation unit, and a device for converting the detected radiation into an image. The mobile C-arm can be placed in a procedure space where large imaging equipment cannot fit. In addition, the operator can adjust the angle and the position of the support on which the radiator is mounted to photograph the patient located in the couch only the necessary portions from various angles.

In minimally invasive procedures in the fields of neurosurgery, biopsy, etc., during the procedure, C is a radiographic imaging device in the middle of the procedure to check whether the operator is invading the needle insertion direction, depth, and dangerous tissue. -The arm is inserted to determine the exact position of the needle through the image. During this process, the C-arm repeats the process of placing it next to the couch where the patient is located. In order for the operator to know the exact position of the needle, the degree of insertion, and the depth of invasion, the image needs to be viewed at a fixed position. In addition, when using imaging equipment without accurate guides, the operator or operator can move the device while directly exposed to radiation to obtain the correct position, and as the number of attempts increases, both the patient and the operator are exposed. May increase. According to the automatic position return system described in the present disclosure, the exposure amount can be reduced.

The C-arm 60 is equipped with a position sensing device 30 to detect the position of the C-arm 60. According to FIG. 9 (a), the position detecting device 30 is fixedly or detachably attached to one side of the C-arm 60 and is expanded when it is necessary to check the position of the C-arm 60. To help. Here, the position detection device 30 to measure the relative position with respect to the couch 50, the patient is lying. The position sensing device 30 is extended so that one end is mounted to the couch 50.

The position detection device 30 needs to be fixed at the correct position of the C-arm 60 or the couch 50. Therefore, the C-arm (60) is screwed, and the couch (50) is coupled with the position detecting device attachment portion 330 so that the position detecting device (30) can be fixed at the correct position. If necessary, it may be set to the contrary, or may be equipped with the position detecting device attachment portion 330 on both sides of the C-arm (60) and the couch (50). A portion of the position sensing device 30 may be slide or insert fixed thereto. In addition, if necessary, the C-arm 60 may be mounted and fixed on the C-arm 60 side, and may be freely contacted with the couch 50 so that only the position may be confirmed on the couch 50 side. The opposite is also possible. According to FIG. 9 (b), the position sensing device 30 contacts both the C-arm 60 and the couch 50 to detect a relative position of the C-arm 60 with respect to the couch 50. Doing. At this time, the position detecting device 30 generates an electric signal related to the position and stores the position of the C-arm 60 as the first position in the position detecting device 30 itself or an external device.

According to FIG. 9 (c), the C-arm 60 is moved to the waiting place so that the procedure can be continued after the operator finishes the required image work. The C-arm 60 is out of the first position stored by the position detection device 30, the position detection device 30 is separated from the couch (50).

9 (d) and 9 (e), the operator moves the C-arm 60 to the first position accurately in order to check the progress of the procedure again. To this end, first place the C-arm (60) at any place near the couch 50, the position detection device 30 is connected to both sides of the C-arm (60) and the couch (50). The position detection device 30 continuously transmits an electric signal to the driving controller so that the position of the current C-arm 60 may be determined relative to the couch 50. According to the transmitted signal, the movement route setting unit of the driving controller compares the stored first position with the current position and sets the movement route. The C-arm 60 moves along the movement path, and if necessary, the movement path setting unit may perform feedback control. As shown in FIG. 9 (f), the position is precisely positioned at the position of FIG. 9 (b). This completes the process of the automatic position return system.

10 shows another embodiment of the position sensing device 30. One body link 1001 is configured to allow length conversion. This link 1001 has a length converting rod 1002 to convert the length. The distal ends of the links include

angle measuring sensors

1005 and 1006 and

distal links

1003 and 1004, respectively. Body link 1001 is provided with a length sensor (not shown) that can measure the length of the straight line can measure the length conversion. Therefore, the relative positions of the two medical devices can be known using two angle values and one length sensor value from the two

angle measuring sensors

1005 and 1006.

11 shows another embodiment of the position sensing device 30. The body part of the position detection device 30 is composed of three

body parts

1101, 1102, 1103, and the first body part 1101 and the third body part 1103 are the second body part 1102. Can be moved on. The timing belt 1115 is coupled to the idler wheel 1111 and the timing pulley 1112 located in the second body portion. The first body portion 1101 has a first timing belt fixture 1113 and moves like a timing belt 1116, and the third body portion 1103 has a second timing belt fixture 1114 and a third body. The movement of the negative and the timing belt 1115 is made equal.

When the first body portion and the third body portion move along the guide rail 1115 of the second body portion on the second body portion, the timing belt 1116 is attached to the first timing belt fixture 1113 and the second timing belt fixture 1114. ) Is fixed, the timing belt 1116 is rotated. This movement causes the idler wheel 1111 and the timing pulley 1112 to rotate, and this rotational movement is transmitted to the angle sensor 1117 to see how much change in the overall length of the body occurs. In this way, including the instrument structure for measuring the length, by using the two end link and the two angle sensor structure, the relative position between the two devices, such as the position sensing device 30 described above can be measured.

In addition, a combination of mixing the length conversion link and the rotary link may be possible, and any combination may be possible if such combinations enable the length conversion between the distal ends of the position sensing device 30.

12 illustrates another embodiment. Instead of the driving force of the medical device by the driving unit, by mounting the driving device to the position sensing device 30, it is possible to move the medical equipment only by the force of the position sensing device 30 itself, or to return to the original position. For this configuration,

servo motors

1211, 1212, 1213 including an encoder are attached to the position sensing device 30 of Fig. 3A instead of the angle sensor 311. The

servomotors

1211, 1212, and 1213 provide a driving force for rotating the link, and the encoders mounted on the

servomotors

1211, 1212, and 1213 allow the angle to be calculated by measuring the rotation value. If necessary, the encoder and motor may be separated and mounted in the position sensor. If it is determined that additional driving force is required, a torque increasing gearbox that can increase the torque of the reduction gearbox or the motor can be installed. In addition, the position sensing device 30 will include the attitude control unit 1220 by itself to control the

servo motors

1211, 1212, 1213. Like the driving controller 410, the posture controller 1220 may have a location storing unit and a moving route setting unit, and may play the same role. The posture measurer 1220 may be connected to each of the

servo motors

1211, 1212, and 1213 through

cables

1221 and 1222, or may perform wireless communication.

The straight length conversion link shown in other embodiments is also applicable. By using a servomotor, a combination of a servomotor and a gearbox, or a hydraulic pump to provide a driving force for length conversion, it is possible to provide sufficient driving force to the position sensing device 30. Thus, it is possible to implement an automatic position return system having various combinations of self-powers using them.

In the present disclosure has been described with respect to the medical equipment, the application of the automatic position return system according to the present disclosure is not limited to the medical equipment. It may be applicable to other industries where it is necessary to place two objects repeatedly in the correct position.

Hereinafter, various embodiments of the present disclosure will be described.

(1) a first medical device, a second medical device having a first positional relationship with the first medical device, a position sensing device for detecting a first positional relationship between the first medical device and the second medical device, and the first It includes a position return device for moving the second medical equipment in the positional relationship other than the positional relationship to the first positional relationship, the position detection equipment is a medical equipment that detects the position in contact with the first medical equipment and the second medical equipment Auto position return system.

(2) an automatic position return system for medical equipment, wherein the position sensing device comprises at least one link and at least one sensor.

(3) Two links, sensor three angle sensors, automatic positioning system for medical equipment.

(4) An angle measuring sensor is an automatic position return system for medical equipment that is an absolute encoder or potentiometer.

(5) The position sensor is an automatic position return system of a medical device that is fluid in a direction perpendicular to the coordinate plane defined by the position sensor.

(6) An automatic positioning system of medical equipment, wherein the position sensing equipment is at least partially detached or detachable from the first medical equipment or the second medical equipment.

(7) the position return device is included in the second medical equipment, the position storage unit for storing the first position; A path setting unit for setting a moving path to the first location; And a traveling control unit for moving the second medical equipment to the first position.

(8) The position sensing device is an automatic position return system of the medical equipment which can change the length between the ends.

(9) the position return device is included in the position detection equipment, the position storage unit for storing the first position; And a drive unit for moving the second medical equipment to the first position.

(10) An automatic position return system of medical equipment, wherein the second medical equipment has an imaging device having a radiation emitting portion for emitting radiation in a predetermined direction and a sensing portion for detecting radiation.

Claims

First medical equipment;

A second medical device having a first positional relationship with the first medical device;

A position sensing device for detecting a first positional relationship between the first medical device and the second medical device; And,

And a position return device for moving the second medical equipment in a positional relationship other than the first positional relationship to the first positional relationship.

Position sensing equipment is an automatic position return system of medical equipment that detects the position in contact with the first medical equipment and the second medical equipment.
According to claim 1,

Automatic position return system of medical equipment to the position sensing device is made of at least one or more links and at least one sensor.
The method of claim 2,

Two links and three angle sensors: Automatic positioning system for medical equipment.
The method of claim 3, wherein

Angular measuring sensors are automatic positioning systems for medical equipment that are absolute encoders or potentiometers.
According to claim 1,

Position sensing equipment is an automatic position return system for medical equipment that moves in a direction perpendicular to the coordinate plane defined by the position sensing equipment.
According to claim 1,

The position sensing device is an automatic positioning system of the medical equipment to allow at least a portion of the detachable or detachable with the first medical equipment or the second medical equipment.
According to claim 1,

The position return device is included in the second medical device,

A location storage unit for storing a first location;

A path setting unit for setting a moving path to the first location; And,

And a traveling control unit for moving the second medical equipment to the first position.
According to claim 1,

Position detection equipment is an automatic position return system of medical equipment that can be changed in length between the ends.
The method of claim 1

Position return device is included in the position detection equipment,

A location storage unit for storing a first location;

And a drive unit for moving the second medical equipment to the first position.
According to claim 1,

The second medical equipment is an automatic positioning system of medical equipment having a radiation device for emitting radiation in a predetermined direction and an imaging device having a sensing unit for detecting radiation.