METHOD FOR CONTROLLING A MEDICAL DEVICE AND APPARATUS

Abstract

A method is provided for the automatic control of a drivable, mobile medical device having a collision control system that has at least one LiDAR sensor. The method includes: locomotion of the device at a first speed, periodic joint scanning of at least one part of the surroundings of the device; using the at least one LiDAR sensor during the locomotion of the device; evaluating the scan data of the surroundings that has been recorded by the LiDAR sensor; and evaluating the scan data of the specified device section, the scan data being recorded by the LiDAR sensor in such a manner that a functional capability of the LiDAR sensor is tested and the speed of the device is controlled in a closed-loop manner depending on the result of the evaluations.

Claims

1. A method for an automatic control of a drivable, mobile medical device having a collision control system comprising at least one LiDAR sensor, the method comprising: moving, automatically or manually, the mobile medical device at a first speed along a travel direction; periodic joint scanning, using the at least one LiDAR sensor during the moving of the mobile medical device, at least one part of surroundings of the mobile medical device and a specified device section arranged permanently fixed on the mobile medical device; evaluating scan data of the surroundings, the scan data of the surroundings being recorded by the LiDAR sensor, such that a section of the surroundings located in the travel direction of the mobile medical device is checked for objects; evaluating the scan data of the specified device section, the scan data of the specified device section being recorded by the LiDAR sensor, such that a functional capability of the LiDAR sensor is tested; and controlling a speed of the mobile medical device in a closed-loop manner depending on a result of the evaluations of the scan data of the surroundings and the scan data of the specified device section.

2. The method of claim 1, wherein the mobile medical device is configured to be autonomously drivable, and wherein the mobile medical device is activated for an automatic locomotion.

3. The method of claim 1, wherein the speed of the mobile medical device is automatically reduced or decelerated, or the mobile medical device is stopped when the evaluating of the scan data of the surroundings indicates that an object has been detected in the travel direction.

4. The method of claim 1, wherein the speed of the mobile medical device is automatically reduced or decelerated, or the mobile medical device is stopped when the evaluating of the scan data of the specified device section indicates a limited functional capability of the LiDAR sensor.

5. The method of claim 1, wherein a maximum speed for the mobile medical device is configured such that: a braking distance at the maximum speed is at most as large as a maximum possible scanning distance, and/or the maximum speed is at most as large as the maximum possible scanning distance per scanning cycle duration.

6. The method of claim 1, wherein the at least one LiDAR sensor is configured for scanning an angular segment of at least 270°, and wherein the at least one LiDAR sensor has a rotatable mirror.

7. The method of claim 6, wherein the at least one LiDAR sensor is configured for scanning the angular segment of 360°.

8. The method of claim 1, wherein the specified device section comprises at least one wheel.

9. The method of claim 1, wherein the specified device section comprises two or more wheels.

10. A method for automatic control at least of one drivable, mobile medical device in a surrounding of a static unit comprising a collision control system having at least one LiDAR sensor, the method comprising: moving the mobile medical device at a first speed; periodic joint scanning, using the at least one LiDAR sensor, at least one part of the surroundings of the static unit and a specified device section arranged permanently fixed on the static unit, during the moving of the mobile medical device; evaluating scan data of the surroundings, the scan data of the surroundings being recorded by the at least one LiDAR sensor, such that a section of the surroundings is checked as to whether anything is approaching the mobile medical device; evaluating the scan data of the specified device section, the scan data of the specified device section being recorded by the at least one LiDAR sensor, such that a functional capability of the at least one LiDAR sensor is tested; and control a speed of the mobile medical device in a closed-loop manner depending on a result of the evaluations of the scan data of the surroundings and the scan data of the specified device section.

11. A mobile medical device comprising: an equipment trolley having motorized wheels; an open-loop control unit configured to control the motorized wheels; a collision control system having at least one LiDAR sensor arranged in such a manner that the at least one LiDAR sensor is configured to scan at least one part of a surrounding of the equipment trolley and a device section; a processing unit configured to process and evaluate scan data recorded by the at least one LiDAR sensor with respect to a detection of objects in a travel direction of the equipment trolley and with respect to a functional capability of the at least one LiDAR sensor; and a closed-loop control unit configured to control a speed of the mobile medical device in a closed-loop manner depending on a result of the evaluation of the scan data.

12. The mobile medical device of claim 11, wherein the open-loop control unit and the closed-loop control unit are formed by a system controller.

13. The mobile medical device of claim 11, wherein the mobile medical device is formed by an imaging device.

14. The mobile medical device of claim 13, wherein the imaging device is a mobile X-ray device.

15. The mobile medical device of claim 11, wherein the closed-loop control unit is configured to initiate a reduction of the speed of the mobile medical device and/or to initiate a deceleration of the mobile medical device when an object is detected in the travel direction.

16. The mobile medical device of claim 11, wherein the open-loop control unit is configured so as to control an autonomous locomotion of the mobile medical device.

17. The mobile medical device of claim 11, wherein the at least one LiDAR sensor comprises two or more LiDAR sensors.

18. A system comprising: a static unit; at least one mobile medical device having an equipment trolley; and a processor, wherein the at least one mobile medical device has motorized wheels and a control unit for controlling the motorized wheels, wherein the static unit has a collision control system comprising at least one LiDAR sensor arranged in such a manner that the at least one LiDAR sensor is configured to scan at least one part of a surrounding of the static unit and a section of the static unit, wherein the processor is configured to evaluate scan data recorded by the at least one LiDAR sensor with respect to a detection of the at least one mobile medical device and with respect to a functional capability of the at least one LiDAR sensor, and wherein the mobile medical device has a closed-loop control unit configured to control a speed of the mobile medical device in a closed-loop manner depending on a result of the evaluation of the scan data.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The disclosure is further explained below with aid of exemplary embodiments schematically illustrated in the drawings, without thereby limiting the disclosure to these exemplary embodiments. In the drawings:

[0029] FIG. 1 depicts an example of a sequence of acts of a method for the automatic control of a drivable, mobile medical device.

[0030] FIG. 2 depicts a view of an example of a mobile X-ray device having a LiDAR sensor for performing the method.

[0031] FIG. 3 depicts a plan view of an example of the sensitive areas of the LiDAR sensor being used.

[0032] FIG. 4 depicts a further example of a sequence of acts of a method for the automatic control of a drivable, mobile medical device.

[0033] FIG. 5 depicts a view of an example of an entire system having a static unit having a LiDAR sensor and a mobile device in its surroundings.

DETAILED DESCRIPTION

[0034] FIG. 2 shows a mobile medical device having a LiDAR sensor 6. The device in the example is a mobile C-arm X-ray device 1, which has an equipment trolley 2 and a C-arm 3 having an X-ray source 4 and an X-ray detector 5. The equipment trolley includes motorized wheels 7 for the locomotion, (e.g., four wheels of which two are front wheels and two are rear wheels). The wheels 7 of the mobile device may have one or more drives and may be decelerated by brakes or by the respective drive.

[0035] The mobile C-arm X-ray device 1 has a system controller 8 by which the device may be controlled. The motorized wheels 7 may also be controlled for locomotion or deceleration. The C-arm X-ray device 1 that is shown as an example is configured for autonomous locomotion. However, the disclosure may also include manually assisted drivable, (e.g., pushable), devices (see below). A LiDAR sensor 6 is arranged on the underside of the equipment trolley 2, for example, between the two front wheels 7. The LiDAR sensor 6 may have a form with a rotatable mirror onto which laser light is transmitted. The mirror rotates in a scanning cycle in such a manner that, for example, an angular segment of at least 180° (e.g., 180°, 270°, or a complete circle K, in other words) 360° is scanned. The resolution may be configured in this case, for example, in degrees or sub-degree increments.

[0036] FIG. 3 shows so as to explain the scanned area a 360° circle K and the LiDAR sensor 6 is arranged in its middle point. Furthermore, the wheels 7 are shown which, when the LiDAR sensor 6 is arranged on the lower side of the equipment trolley 2, are included in the scanning as a fixed device section. Using an appropriate calculation by the evaluation unit 11 (e.g., micro-controller), it is possible, from the scan data of a scanning cycle, in other words, from the scanned circular or segment-shaped sensitive area, to create an expedient sensitive area in the form of a rectangle 9 or any polygon in the travel direction 10 of the mobile device. The rectangle 9 may have a width B and a length L in the travel direction, wherein L≤R.sub.K (R.sub.K is the radius of the scannable circle K), with the result that the length L forms a uniform smallest monitoring distance in the travel direction 10. In the example shown, the travel direction 10 is forwards, however, it is also possible to evaluate backwards, sideways, or other travel directions. This may be performed by the evaluation unit 11 if the unit receives the relevant information regarding the travel direction 10 (relative to the device), for example, from the system controller 8. The sensitive rectangle 9 may then, if necessary, be determined configured to the respective travel direction.

[0037] FIG. 1 shows a sequence of acts of a method. In act 21, locomotion of the mobile device, (e.g., the mobile X-ray device), is initialized at a first speed. For this purpose, the mobile device may be activated either automatically, in other words, for example, by a control command of the system controller, or by a user. The locomotion may be automatic, (e.g., instigated by the system controller), or manually assisted by a user, (e.g., pushed).

[0038] During the locomotion of the mobile device, at least one part of the surroundings of the device and a device section that is specified and arranged permanently fixed on the device are periodically jointly scanned in act 22 by the at least one LiDAR sensor. In each scanning cycle, a 180°, 270°, or 360° circle (segment) may be scanned and, for example, one or more wheels or wheel claddings or a part of the housing of the mobile device. The scanning cycles are continued at least until the mobile device is no longer moving or is deactivated or until a control command to abort the collision monitoring is input.

[0039] The scan data of the LiDAR sensor of each scanning cycle is evaluated immediately:

[0040] In act 23, for each scanning cycle the recorded scan data of the surroundings is evaluated as to whether one (or more) object(s) has been detected in the travel direction of the device within a section (e.g., the rectangle 9) that is located there. If an object is detected, then this means that a collision is imminent. The evaluation is performed by a suitable evaluation unit 11, for example, a micro-controller.

[0041] In act 24, the recorded scan data of the specified device section (in other words, for example, wheels or wheel housing) is evaluated to the effect that a functional capability of the LiDAR sensor is tested (e.g., self-test). It is important here that the device section remains the same so that the scan data has a value that is to be expected. If a deviation from this value occurs outside a tolerance range, then it is possible to assume that the function of the LiDAR sensor is disrupted. The evaluation is performed by a suitable evaluation unit 11, for example, a micro-controller. One or more evaluation units 11 may be provided. Act 23 and act 24 may be performed in any sequence or also simultaneously.

[0042] Depending upon the evaluation results, the speed of the mobile device is controlled in a closed-loop manner in act 25. The scanning cycles including evaluation and closed-loop control are continued at least until the mobile device is no longer moving or is deactivated or until a control command to abort the collision monitoring is input.

[0043] The closed-loop control of the speed of the mobile device is shown in detail in FIG. 4. Thus, if the evaluation in act 23 indicates that one or more objects have been detected 23a, a control command to decelerate or stop 25a the mobile device is issued. As a result, the mobile device may be stopped or decelerated to a lower speed. Likewise, if the evaluation in act 24 indicates a limited functional capability 24a, a control command to decelerate or stop 25a the mobile device is issued. As a result, the mobile device may likewise be stopped or decelerated to a lower speed. The reduced speed may be selected, for example, in such a manner that damage to the device is avoided. It is also possible to initiate an emergency stop. If both the functional capability is provided and also an object is not detected, the mobile device continues to be driven 25b at the same (e.g., the first) speed.

[0044] In the case of a mobile device that is driven autonomously or automatically, deceleration or stopping is automatically controlled and performed. In the case of a device that is manually pushed, the device may be decelerated, against the resistance of the push, to the appropriate lower speed or stopped or, for example, a speed lock is activated. The person pushing the device then feels the resistance. In addition, it is possible for a display or a warning sound to be activated.

[0045] The method renders it possible to reliably fulfill the necessary requirements with regard to first-time-failure safety of the mobile device. The described collision control system is both collision-proof and also functionally safe in accordance with risk analysis.

[0046] Overall, one or more conditions may apply for locomotion of the mobile device. It is, for example, important that the mobile device may come to a standstill within the last scanned area. It is possible to prescribe that the achievable or maximum adjustable maximum speed of the device meets at least one of the following requirements: the braking distance in the case of the maximum speed is at the most as large as the maximum possible scanning distance (e.g., the radius R.sub.K of the circle K or length L), and/or the maximum speed of the device is at the most as large as the maximum possible scanning distance (e.g., radius R.sub.K of the circle K or length L) per scanning cycle duration (e.g., duration of a scanning cycle, possibly plus evaluation). In addition, the evaluation durations may also be taken into consideration with the result that the maximum speed may be limited to an even greater extent. In order to meet the requirements, it is possible to provide a maximum speed lock.

[0047] An embodiment of a mobile medical device having at least one LiDAR sensor is cost-effective and safe. It is not necessary to provide hardware, which is itself fail-safe, because the integrity of the simpler hardware (appropriately positioned LiDAR sensor having an evaluation unit and a closed-loop control of the speed) is validated in real time (in relation to the multiple occurrence probability). A malfunction (deviation during the self-test) leads immediately to a removal of the degree of freedom that has been validated via the LiDAR sensor (e.g., distance, speed, etc.). In this manner, it is possible to also use simple positioning systems for safety-relevant functions.

[0048] As an alternative to a mobile device having a collision control system having a LiDAR sensor, it is also possible to arrange the collision control system having a LiDAR sensor on a static unit 12 and to control a mobile device 1 in the surroundings of the static unit 12—see FIG. 5. The LiDAR sensor 6 is arranged on the static unit in such a manner that it scans for example a 180°, 270° or 360° circle (segment) according to one or more mobile devices 1 and simultaneously in each scanning cycle also scans a fixed section on the static unit for a self-test. The scan data is then evaluated, and the speed of the mobile device or mobile devices is accordingly controlled in a closed-loop manner as described above. Additionally, communication between the static unit (e.g., the collision control system) and the mobile device is then required in order to determine which mobile device is located in the surroundings of the static unit, because the LiDAR sensor merely fundamentally detects objects.

[0049] The disclosure may be summarized in short as follows. For a first-time-failure safe movement of a mobile medical device, (e.g., a mobile C-arm X-ray device), a method is provided for the automatic control of a drivable, mobile medical device having a collision control system that has at least one LiDAR sensor. The method includes: automatic or manually assisted locomotion of the device at a first speed; periodic joint scanning of at least one part of the surroundings of the device and from a device section that is specified and arranged permanently fixed on the device, using the at least one LiDAR sensor during the locomotion of the device; evaluation of the scan data of the surroundings, the scan data being recorded by the LiDAR sensor, to the effect that a section of the surroundings that is located in the travel direction of the device is checked for objects; and evaluation of the scan data of the specified device section, the scan data being recorded by the LiDAR sensor in such a manner that a functional capability of the LiDAR sensor is tested and the speed of the device is controlled in a closed-loop manner depending on the result of the evaluations.

[0050] It is to be understood that the elements and features recited in the appended claims may be combined in different ways to produce new claims that likewise fall within the scope of the present disclosure. Thus, whereas the dependent claims appended below depend on only a single independent or dependent claim, it is to be understood that these dependent claims may, alternatively, be made to depend in the alternative from any preceding or following claim, whether independent or dependent, and that such new combinations are to be understood as forming a part of the present specification.

[0051] While the disclosure has been illustrated and described in detail with the help of the embodiments, the disclosure is not limited to the disclosed examples. Other variations may be deduced by those skilled in the art without leaving the scope of protection of the claimed disclosure.