DE10200534A1 - Method for collision free movement of two objects that form part of a medical system towards each other, involves creating 3D simulation of the objects and then simulating planned movement prior to actual implementation - Google Patents

Abstract

A method in which a 3D simulation of the objects in their actual positions is presented on a monitor (14). According to the method movement of the objects is then simulated until they reach a set required position. Following the simulated movement the actual objects are then moved until they reach their set positions. The invention also relates to a corresponding medical examination and or treatment device (1), especially an X-ray device with a movement simulation device (13) and an output monitor.

Description

The invention relates to a method for collision-free Moving at least two objects that can be moved against each other, especially parts of a medical examination and / or treatment facility.

A method and device for avoiding There is a collision between objects that can be moved against each other known from EP 0 087 198 B1.

The collision-free movement as part of the positioning two objects relative to each other is particularly at medical examination and / or Treatment facilities such. B. an X-ray device (for example in the form an angiography system) very important because of faulty Movements pose a risk to the patient who, for. B. on one Patient table is there. Encounter two Objects together can damage the system as a whole become. In order to counter this problem, it is known at one such a facility a so-called collision calculator to use the way based on a variety of data the movement of the objects made by the user detects and calculates and in this way possible collisions tried to recognize in advance. In the case of a potential device-specific collision are then over the Collision calculator stopped the drives. As part of these known systems it is also possible to protect the patient for example to take into account an "average patient" to avoid moving objects patients actually on the patient bed touched.

There are also distance sensors and collision protection devices known in this context. An antenna based system is z. B. described in DE 197 42 686 A1.

However, these known devices or systems are disadvantageous in that the collision detection one actual movement of the objects already taking place is the basis and only records whether a further movement is likely to cause a collision. Sometimes it can for timely avoidance of such a collision already be too late. A potential collision arises out, the user has to cumbersome the entire system move again, resulting in an additional system load leads. Furthermore, the user must, if he has the parts in a desired, e.g. B. a certain projection Wants to position, move the parts. Since sometimes for Assume the desired position of several parts at the same time or are to be moved in a specific order sometimes complex movements that the user needs may not immediately recognize. Hence arise from manual motion control often problems that often end in potential collision cases.

The problem underlying the invention is a method to indicate that a collision-free Movement allows.

One method to solve this problem is initially mentioned type provided according to the invention that on a A three-dimensional simulation of the monitor Objects in their current, standing actual position is displayed, the objects being part of the simulation with respect to each other with a continuous representation of the Simulation position up to the desired simulation target Position to be moved, after which the real objects after previous automatic determination of a collision-free Movement paths automatically in the context of the simulation assumed target position can be moved.

The basic idea of the method according to the invention is based on the actual movement of real objects, for example, the moving parts of a medical Examination and / or treatment facility in the frame to simulate a simulation representation without these parts to move first. Within this simulation display the user can therefore set a desired target position relevant items, e.g. B. an X-ray source, of a receiver and a patient table define each other. To do this, a computable geometric three-dimensional model of the system of each other movable objects, for example the entire Examination and / or treatment facility used and visualized to the user on a monitor. This can now the parts of the system against each other in the context of Move the simulation until it reaches the desired simulation target Take position, if permitted, so can be taken without collision. Is the target position is automatically defined using a suitable device a movement path for the to take the target position too the moving part is determined by calculation, with the Target position data and the actual position data the basis form. Are the individual movement paths determined and is sure that there is no collision Tracking real objects, d. H. these then become real in the real target specified by the simulation target position Position moved.

With particular advantage, the method therefore does not require one real movement of objects around the collisions at all to recognize, rather the collision check of the Movement paths automatically when setting them. During the if necessary, the real movement is supportive Collision monitoring using known techniques.

The tracking according to the simulation movement path data According to the invention, after reaching the simulation target Position only automatically after approval by the user done, d. H. the user solves when one collision-free movement is clear, the automatic finish.

To make the simulation movement possible for the user To be able to design it comfortably, if the Movement of the simulated objects by means of the user to the Moving the real objects to be actuated Control means takes place. I.e. the user does not have to do so get used to it and there is no problem, too existing systems such as one X-ray device with the simulation and Retrofit tracking option.

In addition to a pure device-specific collision, also a potential collision with one on a patient table Examination or treatment facility lying It is to be able to record patients in the simulation useful if a medical examination and / or Treatment facility as part of the automatic determination of the collision-free movement paths a model or the like one with the examination and / or Treatment facility to be examined or treated patients is taken into account. I.e. when determining the route will not only the geometric and local data of the device parts considered, but also a z. B. three-dimensional predictable simulation model of an average patient, so that a possible collision of a device part with the "Simulation patients" can also be recorded.

In addition to the method according to the invention, the invention relates also a medical examination and / or Treatment device, in particular an X-ray device, with Means for recording the spatial actual position data of movable and non-movable parts of the device. This examination and / or Treatment facility is characterized in that a Simulation device for simulated three-dimensional representation of the im Framework of aligning the parts of the facility with respect relevant parts on a monitor based on the recorded actual position data and for moving the simulated Objects are provided in a simulation target position are, the real moving parts after reaching the simulation target position based on the target Position data after automatic determination of a collision-free movement path automatically into the target position are movable.

Central element of the examination according to the invention and / or treatment facility is the Simulation device in which a predictable geometric three-dimensional model of the facility or all relevant movable and non-movable parts of the facility available is. Should now be a certain one for a certain projection Position is taken, so there is first a Simulation of the current dormant facility. For this serve the actual position data, which is the position of the describe movable and non-movable parts of the device or on the basis of which this exact position can be determined. The This actual position data can be recorded in any way respectively. For example, the position data about the drives of the movable objects can be determined. This is it known, the drives position detection means such. B. Assign potentiometers or incremental encoders that deliver appropriate signals, based on which the actual position data can be defined. It is also conceivable to use suitable ones Camera devices to the positions of the individual parts determine and from this processable actual position data determine. Also z. B. Marks in the form of transponders or the like, which are arranged on the parts and can be recorded, can be used for this. Are the actual Once the position data has been determined, the simulation is displayed of the parts in their current actual position, the User the moving parts in the simulation display can move freely. He has as part of the simulation movement no restrictions, d. H. he can within the Simulate movement through other objects, etc. to a but then collision-free target position with the moved To take part. If the target position is taken, so the target position data are sent to the central Control device that controls the movement of the moving parts controls, given. There the automatic determination of a collision-free movement path, the one or the movable Parts that have to be moved to take up the target position have to go through to the collision-free position to be brought. To this end, the Control device z. B. a suitable configured Collision calculator, which without performing an actual movement Movement paths of the part or parts to be moved are calculated and as part of which any collisions are detected in order to Ultimately, a movement scheme and various movement sequences for fix the parts so that a collision-free movement is guaranteed. Once the respective path of movement has been defined, the automatic movement then takes place.

The simulation application for the user, i.e. the doctor or make the X-ray assistant as comfortable as possible To be able to, it is useful if the simulated parts by means of the movement of the real parts Control means are movable. I.e. the simulation movement takes place using the usual movement of real parts serving control means such. B. control buttons or a joystick or the like so that the user doesn't have to get used to. Alternatively, it goes without saying also possible if separate to the simulation movement Control means are provided.

Furthermore, a means for triggering the is expedient automatic movement of the objects into the target position provided d. H. this gives the user the opportunity given to actively trigger the automatic movement mode can. In addition, means for voting are expedient between the real control operation and the simulation operation intended. Since the user does not always have the Simulation mode is required to move to a certain target position, this advantageously gives him the opportunity to Only activate simulation mode if he also uses it actually needed.

Further advantages, features and details of the invention result from that described below Embodiment and with reference to the drawing.

This shows a medical examination and / or treatment device 1 according to the invention in the form of an x-ray device for angiography. This is only shown by way of example; a wide variety of embodiments are conceivable. The x-ray device 1 comprises a radiation source 2 and a radiation receiver 3 , which are arranged on corresponding supports 4 , 5 , which in turn are attached to a central support 6 . Both carriers 4 , 5 are displaceable along the carrier 6 , as shown by the double arrows I, II, in order in this way, for. B. to be able to vary the film-focus distance. The carrier 6 is in turn arranged on a base 7 on the base and can be rotated about the axis of rotation A in order to be able to rotate the radiation source 2 and the radiation receiver 3 into any position. As an alternative to the configuration shown, a C-arm carrying the radiation source and the radiation receiver, which is slidably supported on the floor or ceiling stand, can also be provided. A biplane device with two C-arms, each carrying a radiation source and a receiver, can also be used.

Furthermore, the x-ray device 1 comprises a patient positioning table 8 with a table top 9 on which a patient to be examined can be accommodated. The table top 9 is arranged in a height-adjustable manner via a suitable receptacle 10 on a foot 11 , as indicated by the double arrow III. Furthermore, the table top 9 is rotatable about the axis of rotation B. The table top 9 can also be tilted about a horizontal axis, as indicated by the double arrow IV. Furthermore, it can be moved horizontally in the x and y directions, as the double arrows V and VI show. Overall, the x-ray device shows a series of movement axes around or along which the parts can be moved and adjusted with respect to one another in order to be able to assume any positions for the x-ray image recordings.

The movement operation - as well as the other operation of the X-ray device 1 - is controlled by a central control device 12 . The control device 12 is also able to record the actual position data of the movable and non-movable parts of the X-ray device 1 that are actually relevant in the context of the examination. In the example shown, these are the radiation source and the radiation receiver as well as the supports and the tripod and the patient table with all its components.

This actual position data acquisition can, for. B. about suitable Position detection means on the electric drives that serve to move the individual components. For this purpose, e.g. B. potentiometer or incremental encoder provided on the drive side, which is known in the prior art. Besides there would be the possibility of optical cameras Use position data acquisition etc.

The recorded actual position data of the stationary, i.e. non-moving, device are passed to a simulation device assigned to the control device 12 , in which a calculable geometric three-dimensional model of the X-ray device 1 or the components of the image recording system (radiation source 2 , radiation receiver 3 and all carriers including) Tripod) and the patient table is available. Using the actual position data, a simulation representation of these components in their actual position is calculated within the model and output on a monitor 14 . In the exemplary embodiment shown, the simulation image S of the components shown in the upper half of the image is shown. Within this simulation model, the user can now move the movable simulated parts via control means 15 , which can also be used to control and move the real equipment components in the exemplary embodiment shown. I.e. he can move the support 4 ', 5 ' of the simulation model, he can rotate the simulated support 6 ', he can tilt or twist the table top 9 ' etc. The movement of the simulated parts continues until the user moves the parts in the desired manner Target position that he would like to assume for the subsequent image acquisition with the relevant components of the device has been reached. As part of the movement, he can move the movable simulated parts with respect to one another as desired, without any collision taking place in any form occurring during a movement of the real parts. So he can drive the objects, e.g. B. turn the table top through the radiation receiver etc. It is only necessary to ensure that the simulation target position is collision-free, ie that the objects do not intermesh, etc., but that a real position is simulated.

As soon as the simulation target position has been assumed, the target position data are acquired by the simulation device 13 and sent to the control device 12 . Based on the real actual position data and the target position data resulting from the simulation, this then calculates the optimal and collision-free movement path of the components to be moved to assume the target position. This determination is done automatically. Once the relevant movement paths have been determined, the individual parts or components are moved into the desired position, controlled by the control device 12 . As part of this movement, collision monitoring takes place continuously, e.g. B. using a suitable collision computing device z. B. is implemented in the control device 12 . Such collision monitoring means are well known in the prior art. At this point it should be pointed out that there is usually a patient on the table top 9 . The control device 12 takes into account, for example, a virtual average patient, z. B. in the form of an envelope or the like, which is also used as part of the collision check in the automatic determination of the movement path.

The control means 15 for controlling the simulation parts is expediently the same as that for controlling the real components, so that the user does not have to get used to it. In the example shown, several control buttons 16 are provided here by way of example; of course, other control elements such as a joystick or the like can also be used.

The control device 15 also has a release switch 17 , by means of which the release takes place after automatic determination of the optimal movement path, so that the control device 12 automatically initiates the relevant movements and controls the components into the desired position. In addition, a changeover switch 18 is provided in order to choose between the simulation mode and the subsequent automatic control mode and a purely manual control. Sometimes it is useful, especially with relatively short movement paths and adjustments, to carry them out directly, so that simulation operation is not necessary. The switch 18 enables the user to make the appropriate selection.

Claims (8)

1. A method for the collision-free movement of at least two objects that can be moved relative to one another, in particular parts of a medical examination and / or treatment device ( 1 ), characterized in that a three-dimensional simulation representation of the objects in their current, standing actual position on a monitor ( 14 ) is displayed, the objects being moved in the context of the simulation with respect to one another while continuously displaying the simulation position up to a desired simulation target position, after which the real objects are automatically taken into the simulation as part of the simulation after prior automatic determination of a collision-free movement path Target position to be moved. 2. The method according to claim 1, characterized characterized that after reaching the Simulation target position the automatic movement into the target Position must be released by the user. 3. The method according to claim 1 or 2, characterized characterized that the movement of the simulated objects by means of the user to move the real objects to be operated control means. 4. Medical examination and / or treatment device ( 1 ), in particular X-ray device, with means for detecting the spatial actual position data of movable and non-movable parts of the device, characterized in that a simulation device ( 13 ) for simulated three-dimensional representation of the parts the device ( 1 ) is provided on a monitor ( 14 ) based on the detected actual position data and for moving the simulated parts into a simulation target position, the real movable parts being based on reaching the simulation target position the target position data can be automatically moved into the target position after automatic determination of a collision-free movement path. 5. Examination and / or treatment device ( 1 ) according to claim 4, characterized in that the determination of the collision-free movement path is carried out in a control device ( 12 ) controlling the movement operation on the basis of the simulation target position data. 6. Examination and / or treatment device ( 1 ) according to claim 4 or 5, characterized in that the simulated parts are movable by means of the control means ( 15 ) serving to move the real parts, or that separate control means are provided for the simulation movement. 7. Examination and / or treatment device ( 1 ) according to one of claims 4 to 6, characterized in that means ( 17 ) are provided for triggering the automatic movement of the parts into the desired position. 8. Examination and / or treatment device ( 1 ) according to one of claims 4 to 7, characterized in that means ( 18 ) are provided for selecting between the real control mode and the simulation mode.