CN107802966A - Anticollision detection method and device, the anticollision detection method of radiotherapy equipment - Google Patents
Anticollision detection method and device, the anticollision detection method of radiotherapy equipment Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1054—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a portal imaging system
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
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Abstract
The present invention relates to a kind of anticollision detection method, can be applied to have on the Medical Devices of movable part, methods described includes：Obtain movement track parameters of the movable part in preset time period；According to the movement track parameters, judge whether the movable part will collide in the preset time period；Wherein, when judging that the movable part will collide in the preset time period, the movable part that driving will collide is stopped.By using the acquired movement track parameters in preset time period, judge whether movable part may collide in the preset time period, and when judging to collide, alert, and then effectively movable part can be avoided to be collided in motion process, effectively to lift the security performance of Medical Devices.
Description
Technical field
The present invention relates to technical field of medical instruments, is controlled more particularly to a kind of anticollision detection method and device, radiation
Treat the anticollision detection method of equipment.
Background technology
At present, when sufferer is diagnosed or treated using Medical Devices, due to being provided with multiple work on Medical Devices
Dynamic component, cause to be easy to produce collision between movable part, and then Medical Devices can be caused to damage, or even some movable parts
Part can collide patient, and certain potential safety hazard is brought so as to return patient.
The content of the invention
Based on this, it is necessary to provide a kind of anticollision detection method and device, the anticollision detection side of radiotherapy equipment
Method, to avoid the movable part on Medical Devices from being collided in motion process, and then the security performance of Medical Devices is lifted,
Prevent patient from being injured by movable part.
A kind of anticollision detection method, can be applied to have on the Medical Devices of movable part, methods described includes：
Obtain movement track parameters of the movable part in preset time period；
According to the movement track parameters, judge whether the movable part will touch in the preset time period
Hit；
Wherein, judge to stop driving when the movable part will collide in the preset time period.
In above-mentioned anticollision detection method, join by using the acquired movement locus in preset time period
Number, judges whether movable part may collide in the preset time period, and when judging to collide, stops
The movable part that will be collided is driven, and then effectively movable part can be avoided to be collided in motion process, with
The effectively security performance of lifting Medical Devices, while can also prevent patient from being injured by movable part.
In an optional embodiment, the movement track parameters include speed, the direction of motion and positional information.
In an optional embodiment, the movement track parameters include programming movement trajectory parameters and predicted motion rail
Mark parameter；It is described obtain the movable part in preset time period movement track parameters the step of, including：
When the Medical Devices are in normal operating conditions, the programming movement trajectory parameters of movable part are obtained, can
To be judged in subsequent steps according to the programming movement trajectory parameters between different movable parts described current pre-
If whether will be collided in the period；Or
When the Medical Devices are in off working state, the prediction of movable part is predicted based on movement track parameters
Movement track parameters, it can be used to judge different movable parts according to the predicted motion trajectory parameters in subsequent steps
Between whether will be collided in the preset time period.
In an optional embodiment, when the Medical Devices are in off working state, preset time period can be based on
Duration, the location of the movable part and speed etc. carry out the prediction locus parameter of foresight activity part.
In an optional embodiment, the Medical Devices are radiotherapy apparatus, and the working condition is that the radiotherapy is set
Standby to be in treatment stage, the off working state is that the radiotherapy apparatus is in the non-treatment stage；
Wherein, when the radiotherapy apparatus is in treatment stage, simulation patient is on the loading plate in the radiotherapy apparatus
Model, and the programming movement trajectory parameters of movable part are obtained, to according to the model and the programming movement rail
Mark parameter judges between the movable part and patient whether will to be collided in the preset time period.
It is described according to the movement track parameters in an optional embodiment, judge the movable part whether
The step of will being collided in the preset time period, including：
According to the movement track parameters, judge the movable part whether described default using anticollision detection algorithm
It will be collided in period；
Wherein, the computing of anti-collision algorithm is carried out by the way of equivalent inscribed or circumscribed polyhedron for movable part.
In an optional embodiment, the anticollision detection algorithm is separation shaft collision detection algorithm.
A kind of anti-collision detection device, it can be applied to have on the Medical Devices of movable part, it is pre- in the Medical Devices
There are the programming movement trajectory parameters of the movable part, described device includes：
Displacement transducer, it is fixedly installed on the movable part, for gathering the motion rail of the movable part
Mark parameter；
Processor, it is connected respectively with the Medical Devices and institute's displacement sensors；
Wherein, the processor is used for when the Medical Devices are in normal operating conditions, is set according to from the medical treatment
The programming movement trajectory parameters for the movable part transferred in standby, to judge between different movable parts when described default
Between whether will collide in section；And
The processor is used for when the Medical Devices are in off working state, is adopted according to from institute's displacement sensors
The movement track parameters of collection calculate the predicted motion trajectory parameters of movable part, to judge between different movable parts
Whether will be collided in the preset time period.
Above-mentioned anti-collision detection device, when Medical Devices are in different working conditions, can by respectively with position
Displacement sensor connects processor with Medical Devices, judges whether movable part may touch within following a period of time
Hit, and then effectively avoid movable part from being collided in motion process, effectively to lift the security performance of Medical Devices, together
When can also prevent patient from being injured by movable part.
In an optional embodiment, the Medical Devices are radiotherapy apparatus, and the working condition is that the radiotherapy is set
Standby to be in treatment stage, the off working state is that the radiotherapy apparatus is in the non-treatment stage；Described device also includes：
Input equipment, to input figure's parameter of patient；
Analog machine, it is connected with the input equipment, to go out the patient in institute according to figure's parameter simulation of the patient
State the model on the loading plate in radiotherapy apparatus；
Wherein, the processor is connected with the analog machine, to when the radiotherapy apparatus is in treatment stage, root
According to the model and the programming movement trajectory parameters, to judge in the preset time period, the movable part and patient
Between whether will collide.
In an optional embodiment, above-mentioned anti-collision detection device may also include：
Mechanical shutdown switch, it is arranged in the region to be collided on the movable part；The mechanical shutdown switch with
The Medical Devices connection, for stopping the motion of the movable part when the movable part collides.
In an optional embodiment, above-mentioned anti-collision detection device may also include：
Current sensing means, it is connected with the Medical Devices, the work is driven for detecting the Medical Devices in real time
The electric current of dynamic component motion；
Wherein, the current sensing means detects that the Medical Devices drive the electric current of the movable part motion to be more than
During default current threshold, the power supply of the Medical Devices is disconnected.
A kind of Medical Devices, it may include：
Medical Devices body, there are multiple movable parts；And
Anti-collision detection device as described in above-mentioned any one；
Wherein, the anti-collision detection device is arranged on the Medical Devices body, for detecting the multiple work
Whether dynamic component will collide in the preset time period.
In above-mentioned Medical Devices, movable part can be effectively avoided to be sent out in motion process by anti-collision detection device
Raw collision, effectively to lift the security performance of Medical Devices, while can also prevent patient from being injured by movable part.
A kind of anticollision detection method of radiotherapy equipment, the radiotherapy equipment include frame, in the frame
On the treatment head and electronics portal imaging equipment that rotatably set, and relatively described frame can movable independently sick bed；The side
Method includes：
Obtain the movement locus of the treatment head, the electronics portal imaging equipment and the sick bed in preset time period
Parameter；
According to the movement track parameters, acquisition treatment head, the electronics portal imaging equipment and the disease are judged
Whether bed will collide in the preset time period；
Wherein, judge between the treatment head and the sick bed, between the electronics portal imaging equipment and the sick bed
When being collided in preset time, stop driving.
In the anticollision detection method of above-mentioned radiotherapy equipment, by using acquired in preset time period
Movement track parameters, judge the movable part such as treatment head, electronics portal imaging equipment and sick bed in the preset time period
Whether may collide, and when judging to collide, stop the movable part that driving will collide, and then
Treatment head, electronics portal imaging equipment and sick bed etc. can be effectively avoided to be collided in motion process, effectively to be lifted
The security performance of Medical Devices, while can also prevent patient from being injured by movable part.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of anticollision detection method in one embodiment；
Fig. 2 is the schematic flow sheet of anticollision detection method in another embodiment；
Fig. 3 is the connection relationship diagram in anti-collision detection device between all parts in one embodiment；
Fig. 4 is the structure schematic diagram of the three-dimensional stereo model of anticollision detection simulation person under inspection in one embodiment；
Fig. 5~8 are the schematic diagram that different polyhedron equivalent circular cylinders is used in one embodiment；
Fig. 9 is the schematic flow sheet of the anticollision detection method of radiotherapy equipment in one embodiment；
Figure 10 is the schematic flow sheet for carrying out anticollision detection in one embodiment on Medical Devices.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the schematic flow sheet of anticollision detection method in one embodiment.A kind of as shown in figure 1, anticollision detection
Method, it can apply on the Medical Devices with movable part, this method may include following steps：
Step S1, obtain movement track parameters of the movable part in preset time period.
Specifically, above-mentioned movement track parameters may include the parameters such as speed, the direction of motion and positional information.Example
Such as, the motion that can be used as by transferring the programming movement parameter of each movable part built in Medical Devices in the preset time period
Trajectory parameters, also it can obtain the prediction of each movable part by calculating by gathering the kinematic parameter of each movable part
Kinematic parameter is as the movement track parameters in the preset time period.
Step S2, according to above-mentioned movement track parameters, judge that above-mentioned movable part whether will in preset time period
Collide.If colliding, continue step S3；Otherwise, step S4 is continued.
Specifically, on the basis of based on the movement track parameters acquired in step S1, for each movable part,
Using the anticollision detection algorithm such as separation shaft collision detection, come judge above-mentioned movable part in preset time period whether
It will collide, and when judging to collide in above-mentioned preset time period, the work that will be collided can be directed to
Dynamic component continues step S3, and the movable part for that will not collide then can proceed with step S4.Wherein, preset
Period can be using current point in time as starting point, specifically can root by the durations such as 500 milliseconds as the preset time period
Set according to Medical Devices demand.
Step S3, stop the movable part that driving will collide.
Specifically, based on step S2 judged when will there is movable part to collide in preset time period,
The movable part that will be collided, which can be then directed to, can automatically stop the motion of the movable part, also can be according to the operation of input
The movable part that instruction to collide continues motion or carries out reduction of speed operation etc. at a given speed.
In addition, when judging to have movable part to collide in preset time period, alarm can be also triggered simultaneously
Information, the warning message may include the beacon information for the movable part that will be collided, grade of collision etc..
Step S4, movable part continue to move.
Specifically, for the movable part that will not be collided in preset time period, can be without any operation so that
The movable part keeps original motion state, and can proceed with step S1, to carry out the collision detection of next period
Operation.
Further, above-mentioned Medical Devices can be radiotherapy apparatus, and movable part can be then treatment head (Gantry
Header), electronics portal imaging equipment (EPID), sick bed (table) etc.；It can be not that above-mentioned movable part, which will collide,
With the collision occurred between movable part, between movable part and patient or between movable part and other equipment.
Just it is specifically described below by taking radiotherapy apparatus as an example：
Fig. 2 is the schematic flow sheet of anticollision detection method in another embodiment.A kind of as shown in Fig. 2 detection radiotherapy
The method that movable part anticollision detects in equipment, it may include：
Step S10, obtain the working condition of Medical Devices (such as radiotherapy apparatus).
Specifically, the working condition of the Medical Devices may include normal operating conditions and off working state, that is, utilize medical treatment
When equipment is detected or treated (it is believed that now Medical Devices are in treatment stage) to patient, at the definable Medical Devices
In normal operating conditions, and in other times section (it is believed that Medical Devices are in the non-treatment stage) then the definable medical treatment is set
It is standby to be in off working state.
Step S11, judges whether Present Medical is in normal operating conditions.If so, then continue step S12；Otherwise,
Continue step S13.
Step S12, obtain the programming movement trajectory parameters of movable part.
Specifically, because when Medical Devices are in normal operating conditions, the movement locus of movable part is to customize in advance
, therefore the programming movement parameter of each movable part can be directly transferred from the Medical Devices, and transferring the rule of movable part
After drawing kinematic parameter, step S15 can proceed with.
Step S13, the movement track parameters of collection activity part.
Specifically, when judging that Medical Devices are in off working state in step s 11, due to the motion rail of movable part
Mark is not planned in advance, therefore needs the movement locus following to its to be predicted.For example, the motion following to movable part
When track is predicted, the movement track parameters progress to movable part can be carried out by using displacement transducers such as encoders
Collection.
Step S14, predicted motion trajectory parameters are calculated based on movement track parameters.
Specifically, movement track parameters or other approach that can be based on each movable part gathered in step S13
The movement track parameters of each movable part obtained, to correspond to the prediction for predicting each movable part in preset time period
Movement locus.For example, can using current point in time as terminating point, calculate before current point in time such as 100 milliseconds of durations when
Between in section, the Mean Speed of each movable part, then using the location point where current active part as starting point, along current kinetic
Direction, the displacement after preset time period, and then predict the predicted motion trajectory parameters of each movable part.
In addition, in order to lift the accuracy of prediction, when obtaining predicted motion trajectory parameters, movable part need to be ensured short
Speed will not have greatly changed in time, such as movable part need to meet within 500 milliseconds of periods, the changing value of speed
Less than 10mm/ms.
Further, can the location of the duration based on preset time period, movable part and movable part motion
The parameters such as speed predict the prediction locus parameter of each movable part.
Specifically, formula A can be used：S=PC+X×VCCalculate the prediction locus parameter of movable part；Wherein, in formula A
S be position of the current active part after preset time period, PcThe position being currently located for current active part, X are default
The duration of period, VcFor current active part time point speed.For example, setting current active part is relative to origin
One side position PcFor 10mm, current speed VcFor 5mm/ms, and the duration X of preset time period is 300ms, then corresponding current
Position of the movable part after preset time period is S=10mm+300ms × 5mm/ms=1510mm i.e. compared to original 10mm's
Position, the current movable part move 1500mm.
Step S15, judges whether movable part will collide.
Specifically, when Medical Devices are in normal operating conditions, can be according to each movable part acquired in step S12
The programming movement trajectory parameters of part, to judge in preset time period, whether can be collided between movable part；When medical treatment is set
It is standby when being in off working state, then can according to the predicted motion trajectory parameters of each movable part calculated in step S14,
To judge in preset time period, whether can be collided between movable part.It should be noted that in this step, also may be used
Each movable part and the part of other fixed settings are judged according to programming movement trajectory parameters or predicted motion trajectory parameters
Between, whether can be collided in preset time period.Meanwhile when judging that movable part will collide, it can continue
Carry out step S16；Otherwise, it can proceed with step 17.
Further, the anticollision detection algorithm such as separation shaft collision detection can be used, to judge between movable part
Or whether will be collided between movable part and other parts fixed.
In addition, being directed to movable part, anti-collision algorithm can be carried out by the way of equivalent inscribed or circumscribed polyhedron
Calculate, as shown in figures 5-8, such as inscribed positive tetrahedron 31, regular hexahedron 41, regular dodecahedron 51 or positive 24 can be used
Polytype polyhedron such as face body 61 carrys out equivalent circular cylinder 30, and then effectively saves calculation resources, lifts the speed of computing
Degree.Meanwhile in order to further lift overall operation efficiency, also carrying platform (such as sick bed) can also be used multiple polyhedron figures
The superposition of shape carries out equivalent operation simulation.
It should be noted that although polyhedral face number is more, equivalent precision is higher, can cause corresponding anticollision
The operand of detection algorithm is also bigger, therefore can select the polyhedron of suitable face number according to the demand of reality in the application of reality
Equivalent Calculation is carried out, with while operation efficiency is lifted so that equivalent precision meets the needs of actual.
Step S16, stop the movable part that driving will collide.
Specifically, in the judged result based on step S15, it is between movable part or living in preset time period when judging
When will be collided between dynamic component and the part of fixation, it can automatically stop the motion of the movable part, also can be according to skill
The movable part that the operational order of teacher's input to collide continues motion, carries out reduction of speed or stopping at a given speed
The operation such as motion.
In addition, it can also be sent comprising the movable part that will such as collide for the movable part that will be collided
Beacon information, the warning message of the grade etc. of collision.
For example, when Medical Devices are in abnormal operating state, if anticipation is to will have collision, and technician's determination
It will not have a negative impact, can be by unclamping movement buttons (motion enable) and pressing the button again, you can so that institute
The movable part for judging to collide continues to move.Meanwhile in radiotherapy apparatus, before beam is gone out when anticipation to have collide
Technician can be reminded during generation by way of dialog box, and technician then can be by selecting the continuation button in dialog box or stopping pressing
Button, to control the motion for the movable part that will send collision.I.e. in the present embodiment, the influence caused by flase drop can be reduced,
Technician can be assigned and manipulate power accordingly, to combine the motion of actual conditions control movable part.
Step S17, movable part continue to move.
Specifically, when judge in preset time period between movable part or between movable part and the part of fixation not
When can collide, with the motion state for causing the movable part to keep original, and it can proceed with without any operation
Step S10, so as to carry out the collision detection operation of next period.
In another optional embodiment, as shown in Fig. 2 due to when Medical Devices are in normal operating conditions, curing
Treat equipment loading plate (such as sick bed) on can carry patient, so when need to judge whether movable part can occur between patient
Collision；I.e. between step S12 and step S15, such as height, three-dimensional that can be by some analog machines according to gathered patient
The ambient parameter such as the figure such as size, body weight parameter and temperature simulates the three-dimensional model of loading plate patient, subsequently in step S15
In then according to the programming movement trajectory parameters of the three-dimensional model and each movable part come judge between movable part and patient
In preset time period, if will collide, and the result based on judgement continues step S16 or step S17.
It should be noted that in the present embodiment, the collision warning information in step S16 may also include movable part with suffering from
The beacon information that person is collided, to remind technician's movable part to collide patient.
Fig. 3 is the connection relationship diagram in anti-collision detection device between part in one embodiment.As shown in figure 3,
In another embodiment of the application, a kind of anti-collision detection device, it can be applied to have on the Medical Devices of movable part,
The anti-collision detection device may include displacement transducer 21, processor 22 and alarm 23；Displacement transducer 21 can be fixedly installed
On movable part, for the movement track parameters of collection activity part；Processor 22 respectively with displacement transducer 21 and
Alarm 23 connects, available for when Medical Devices are in normal operating conditions, according to the activity transferred from Medical Devices
The specification movement track parameters of part, to judge whether will be collided in preset time period between different movable parts；
Or the processor can also be when Medical Devices be in off working state, according to from collection but the movement track parameters that are gathered
The predicted motion trajectory parameters of movable part are calculated, and judge different movable parts according to the predicted motion trajectory parameters
Between whether will be collided in preset time period.In addition, when detecting that movable part will collide, processor
22 can stop the movable part motion that driving will collide, while also can trigger the alert of alarm 23.Wherein,
Above-mentioned displacement transducer 21 can be encoder, and movement track parameters and programming movement parameter may each comprise speed, motion side
To with positional information etc..
Fig. 4 is the structure schematic diagram of the model of anticollision detection simulation person under inspection in one embodiment.As shown in figs. 34, exist
In another optional embodiment, above-mentioned anti-collision detection device may also include input equipment 25 and analog machine 26；Input
Equipment 25 is used for figure's parameter that technician inputs patient；Analog machine 26 is then connected with processor 22 and input equipment 25 respectively,
Mould of the patient on the loading plate 101 in Medical Devices is gone out with figure's parameter simulation of the patient inputted according to input equipment 25
Type 102.Wherein, processor 22 can be when Medical Devices be in normal operating conditions, according to the planning of model 102 and movable part
Movement track parameters, to judge in preset time period, whether will be collided between movable part and patient.
As shown in figure 3, in another optional embodiment, above-mentioned anti-collision detection device, which may also include, is arranged at doctor
Treat the mechanical shutdown switch 27 and current sensing means 28 on apparatus body 24；Mechanical shutdown switch 27 may be disposed at movable part
On in the region that easily collides, and the mechanical shutdown switch 27 can be connected with Medical Devices body, in movable part
Stop the motion of corresponding movable part when colliding；Current sensing means 28 can be also connected with Medical Devices body 24, with
The electric current for driving movable part motion for detecting Medical Devices body 24 in real time, as current sensing means 28 detects current doctor
When treatment apparatus body 24 drives the electric current of movable part motion to be more than default current threshold, the confession of Medical Devices can be directly disconnected
Electricity.
Wherein, above-mentioned mechanical shutdown switch 27 and current sensing means 28 are connected with processor 22 respectively so that this reality
Applying the anti-collision detection device in example has three-level anti-collision, i.e., after processor 22 carries out anticollision failure, passes through machine
Tool shutdown switch 27 can prevent slight collision, and current sensing means 28 then can be timely when more serious collision occurs
Power supply is cut off, and then effectively reduces the damage caused by collision.
It should be noted that the anti-collision detection device in the embodiment of the present application can be used for realizing above-mentioned anticollision detection side
Method, therefore the correlation technique content between anticollision detection method embodiment and anti-collision detection device embodiment, what is do not conflicted
Under the premise of can mutually be applicable, in order to illustrate simplicity, just do not enumerate herein.
A kind of Medical Devices are also provided in the embodiment of the present application, as shown in Figure 3, it may include there is the doctor of multiple movable parts
Treat anti-collision detection device described in apparatus body 24, and above-mentioned any one embodiment；Wherein, anti-collision detection device
It may be disposed on Medical Devices body 24, whether will be collided in preset time period for detection movable part.
Fig. 9 is the schematic flow sheet of the anticollision detection method of radiotherapy equipment in one embodiment.As shown in figure 9,
A kind of anticollision detection method of radiotherapy equipment, radiotherapy equipment may include frame, rotatably be set in frame
Treatment head and electronics portal imaging equipment, and relative frame can movable independently sick bed, the method for trade company may include：
Step S71, obtain the fortune of the movable part in preset time period such as treatment head, electronics portal imaging equipment and sick bed
Dynamic trajectory parameters.
Step S72, according to above-mentioned movement track parameters, judge to obtain treatment head, electronics portal imaging equipment and sick bed etc.
Whether movable part will collide in preset time period.
Wherein, judge between treatment head and sick bed, sent out in preset time between electronics portal imaging equipment and sick bed etc.
During raw collision, stop the movable part that driving will collide.
In the anticollision detection method of above-mentioned radiotherapy equipment, by using acquired in preset time period
Movement track parameters, judge the movable part such as treatment head, electronics portal imaging equipment and sick bed in the preset time period
Whether may collide, and when judging to collide, stop the movable part that driving will collide, and then
Treatment head, electronics portal imaging equipment and sick bed etc. can be effectively avoided to be collided in motion process, effectively to be lifted
The security performance of Medical Devices.
It should be noted that the anticollision detection method of the radiotherapy equipment in the embodiment of the present application can be based on above-mentioned anti-
Collision checking method is carried out, therefore anticollision detection method embodiment and the anticollision of the radiotherapy equipment in the present embodiment detect
Correlation technique content between embodiment of the method, can mutually be applicable on the premise of not conflicting, in order to illustrate simplicity, herein just
Do not enumerate.
Figure 10 is the schematic flow sheet for carrying out anticollision detection in one embodiment on Medical Devices.As shown in Figure 10,
Below just by taking an application in practice as an example, the anticollision detection in the application is described in detail：
Step S81, detect whether to collide.If so, then continue step S82；Otherwise, the weight after preset time period
It is new to carry out step S81.
Step S82, collision warning information is sent, may be touched with prompting technician to detect in preset time period
Hit；Meanwhile the motion of movable part that will be collided can be stopped.
Whether step S83, the movable part for judging to collide continue to move.If receive the finger of stop motion
It order, then can stop the motion of movable part that will be collided, and step is continued executing with after subsequently setting in motion is continued
S81.Otherwise, step S84 and step S85 are continued.
Step S84, judges whether driving current is more than threshold value.If whether driving current is less than or equal to threshold value, continue
Step 86；Otherwise, step S81 is re-started after preset time period.
Step S85, judges whether mechanical shutdown switch closes.If mechanical shutdown switch closure, continues step 86；It is no
Then, step S81 is re-started after preset time period.
Wherein, step S84 and step S85 can be carried out simultaneously, also can step S85 judge mechanical switch closure after, then
Step S84 judgements are carried out, and when judging that driving current is more than threshold value, directly disconnect the power supply of Medical Devices.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. anticollision detection method, it is characterised in that applied on the Medical Devices with movable part, methods described bag Include：Obtain movement track parameters of the movable part in preset time period；According to the movement track parameters, judge whether the movable part will collide in the preset time period；Wherein, judge to stop driving when the movable part will collide in the preset time period.
- 2. anticollision detection method as claimed in claim 1, it is characterised in that the movement track parameters include speed, fortune Dynamic direction and positional information.
- 3. anticollision detection method as claimed in claim 1, it is characterised in that the movement track parameters include programming movement Trajectory parameters and predicted motion trajectory parameters；Movement track parameters of the acquisition movable part in preset time period Step, including：When the Medical Devices are in normal operating conditions, the programming movement trajectory parameters of movable part are obtained；OrWhen the Medical Devices are in off working state, the predicted motion of movable part is predicted based on movement track parameters Trajectory parameters.
- 4. anticollision detection method as claimed in claim 3, it is characterised in that when the Medical Devices are in off working state When, the location of the duration based on the preset time period, described movable part and prediction of speed movable part it is described pre- Survey trajectory parameters.
- 5. anticollision detection method as claimed in claim 3, it is characterised in that the Medical Devices are radiotherapy apparatus, described Working condition is that the radiotherapy apparatus is in treatment stage, and the off working state is that the radiotherapy apparatus is in non-treatment rank Section；Wherein, when the radiotherapy apparatus is in treatment stage, model of the simulation patient on the loading plate in the radiotherapy apparatus, And the programming movement trajectory parameters of movable part are obtained, to according to the model and the programming movement trajectory parameters To judge between the movable part and patient whether will be collided in the preset time period.
- 6. the anticollision detection method as described in any one in Claims 1 to 5, it is characterised in that described according to the fortune Dynamic trajectory parameters, judge the step of whether movable part will collide in the preset time period, including：According to the movement track parameters, judge the movable part whether in the preset time using anticollision detection algorithm It will be collided in section；Wherein, the computing of anti-collision algorithm is carried out by the way of equivalent inscribed or circumscribed polyhedron for movable part.
- 7. anticollision detection method as claimed in claim 6, it is characterised in that the anticollision detection algorithm touches for separation shaft Hit detection algorithm.
- 8. a kind of anti-collision detection device, it is characterised in that applied on the Medical Devices with movable part, the medical treatment is set The programming movement trajectory parameters of the movable part are prestored in standby, described device includes：Displacement transducer, it is fixedly installed on the movable part, for gathering the movement locus of movable part ginseng Number；Processor, it is connected respectively with the Medical Devices and institute's displacement sensors；Wherein, the processor is used for when the Medical Devices are in normal operating conditions, according to from the Medical Devices The programming movement trajectory parameters for the movable part transferred, to judge between different movable parts in the preset time period Whether will inside collide；AndThe processor is used for when the Medical Devices are in off working state, according to what is gathered from institute's displacement sensors Movement track parameters calculate the predicted motion trajectory parameters of movable part, to judge between different movable parts described pre- If whether will be collided in the period.
- 9. anti-collision detection device as claimed in claim 8, it is characterised in that the Medical Devices are radiotherapy apparatus, described Working condition is that the radiotherapy apparatus is in treatment stage, and the off working state is that the radiotherapy apparatus is in non-treatment rank Section；Described device also includes：Input equipment, to input figure's parameter of patient；Analog machine, it is connected with the input equipment, is put with going out the patient according to figure's parameter simulation of the patient described Treat the model on the loading plate in equipment；Wherein, the processor is connected with the analog machine, to when the radiotherapy apparatus is in treatment stage, according to institute Model and the programming movement trajectory parameters are stated, to judge in the preset time period, between the movable part and patient Whether will collide.
- A kind of 10. anticollision detection method of radiotherapy equipment, it is characterised in that the radiotherapy equipment include frame, The treatment head and electronics portal imaging equipment rotatably set in the frame, and relatively described frame can movable independently disease Bed；Methods described includes：Obtain the movement locus ginseng of the treatment head, the electronics portal imaging equipment and the sick bed in preset time period Number；According to the movement track parameters, judge that acquisition treatment head, the electronics portal imaging equipment and the sick bed are It is no to be collided in the preset time period；Wherein, judge between the treatment head and the sick bed, between the electronics portal imaging equipment and the sick bed pre- If collided in the time, stop driving.
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| CN107802966B (en) | 2020-08-18 |
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Address after: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Patentee after: Shanghai Lianying Medical Technology Co., Ltd Address before: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Patentee before: SHANGHAI UNITED IMAGING HEALTHCARE Co.,Ltd. |