Method and device for motion control of a mobile medical device

{
  "publication_number": "US10265035B2",
  "country": "US",
  "kind": "B2",
  "title": "Method and device for motion control of a mobile medical device",
  "abstract": "Collision-free movement of a mobile medical device, such as a mobile medical imaging device, in a room is controlled via a man-machine interface. A model of the room environment is created and displayed, together an actual position of the medical device. The room model and the actual position are based at least in part on real-time sensor data. A destination position for the medical device is entered, the entered destination position is displayed and a collision-free movement path is generated from the actual position to the destination position. The movement path is displayed in the room model. A movement command relating to the displayed movement path is entered and the medical device is driven along the entered movement path from the actual position to the destination position.",
  "claims": [
    "1. A method for motion control of a mobile medical device by way of a man-machine interface, the method comprising: generating a room model representing a room environment of the medical device; displaying, on a display device, the room model and an actual position of the medical device in the room model, wherein the room model and the actual position of the medical device are based, at least in part, on real-time sensor data; entering a destination position to be arrived at by the medical device and displaying the entered destination position in the room model; establishing at least one collision-free movement path for a movement of the medical device from the actual position to the destination position and displaying at least one movement path from the actual position to the destination position in the room model shown on the display device; and entering, by a user, a movement command relating to the displayed movement path and causing a movement of the medical device along a movement path displayed in the room model shown on the display device from the actual position to the destination position, wherein the displayed movement path is displayed on the display device before the movement command is entered.",
    "2. The method according to claim 1, wherein the mobile medical device is a medical imaging device.",
    "3. The method according to claim 1, wherein the generating step comprises creating the room model based on sensor data provided by a room detection system, and wherein the room detection system includes a plurality of sensors mounted to the medical device and/or a plurality of stationary sensors.",
    "4. The method according to claim 1, which comprises creating a collision model based on sensor data provided by a room detection system, the room detection system including a plurality of sensors mounted to the medical device and/or a plurality of stationary sensors, and wherein the generating step comprises establishing the movement path using the collision model.",
    "5. The method according to claim 4, which comprises cyclically updating the collision model and checking for freedom from collisions of the movement path by using the cyclically updated collision model.",
    "6. The method according to claim 1, which comprises continuing a movement of the medical device for as long as a cyclically-repeated release by a user is present.",
    "7. The method according to claim 1, which comprises continuing a movement of the medical device for as long as a freedom from collision of the movement path is given.",
    "8. A system for motion control of a mobile medical device, the system comprising: a device configured for creating a model of a room environment of the medical device; a man-machine interface including a display device and an input device; said display device being configured for displaying a room model and an actual position of the medical device in the room model, the room model and the actual position of the medical device being based at least in part on sensor data; said input device enabling an entry of a destination position to be arrived at by the medical device; said display device being configured for displaying the entered destination position upon entry thereof in the room model and for displaying at least one movement path from the actual position to the destination position in the room model; said input device enabling an entry, by a user, of a movement command relating to a displayed movement path, wherein said display device is configured to display the displayed movement path before the movement command is entered; and a computing unit for establishing at least one collision-free movement path from the actual position to the destination position and a drive for moving the medical device along the movement path displayed in the room model from the actual position to the destination position.",
    "9. The system according to claim 8, wherein the mobile medical device is a medical imaging device.",
    "10. The system according to claim 8, which comprises a device for creating a model for collision recognition.",
    "11. The system according to claim 8, which comprises a device for checking a freedom from collisions of the movement path using a collision model updated cyclically on a basis of sensor data of a room detection system.",
    "12. The system according to claim 8, wherein said man-machine interface comprises a touch screen forming said display device and said input device.",
    "13. The method according to claim 1, which comprises: selecting, by a user, one of a plurality of movement paths shown on the display device as the movement path through which the medical device is moved.",
    "14. The method according to claim 1, which comprises: confirming a movement path shown on the display device by selecting the movement path shown on the display device as the movement path through which the medical device is moved."
  ],
  "description_excerpt": "The invention relates to a method and a device for motion control of a mobile medical device, in particular of a mobile medical imaging device, by way of a man-machine interface.\n\nAn increasing trend towards the automation of execution sequences can be observed in the field of medical technology, in particular with medical imaging devices. This applies not only to systems installed as stationary systems, such as, for example, radiography/fluoroscopy systems, but also increasingly to mobile x-ray devices, i.e., those able to be moved about in a room, such as for example C-arm x-ray devices. For this purpose such mobile devices are be equipped with suitable drive platforms, such as omnidirectional wheels or the like for example, and suitable control systems, which make it possible for movement to be automated in the room.\n\nA functionally-capable recognition of the, in some cases dynamically-changing, spatial circumstances at the place of deployment is primarily important for the purpose. Just as important is an associated man-machine interface, which makes possible an intuitive interaction with such a system.\n\nUnited States published patent application US 2015/0134145 A1 and its counterpart international patent application WO 2015/068952 A1 describe a method for controlling the movement of a medical device. There, a control device receives destination and direction information, such as “right” or “left,” from a user by means of a type of remote control. By using sensor data of the environment the control device establishes a collision-free movement path for the medical device and controls the movement process.",
  "cpc": [
    "A61B 6/102",
    "A61B 6/4405",
    "A61B 6/4441",
    "A61B 6/461",
    "A61B 6/467",
    "A61B 6/547",
    "G05B 19/402",
    "G05B 2219/2652",
    "G05D 1/0212",
    "G05D 1/0274",
    "G05D 2201/0206",
    "G06F 17/5004",
    "G06F 19/00",
    "G06F 19/321",
    "G06F 30/13",
    "G16H 30/20",
    "G16H 40/67",
    "G16H 50/50"
  ],
  "ipc": [
    "A61B 6/00",
    "A61B 6/10",
    "G05B 19/402",
    "G06F 17/50",
    "G16H 30/20",
    "G16H 40/67",
    "G05D 1/02",
    "G16H 50/50"
  ],
  "assignees": [
    "Siemens Healthcare GmbH"
  ],
  "inventors": [
    "Jens Fehre",
    "Hans Schweizer"
  ],
  "filing_date": "2017-06-01",
  "publication_date": "2019-04-23",
  "grant_date": "2019-04-23",
  "priority_date": "2016-06-01",
  "application_number": "US-201715610686-A",
  "family_id": "60327693",
  "cited_by_count": 250,
  "citations": [
    "WO2015068952A1",
    "US20150134145A1"
  ]
}