Siemens Aktiengesellschaft

Siemens Healthcare Gmbh

Stefan Schuster

Stefan Sattler

Willibald Schürz

Martin Simmet

Hanspeter Zink

Christine Niebler

Philipp Surm

Robin Kusch

Gregor Altvater

Systems and methods are provided for detecting proximity to and collisions with medical devices. A capacitive sensor element includes a compressible insulator layer that has a first conductor track arrangement on a first surface and a second conductor track arrangement on a second surface. The second surface lies opposite the first surface. The sensor apparatus further includes an evaluation device for repeated acquisition of a capacitance value of the sensor element. The evaluation device is configured to output a proximity signal when the respective capacitance value reaches or exceeds a predetermined first threshold value, and is configured to output a collision signal when the respective capacitance value reaches or exceeds a predetermined second threshold value. The second predetermined threshold value is higher than the first predetermined threshold value.

Recognition of proximity and collision

A robotic medical apparatus includes a kinematic chain including a stand unit, an articulation device, a positioning device, and a positionable end effector. The apparatus further includes a controller to control the positioning device. The robotic medical apparatus includes a measurement system to determine a force and/or a torque. The force and/or the torque is essentially acting at one point in the kinematic chain. A measurement signal from the measurement system is transmittable to the controller. The controller is configured to determine the force and/or torque that is acting, and as a function of a current position and/or of a current kinematic state, to determine a nominal force and/or a nominal torque. As a function of the difference between the force that is acting and/or the torque that is acting that has been determined and the nominal force and/or the nominal torque that has been determined, a collision is detected.

Robotic medical apparatus with collision detection and method for collision detection in a robotic medical apparatus

A medical examination, treatment, or examination and treatment device is provided. The medical examination, treatment, or examination and treatment device includes a cover panel. The cover panel includes a sensor for detecting a collision. The sensor includes a first plate mounted on the examination, treatment, or examination and treatment device, and a second plate mounted on the inside of the cover panel and spaced apart from the first plate. Spring elements are disposed between the first plate and the second plate.

Medical examination and/or treatment device

An apparatus assembly of a medical apparatus is equipped for collision detection by attaching a polyvinylidene fluoride (PVDF) cover assembly to at least one rigid surface of the apparatus assembly, with a resilient material between the PVDF cover assembly and the rigid surface. The PVDF assembly is composed of a PVDF foil with electrically conductive layers on opposite sides thereof. A protective layer covers the PVDF cover assembly. Electrical leads are connected to the conductive layers, and the piezoelectric property of the PVDF foil produces a voltage across the leads when a force associated with a collision acts on the PVDF foil. A detection circuit detects this voltage and initiates an appropriate response to the collision.

Surface-mounted collision sensor, and method for collision detection

A method for controlling a movement of an x-ray apparatus is provided. The x-ray apparatus has a C-arm with an x-ray source and an x-ray detector disposed opposite one another, an actuator for positioning the C-arm relative to an examination region of an examination object supported on a support facility, a control facility for controlling the x-ray source and the x-ray detector and the actuator, and an operating facility with a display apparatus and an operating unit. The display apparatus displays an image representing a part of the examination object and a target location of the C-arm being determined as a function of an input at the operating unit. The target location has a target position and a target alignment of the C-arm. A controlled variable of the actuator is determined and supplied to the control facility for controlling the actuator.

Method for controlling the movement of an x-ray apparatus and x-ray system

An X-ray apparatus is provided. The Xpray apparatus has a C-arm on which an X-ray source and an X-ray detector can be mounted opposite one another, at least one actuator for positioning the C-arm relative to a patient table, and a control device for controlling the actuator. The X-ray apparatus includes at least one sensor which detects a deformation of the C-arm at a first position of the C-arm and converts it into an output signal, the deformation of the C-arm being influenceable by a force exerted by an operator and applied directly or indirectly at a second position on the C-arm. The control device influences the actuator as a function of the output signal of the sensor. A method for controlling the movement of an X-ray apparatus is also described.

X-ray apparatus and method for controlling the movement of an x-ray apparatus

A compensating element () for an injection valve has a cup-shaped body () with a cup base () and a recess. Furthermore, the compensating element has a piston () which makes a clearance fit in respect of the recess of the cup-shaped body () on an axially extending guide segment () of the piston () and which is arranged at least partially axially moveable with the guide segment () in the recess of the cup-shaped body (). A sealing element () is arranged on the side of the guide segment () facing away from the cup base () and couples the cup-shaped body () with the piston (). A hydraulically and/or pneumatically sealed system is delimited by the cup-shaped body (), the piston () and the sealing element (). The coupling of the sealing element () with the cup-shaped body () and/or the piston () is friction-fit.

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Forchheim, Germany

Stefan Schuster