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    X-ray apparatus and method for controlling the movement of an x-ray apparatus
    1.
    发明授权
    X-ray apparatus and method for controlling the movement of an x-ray apparatus 有权
    用于控制x射线装置的运动的X射线装置和方法

    公开(公告)号：US08961009B2

    公开(公告)日：2015-02-24

    申请号：US13415063

    申请日：2012-03-08

    申请人： Gregor Altvater ,  Stefan Sattler ,  Stefan Schuster

    发明人： Gregor Altvater ,  Stefan Sattler ,  Stefan Schuster

    IPC分类号： H05G1/02 ,  A61B6/00

    CPC分类号： A61B6/4441 ,  A61B6/467 ,  A61B6/547

    摘要： 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.

    摘要翻译： 提供X射线装置。 X射线装置具有C形臂，X射线源和X射线检测器可以彼此相对地安装在其上，至少一个致动器用于相对于患者台定位C形臂，以及控制装置，用于控制 执行器。 X射线装置包括至少一个传感器，其检测C臂在C臂的第一位置处的变形并将其转换成输出信号，C臂的变形可被施加的力所影响的力 操作员并直接或间接地应用于C型臂上的第二位置。 控制装置根据传感器的输出信号影响致动器。 还描述了一种用于控制X射线装置的运动的方法。

    X-RAY APPARATUS AND METHOD FOR CONTROLLING THE MOVEMENT OF AN X-RAY APPARATUS
    2.
    发明申请
    X-RAY APPARATUS AND METHOD FOR CONTROLLING THE MOVEMENT OF AN X-RAY APPARATUS 有权
    用于控制X射线装置运动的X射线装置和方法

    公开(公告)号：US20120236999A1

    公开(公告)日：2012-09-20

    申请号：US13415063

    申请日：2012-03-08

    申请人： Gregor Altvater ,  Stefan Sattler ,  Stefan Schuster

    发明人： Gregor Altvater ,  Stefan Sattler ,  Stefan Schuster

    IPC分类号： H05G1/02

    CPC分类号： A61B6/4441 ,  A61B6/467 ,  A61B6/547

    摘要： 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.

    摘要翻译： 提供X射线装置。 X射线装置具有C形臂，X射线源和X射线检测器可以彼此相对地安装在其上，至少一个致动器用于相对于患者台定位C形臂，以及控制装置，用于控制 执行器。 X射线装置包括至少一个传感器，其检测C臂在C臂的第一位置处的变形并将其转换成输出信号，C臂的变形可被施加的力所影响的力 操作员并直接或间接地应用于C型臂上的第二位置。 控制装置根据传感器的输出信号影响致动器。 还描述了一种用于控制X射线装置的运动的方法。

    RECOGNITION OF PROXIMITY AND COLLISION
    3.
    发明申请
    RECOGNITION OF PROXIMITY AND COLLISION 审中-公开

    公开(公告)号：US20170184421A1

    公开(公告)日：2017-06-29

    申请号：US15390267

    申请日：2016-12-23

    申请人： Stefan Sattler ,  Stefan Schuster ,  Philipp Surm

    发明人： Stefan Sattler ,  Stefan Schuster ,  Philipp Surm

    IPC分类号： G01D5/241 ,  G01D18/00 ,  H03K17/955

    CPC分类号： G01D5/241 ,  G01D18/00 ,  H03K17/955 ,  H03K17/975 ,  H03K2017/9602 ,  H03K2017/9604 ,  H03K2217/96078

    摘要： 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.

    ROBOTIC MEDICAL APPARATUS WITH COLLISION DETECTION AND METHOD FOR COLLISION DETECTION IN A ROBOTIC MEDICAL APPARATUS
    4.
    发明申请
    ROBOTIC MEDICAL APPARATUS WITH COLLISION DETECTION AND METHOD FOR COLLISION DETECTION IN A ROBOTIC MEDICAL APPARATUS 有权
    具有冲击检测的机器人医疗装置和机器人医疗装置中的碰撞检测方法

    公开(公告)号：US20160193731A1

    公开(公告)日：2016-07-07

    申请号：US14986722

    申请日：2016-01-03

    申请人： Stefan Sattler ,  Stefan Schuster

    发明人： Stefan Sattler ,  Stefan Schuster

    IPC分类号： B25J9/16 ,  A61B6/10 ,  A61B6/00 ,  B25J9/06 ,  A61B34/30

    CPC分类号： B25J9/1674 ,  A61B6/102 ,  A61B6/4441 ,  A61B6/4458 ,  A61B6/54 ,  A61B34/30 ,  B25J9/0009 ,  B25J9/06 ,  B25J9/1633 ,  B25J9/1676 ,  B25J13/085 ,  B25J15/0019 ,  B25J19/06 ,  G05B2219/37624 ,  G05B2219/45117 ,  Y10S901/09

    摘要： 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.

    摘要翻译： 机器人医疗装置包括运动链，其包括支架单元，关节运动装置，定位装置和可定位的末端执行器。 该装置还包括控制定位装置的控制器。 机器人医疗装置包括用于确定力和/或扭矩的测量系统。 力和/或扭矩基本上作用于运动链中的一个点。 来自测量系统的测量信号可传输到控制器。 控制器被配置为确定作用的力和/或扭矩，并且作为当前位置和/或当前运动状态的函数，以确定标称力和/或额定扭矩。 作为作用力和/或已经确定的作用力的扭矩和已经确定的标称力和/或额定扭矩之间的差异的函数，检测到碰撞。

    MEDICAL EXAMINATION AND/OR TREATMENT DEVICE
    7.
    发明申请
    MEDICAL EXAMINATION AND/OR TREATMENT DEVICE 有权
    医疗检查和/或治疗设备

    公开(公告)号：US20160166325A1

    公开(公告)日：2016-06-16

    申请号：US14949816

    申请日：2015-11-23

    申请人： Robin Kusch ,  Stefan Sattler ,  Stefan Schuster

    发明人： Robin Kusch ,  Stefan Sattler ,  Stefan Schuster

    IPC分类号： A61B19/00 ,  G01L5/00

    CPC分类号： G01L5/0052 ,  A61B6/102 ,  A61B6/4441 ,  A61B90/06 ,  A61B90/20 ,  A61B2090/064 ,  A61B2090/065

    摘要： 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.

    摘要翻译： 提供体检，治疗或检查和治疗装置。 医疗检查，治疗或检查和治疗装置包括盖板。 盖板包括用于检测碰撞的传感器。 传感器包括安装在检查，处理或检查和处理装置上的第一板，以及安装在盖板的内部并与第一板间隔开的第二板。 弹簧元件设置在第一板和第二板之间。

    Recognition of proximity and collision
    8.
    发明授权
    Recognition of proximity and collision 有权

    公开(公告)号：US10545034B2

    公开(公告)日：2020-01-28

    申请号：US15390267

    申请日：2016-12-23

    申请人： Stefan Sattler ,  Stefan Schuster ,  Philipp Surm

    发明人： Stefan Sattler ,  Stefan Schuster ,  Philipp Surm

    IPC分类号： G01D5/241 ,  G01D18/00 ,  H03K17/955 ,  H03K17/975 ,  H03K17/96

    摘要： 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.