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    Angiography device and associated recording method with a mechanism for collision avoidance
    4.
    发明申请
    Angiography device and associated recording method with a mechanism for collision avoidance 有权
    血管造影装置及相关记录方法，具有防止碰撞的机制

    公开(公告)号：US20080279333A1

    公开(公告)日：2008-11-13

    申请号：US12151406

    申请日：2008-05-06

    申请人： Stefan Sattler ,  Reiner Staab ,  Susanne Staab ,  Katharina Staab ,  Silvia Rachor

    发明人： Stefan Sattler ,  Reiner Staab ,  Susanne Staab ,  Katharina Staab ,  Silvia Rachor

    IPC分类号： H05G1/64

    CPC分类号： A61B6/102 ,  A61B6/481 ,  A61B6/504

    摘要： The present invention involves an angiography device for examining vessels of patients having an x-ray emitter and an associated detector, having an image processing unit, an image display unit, a control unit, a collision computer and sensors. The sensors, which are fastened to the angiography device, are designed to scan the outer dimensions of the patient prior to the actual examination and during the examination. The data obtained in this way can be fed into a memory of the collision computer and the system is controllable by a software of the collision computer such that the movement of the system when the system and patient become too close can be automatically slowed down or completely stopped by means of a the control unit.

    摘要翻译： 本发明涉及用于检查具有X射线发射器和相关联的检测器的患者的血管的血管造影装置，具有图像处理单元，图像显示单元，控制单元，碰撞计算机和传感器。 紧固到血管造影装置的传感器被设计成在实际检查之前和检查期间扫描患者的外部尺寸。 以这种方式获得的数据可以被馈送到碰撞计算机的存储器中，并且系统可以由碰撞计算机的软件控制，使得当系统和患者变得太近时系统的移动可以被自动减慢或完全 通过控制单元停止。

    RECOGNITION OF PROXIMITY AND COLLISION
    5.
    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
    6.
    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。

    X-ray apparatus and method for controlling the movement of an x-ray apparatus
    7.
    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。

    Methods for reducing power consumption of at least partially resonant actuator systems and systems thereof
    8.
    发明申请
    Methods for reducing power consumption of at least partially resonant actuator systems and systems thereof 有权
    至少部分谐振的致动器系统的功耗降低的方法及其系统

    公开(公告)号：US20110101894A1

    公开(公告)日：2011-05-05

    申请号：US12589934

    申请日：2009-10-29

    申请人： Stefan Sattler ,  Thomas Guidarelli

    发明人： Stefan Sattler ,  Thomas Guidarelli

    IPC分类号： H02N2/06

    CPC分类号： H02N2/0075 ,  H02N2/0095 ,  H02N2/02 ,  H02N2/06 ,  H02N2/14

    摘要： A method, computer readable medium, and a system for reducing power consumption of an at least partially resonant actuator system includes adjusting a driving system with an actuator controller computing device configured to provide a driving signal including a delay interval during a transition in the driving signal. The driving system provides the driving signal with the delay interval to an at least one partially resonant actuator device.

    摘要翻译： 一种用于降低至少部分共振的致动器系统的功率消耗的方法，计算机可读介质和系统包括：利用致动器控制器计算装置来调整驱动系统，所述致动器控制器计算装置被配置成提供在驱动信号的转变期间包括延迟间隔的驱动信号 。 驱动系统将具有延迟间隔的驱动信号提供给至少一个部分谐振的致动器装置。

    CONTROL CIRCUITRY FOR PROVIDING AN INTERFACE BETWEEN CONNECTABLE TERMINAL AND PERIPHERAL DEVICE CIRCUITRY
    9.
    发明申请
    CONTROL CIRCUITRY FOR PROVIDING AN INTERFACE BETWEEN CONNECTABLE TERMINAL AND PERIPHERAL DEVICE CIRCUITRY 审中-公开
    用于提供可连接终端和外围设备电路之间的接口的控制电路

    公开(公告)号：US20090302806A1

    公开(公告)日：2009-12-10

    申请号：US12097463

    申请日：2006-12-15

    申请人： Heribert Lindlar ,  Stefan Sattler

    发明人： Heribert Lindlar ,  Stefan Sattler

    IPC分类号： H02J7/00

    CPC分类号： H04W52/0229 ,  H04L25/0264 ,  Y02D70/00

    摘要： Control circuitry for providing an interface between connectable terminal and peripheral device circuitry, wherein the peripheral device circuitry comprises a bus line for transferring data and power between the peripheral device circuitry and the terminal device circuitry; a charge storage device arranged to receive power from the terminal device circuitry over the bus line and to supply the power to the control circuitry; wherein the control circuitry is operable to connect the charge storage device to the bus line to receive power for storage in response to the terminal device circuitry transmitting a first data value represented by a higher voltage level and to disconnect the charge storage device from the bus line in response to the terminal device circuitry transmitting a second data value represented by a lower voltage level, to prevent the charge storage device from discharging over the bus.

    摘要翻译： 用于在可连接终端和外围设备电路之间提供接口的控制电路，其中所述外围设备电路包括用于在所述外围设备电路和所述终端设备电路之间传送数据和电力的总线; 电荷存储装置，被布置成通过总线从终端装置电路接收电力，并向控制电路供电; 其中所述控制电路可操作以将所述电荷存储装置连接到所述总线以接收用于存储的电力，以响应于所述终端装置电路传输由较高电压电平表示的第一数据值，并将所述电荷存储装置与所述总线断开 响应于终端设备电路发送由较低电压电平表示的第二数据值，以防止电荷存储设备在总线上放电。

    Medical system having a C-arm
    10.
    发明授权
    Medical system having a C-arm 失效
    具有C型臂的医疗系统

    公开(公告)号：US07591589B2

    公开(公告)日：2009-09-22

    申请号：US12151609

    申请日：2008-05-08

    申请人： Albert Grebner ,  Winfried Lurz ,  Stefan Sattler ,  Manfred Schönborn

    发明人： Albert Grebner ,  Winfried Lurz ,  Stefan Sattler ,  Manfred Schönborn

    IPC分类号： H05G1/02

    CPC分类号： A61B6/4441 ,  A61B6/588

    摘要： The present intervention relates to a medical diagnosis or intervention system with a radiation source, a radiation detector, and a C-arm as a component carrier, to which the radiation source and the radiation detector are fastened. The distance between the radiation source and the radiation detector can be changed by means of a linear guide. The C-arm is fastened to an articulated arm of a robot and the linear guide is arranged in the vicinity of the fastening point of the C-arm on the articulated arm.

    摘要翻译： 本发明涉及具有辐射源，放射线检测器和作为分量载体的C臂的医疗诊断或干预系统，辐射源和辐射探测器被紧固在该部件载体上。 辐射源和辐射探测器之间的距离可以通过线性引导来改变。 C型臂被固定在机器人的铰接臂上，直线导轨布置在铰接臂上的C形臂的紧固点附近。