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1. WO1996003078 - RADIOGRAPHIC GANTRY WITH SOFTWARE COLLISION AVOIDANCE

Publication Number WO/1996/003078
Publication Date 08.02.1996
International Application No. PCT/US1995/008717
International Filing Date 14.07.1995
IPC
A61B 6/10 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
6Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
10Application or adaptation of safety means
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
A61B 6/102
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
6Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
10Application or adaptation of safety means
102Protection against mechanical damage, e.g. anti-collision devices
A61G 2203/72
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS
2203General characteristics of devices
70with special adaptations, e.g. for safety or comfort
72for collision prevention
B25J 9/1666
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
1666Avoiding collision or forbidden zones
Applicants
  • LUNAR CORPORATION [US/US]; 312 West Beltline Highway Madison, WI 53713, US
Inventors
  • HINTON, Corydon, A.; US
  • SZEJNA, Glenn; US
Agents
  • BAXTER, Keith, M. ; Quarles & Brady 411 E. Wisconsin Avenue Milwaukee, WI 53202-4497, US
Priority Data
08/280,63226.07.1994US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) RADIOGRAPHIC GANTRY WITH SOFTWARE COLLISION AVOIDANCE
(FR) PORTIQUE RADIOGRAPHIQUE DOTE D'UN LOGICIEL ANTI-COLLISION
Abstract
(EN)
Computer control of a multi-axis radiographic instrument (10) is utilized to prevent contact between moving surfaces of the instrument based on soft limits. The soft limits are established from a legal space table (51) incorporating all combinations of axis movement of the equipment and relating those combinations to contacting (53) or non-contacting (55) surfaces. The legal space table (51) may be used to map efficient paths between a start (sp) and ending position (dp) and may be augmented with non-contacting transducers (57) which may sense patient movement not incorporated into the legal space table (51).
(FR)
On recourt à la commande informatique d'un instrument radiographique multi-axes (10) pour empêcher tout contact entre des surfaces mobiles de cet instrument, en fonction de limites souples. Ces dernières sont fixées grâce à un tableau d'espacements permis (51) comprenant toutes les combinaisons de mouvements axiaux de l'instrument et corrélant ces combinaisons avec des surfaces de contact (53) ou sans contact (55). Le tableau d'espacements permis (51) permet de repérer des trajets efficaces entre des positions de départ (sp) et d'arrivée (dp), et il peut être complété par des transducteurs sans contact (57) pouvant détecter un mouvement du patient non pris en compte dans le tableau des espacements permis (51).
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