CONTROLLING APPARATUS

• US 20180341240A1
• Filed: 05/25/2018
• Published: 11/29/2018
• Est. Priority Date: 05/25/2017
• Status: Active Grant

• Current Assignee: Beijing Neusoft Medical Equipment Co., Ltd.
• Original Assignee: Beijing Neusoft Medical Equipment Co., Ltd.
• Inventors: GAO, Shang
• Granted Patent: US 10,942,495 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 6/04 Positioning of patients; Tiltable beds or the like operating tables A61G13/00; operating chairs A61G15/00
• CPC Class Codes: A61G 13/04 tiltable around transverse or longitudinal axis
• CPC Class Codes: A61G 2203/32 for force
• CPC Class Codes: A61G 2203/34 for pressure
• CPC Class Codes: A61G 7/005 tiltable around transverse horizontal axis, e.g. for Trendelenburg position rocking beds for physical therapy A61H1/003; hanging patient inclined downwardly for drawing him out A61H2203/0493
• CPC Class Codes: A61G 7/008 tiltable around longitudinal axis, e.g. for rolling
• CPC Class Codes: A61G 7/018 Control or drive mechanisms
• CPC Class Codes: G05B 19/042 using digital processors G05B19/05 takes precedence
• CPC Class Codes: G05B 2219/21004 Microprocessor plus electromechanical, cam control for output
• CPC Class Codes: G05B 2219/37357 Force, pressure, weight or deflection

Abstract

A controlling apparatus is provided. According to an example, the controlling apparatus comprises: an operating body configured to bear acting forces; a mechanical sensing apparatus arranged on a surface of the operating body and configured to sense the acting forces and convert the acting forces into electric signals; and a controlling module configured to determine a resultant force of the acting forces according to the electric signals and control a controlled object to move along a direction of the resultant force of the acting forces.

Claims

1. A controlling apparatus, comprising:

an operating body configured to bear acting forces;

a mechanical sensing apparatus configured on a surface of the operating body to sense the acting forces and convert the acting forces into electric signals; and

a controlling module configured to determine a resultant force of the acting forces according to the electric signals and control a controlled object to move along a direction of the resultant force.

2. The controlling apparatus according to claim 1, wherein

the mechanical sensing apparatus comprises a plurality of stress sensors configured to convert the acting forces at respective positions of the plurality of stress sensors into the electric signals;

and the controlling module receives the electric signals output by the plurality of stress sensors and determines the resultant force of the acting forces according to the electric signals and position information of the plurality of stress sensors.

3. The controlling apparatus according to claim 2, wherein the plurality of stress sensors are uniformly distributed on the surface of the operating body.

4. The controlling apparatus according to claim 2, wherein the plurality of stress sensors are distributed on an upper surface, a lower surface and a side surface of the operating body.

5. The controlling apparatus according to claim 1, wherein the controlling module is configured to determine a magnitude of the resultant force according to the electric signals and control a moving speed of the controlled object according to the magnitude of the resultant force.

6. The controlling apparatus according to claim 1, wherein the controlling module comprises:

a signal amplifying module configured to amplify the electric signals and output amplified electric signals;

an analog-to-digital converting module configured to convert the amplified electric signals into digital signals; and

a controlling sub-module configured to determine the resultant force of the acting forces according to the digital signals and control the controlled object to move along the direction of the resultant force.

7. The controlling apparatus according to claim 6, wherein the controlling module further comprises:

an anti-jittering module configured to perform an anti-jittering processing on the electric signals and output the electric signals subjected to the anti-jittering processing to the signal amplifying module.

8. The controlling apparatus according to claim 6, wherein the controlling module further comprises:

an anti-jittering module configured to perform an anti-jittering processing on the amplified electric signals and output the amplified electric signals subjected to the anti-jittering processing to the analog-to-digital converting module.

9. The controlling apparatus according to claim 7, wherein the anti-jittering processing comprises performing filtering and denoising of the electric signals.

10. The controlling apparatus according to claim 1, wherein the operating body is capable of rotation movement;

and the controlling module is capable of controlling the controlled object to rotate according to a rotational movement of the operating body and keep the controlled object stationary in directions other than the rotation direction.

11. The controlling apparatus according to claim 1, wherein the controlling module is capable of controlling the controlled object to perform one or more of:

a rotation, a tilt, a sway, a translation, an ascent and a descent.

12. A medical apparatus, comprising:

a scanning bed, configured to be a controlled object; and

a controlling apparatus configured to control the scanning bed, wherein, the controlling apparatus comprises;

an operating body configured to bear acting forces; and

a mechanical sensing apparatus arranged on a surface of the operating body to sense the acting forces and convert the acting forces into electric signals; and

a controlling module configured to determine a resultant force of the acting forces according to the electric signals and control the controlled object to move along a direction of the resultant force of the acting forces.

13. The medical apparatus according to claim 12, wherein:

the mechanical sensing apparatus comprises a plurality of stress sensors configured to convert the acting forces at respective positions of the plurality of stress sensors into the electric signals; and

the controlling module receives the electric signals output by the plurality of stress sensors and determines the resultant force of the acting forces according to the electric signals and position information of the plurality of stress sensors.

14. The medical apparatus according to claim 13, wherein the plurality of stress sensors are uniformly distributed on the surface of the operating body.

15. The medical apparatus according to claim 13, wherein the plurality of stress sensors are distributed on an upper surface, a lower surface and a side surface of the operating body.

16. The medical apparatus according to claim 12, wherein the controlling module is configured to determine a magnitude of the resultant force according to the electric signals and control a moving speed of the controlled object according to the magnitude of the resultant force.

17. The medical apparatus according to claim 12, wherein the controlling module comprises:

a signal amplifying module configured to amplify the electric signals and output amplified electric signals;

an analog-to-digital converting module configured to convert the amplified electric signals into digital signals; and

a controlling sub-module configured to determine the resultant force of the acting forces according to the digital signals and control the controlled object to move along the direction of the resultant force.

18. The medical apparatus according to claim 17, wherein the controlling module further comprises:

an anti-jittering module configured to perform an anti-jittering processing on the electric signals and output the electric signals subjected to the anti-jittering processing to the signal amplifying module.

19. The medical apparatus according to claim 17, wherein the controlling module further comprises:

an anti-jittering module configured to perform an anti-jittering processing on the amplified electric signals and output the amplified electric signals subjected to the anti-jittering processing to the analog-to-digital converting module.

20. The medical apparatus according to claim 18, wherein the anti-jittering processing comprises performing filtering and denoising of the electric signals.