US 12,245,881 B2
Assistance system and method for suspension device, and x-ray imaging system
Chunyu Wang, Beijing (CN); Yuqing Li, Beijing (CN); Jinfeng Wang, Beijing (CN); Jie Liu, Beijing (CN); Chuanfu Zhang, Beijing (CN); and Peng Zhao, Beijing (CN)
Assigned to GE Precision Healthcare LLC, Wauwatosa, WI (US)
Filed by GE Precision Healthcare LLC, Wauwatosa, WI (US)
Filed on Aug. 26, 2022, as Appl. No. 17/896,855.
Claims priority of application No. 202111035558.X (CN), filed on Sep. 3, 2021.
Prior Publication US 2023/0071435 A1, Mar. 9, 2023
Int. Cl. A61B 6/00 (2024.01); A61B 6/46 (2024.01); A61B 6/58 (2024.01)
CPC A61B 6/4482 (2013.01) [A61B 6/4464 (2013.01); A61B 6/4476 (2013.01); A61B 6/467 (2013.01); A61B 6/54 (2013.01); A61B 6/582 (2013.01)] 12 Claims
OG exemplary drawing
 
1. An assistance system for a suspension device, the suspension device comprising a tube device, a tube controller and a motor driver, the motor driver device being capable of driving the suspension device to move along a first coordinate system, and the assistance system comprising: a sensor disposed between the tube device and the tube controller so as to obtain an initial force of an operator, wherein the initial force comprises a magnitude and direction of a force along a second coordinate system in which the sensor is located; and a controller configured to, calibrate the initial force to obtain a calibrated force, perform a coordinate transformation on the calibrated force to obtain a torque value corresponding to the first coordinate system,
perform slope-limiting on a transformed force obtained after the coordinate transformation, and the torque value comprises the product of a force obtained after the slope-limiting and a multiplier, and send the torque value to the motor driver to enable the motor driver to provide assistance on the basis of the torque value.