Monitoring in the Control System of Robotized Medical X-ray Device for High Functional Safety

摘要

Robotized medical x-ray system must operate as ahigh safety device during its lifetime. Therefore the controlsystem should include a safety monitoring module. One suchsafety monitoring module is described in this paper. The moduledesign is based on the microcontroller with increaseddependability. The main task of the module is to monitor thecorrectness of the tasks performances during regular or irregularoperation. It accepts all the commands and all the signals fromthe sensors, safety components and from inverters, to detectpossible dangerous events. By monitoring and by exchange of themessages the safety module also detects malfunctioning in each ofthe motion control components. In the event of a failure, themodule activates the process to guide the x-ray device into thesafe state. Altogether, the controller and the safety monitoringmodule provide fully reliable and predictable operation of therobotized x-ray device.