CN102119862A - System and method to automatically assist mobile image acquisition - Google Patents
System and method to automatically assist mobile image acquisition Download PDFInfo
- Publication number
- CN102119862A CN102119862A CN2010106042300A CN201010604230A CN102119862A CN 102119862 A CN102119862 A CN 102119862A CN 2010106042300 A CN2010106042300 A CN 2010106042300A CN 201010604230 A CN201010604230 A CN 201010604230A CN 102119862 A CN102119862 A CN 102119862A
- Authority
- CN
- China
- Prior art keywords
- mobile device
- ground
- imaging system
- image acquisition
- moving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
A system and a method to perform image acquisition of a subject is provided. The system includes a mobile device to move an imaging system across a floor, and a brake system that restrains movement of the mobile device. A controller includes a memory having program instructions to instruct a processor to perform the steps of: instructing movement of the mobile device in support of the imaging system to a first position for image acquisition of the subject; receiving feedback that the mobile device is located at the first position; and applying a brake force to restrain movement of the mobile device. The step of applying the brake force includes generating from the mobile device an electromagnetic force in restraint of movement of the mobile device with respect to the floor.
Description
Related application
The application is the title submitted on May 22nd, 2009 for the part continuation application (CIP) of the french application No.0953407 of " X-ray production apparatus " and requires its priority, by reference it intactly is attached to herein.
Technical field
In general, theme herein relates to Image Acquisition, more particularly, relates to the method and the layout of the Image Acquisition of assisting the person under inspection.Though above description refers to imaging of medical, this system is also applicable to industrial imaging.
Background technology
Medical imaging system comprises various imaging forms, such as x ray system, computed tomography (CT) system or the like.Medical imaging system for example produces image as patient's and so on object by the energy source that is exposed to x ray as passing the patient and so on.The image that is produced can be used for many purposes.For example, but the internal flaw in the detected object.In addition, can determine internal structure or aligned variation.But the fluid flow in the indicated object also.In addition, image can show whether the intravital object of patient exists.The information that obtains from medical diagnosing image is applied during comprising many fields of medical science and manufacturing.
Certain conventional medical imaging system comprises mobile C type arm system.Mobile C type arm system can be used for for example general surgery, vascular surgery and operation on heart.Conventional mobile C type arm system is equipped with and radiation monitor (for example image intensifier) radioactive source or emitter in a confronting relationship, and the both is with respect to being moved by the imaging person under inspection.When the person under inspection being positioned between radioactive source and the detector, C type arm system moved and rotate so that make radiation from various directions through by the imaging person under inspection.When radiation when the person under inspection, anatomical structure causes through by imaging person under inspection and the radiating variable attenuation that receives at detector.Detector will convert the image that adopts in the diagnostic assessment to through attenuated radiation.In the typical medical procedure of this class imaging system, a plurality of internists, nurse and skilled worker are positioned at very approaching by imaging person under inspection part.
Summary of the invention
Need a kind of mobile imaging system, it can be easily and automatically is positioned at optional position in the crowded working environment.Above-mentioned need solving by the described in the following description embodiment of this paper.
According to an embodiment, provide the method for a kind of person under inspection's mobile Image Acquisition.This method comprises the following steps: to provide the imaging system that is bearing on the mobile device, so that guiding imaging system moving on the ground; Release is to the restriction of moving of mobile device; The mobile device of indication supporting imaging system moves to the primary importance of the Image Acquisition that is used for the person under inspection; Receive the feedback that mobile device is positioned at primary importance; And applying brake force to limit moving of mobile device, the step that wherein applies brake force comprises from mobile device generation electromagnetic force to limit mobile device with respect to moving of being attached in ground plate.
According to another embodiment, provide the system of a kind of person under inspection's of execution Image Acquisition.This system comprises: imaging system, can operate to carry out person under inspection's Image Acquisition; Mobile device can be operated so that imaging system moves on the ground; Brakes, its restriction mobile device moving with respect to ground; The controller that communicates with imaging system, mobile device and brakes, controller comprises memorizer, and described memorizer has a plurality of programmed instruction that the indication process is carried out the following step: the mobile device of indication supporting imaging system moves to the primary importance of the Image Acquisition that is used for the person under inspection; Receive the feedback that mobile device is positioned at primary importance; And applying brake force to limit moving of mobile device, the step that wherein applies brake force comprises from mobile device generation electromagnetic force to limit mobile device with respect to moving of being attached in ground plate.
According to another embodiment, a kind of computer program is provided, its control by being bearing on the mobile device so that the imaging system of the Yi Donging Image Acquisition of carrying out on the ground.Computer program comprises computer-readable medium, has stored computer executable instructions on it and has carried out for processor, so that carry out the following step: the mobile device of indication supporting imaging system moves to the primary importance of the Image Acquisition that is used for the person under inspection; Receive the feedback that mobile device is positioned at primary importance; And applying brake force to limit moving of mobile device, the step that wherein applies brake force comprises from mobile device generation electromagnetic force to limit mobile device with respect to moving of being attached in ground plate.
This paper describes system, the method and computer program product of excursion.Except aspect described in this general introduction and advantage, by the reference accompanying drawing and with reference to following detailed description, others and advantage will become apparent.
Description of drawings
Fig. 1 illustrates the sketch map of an embodiment of the mobile imaging system of theme described herein.
Fig. 2 illustrates the detailed maps of an embodiment of the brakes that moves of the mobile platform parts that optionally limit Fig. 1 and imaging system, and described brakes is in standby or indentation state.
Fig. 3 illustrates the detailed maps of an embodiment of the brakes that moves of the mobile platform parts that optionally limit Fig. 1 and imaging system, and described brakes is in the mobile restriction of the mobile device of Fig. 1 and imaging system or clamps down in the state.
Fig. 4 illustrates the schematic flow diagram of navigation and an embodiment of the method for the bonded mobile device of imaging system of Fig. 1.
Fig. 5 illustrates the flow chart of an embodiment of movable support bracket system of Fig. 1 of the transportation of imaging system of control chart 1 and restriction.
Fig. 6 explanation according to theme described herein, be bearing in the bonded mobile device of brakes on an embodiment of imaging system, described brakes is in release conditions.
Fig. 7 explanation according to theme described herein, be bearing in the bonded mobile device of brakes on an embodiment of imaging system, described brakes is in restriction state.
Fig. 8 illustrates to combine with the brakes of Fig. 6 and Fig. 7 and limits mobile device and the plate that moves of supporting imaging system thereon or an embodiment of insert.
Fig. 9 explanation according to theme described herein, be bearing in the bonded mobile device of brakes on another embodiment of imaging system, described brakes is in release conditions.
Figure 10 explanation is according to the schematic flow diagram of an embodiment of the method for theme described herein, operation and the bonded brakes of mobile imaging system.
The specific embodiment
In the following detailed description, with reference to the accompanying drawing that constitutes its part, the mode that illustrates by way of example in the accompanying drawing illustrates enforceable specific embodiment.These embodiment are carried out enough detailed description, enabling those skilled in the art to implementing these embodiment, and be appreciated that and utilize other embodiment, and can carry out logic, machinery, electric changing, and not deviate from the scope of embodiment with other.Therefore, below describing in detail is not to be appreciated that to restrictive.
Fig. 1 illustrates the system 5 of the person under inspection of theme described herein or patient's 8 Image Acquisition.An embodiment of system 5 can comprise the imaging system as X-ray production apparatus 10 and so on, and X-ray production apparatus 10 can be operated so that X ray through person under inspection or patient 8, detects and handle the view data obtained then explains being used for.Yet the type of imaging system (for example, computed tomography (CT), ultrasound wave (US), electron beam tomoscan (EBT), magnetic resonance (MR), cryptoscope, angiography, positron-electron emission (PET) or the like) can change.
An embodiment of X-ray production apparatus 10 is vascular types, and is arranged in inspection chamber or operating room or mixing chamber (representing with the form that is labeled as 12 frame).But operated from a distance X-ray production apparatus 10 for example makes and can protect operator to avoid radiation.Alternatively, X-ray production apparatus 10 can be placed in inspection chamber or the operating room 12, makes the health care supplier to check the view data of being obtained when patient 8 is carried out medical procedure.
For example, during radiographic exposure, x ray tube 16 and detector 18 can be located such that as patient 8 for example during between X-ray tube 16 and detector 18 and by x-ray bombardment, the data of the patient's 8 that detector 18 generation expressions are got involved characteristic, it can show on the monitor (not shown) and store in the electronics mode routinely.
An embodiment of arm 14 can be installed to movable support bracket or platform or installs on 22 by supporting member 24.Supporting member 24 can be fixedly mounted on the mobile device 22.Arm 14 can be connected to supporting member 22 by turning arm 26.Arm 14 can be mounted to so that slide with respect to turning arm 26.Turning arm 26 can be around the axle rotation of passing X-ray beam 20.This rotary part of turning arm 26 on the supporting member 24 can make X-ray tube 16 and visual detector 18 can along or move rotatably around the arc of turning arm 26.Arm 14, supporting member 24 and turning arm 26 can be used hinge joint mutually, so that make X-ray production apparatus 10 that x ray tube 16 and detector 18 are moved in general three-dimensional, thereby obtain the patient's 8 that checks with different incident values internal's image.By the rotatablely moving of movable part of combination X-ray production apparatus 10, X-ray beam 20 can be described all sending directions that are included in the intravital X ray of ball.
The embodiment of mobile device 22 can generally be configured to make X-ray production apparatus 10 to move on the ground.That an embodiment of mobile device 18 can include wheel or roller system 40, it can be operated so that mobile device 22 planar each direction represented on ground moves or be shifted, and comprises the rotation of mobile device 22 around the vertical axis that passes X-ray beam 20.An embodiment of roller system 40 comprises at least one Motor Drive and directive wheel 44 and at least one flywheel 48.Another example of roller system 32 can comprise complete wheel.There is type wheel or roller system 32 to change.Fig. 2 illustrates an embodiment of mobile device 18, and it comprises two Motor Drive and the directive wheel 44 that relatively is arranged on mobile device 18 rear portions with arm 14.Fig. 3 illustrates an embodiment of mobile device 18, and it comprises two Motor Drive being provided with to the front portion and directive wheel 44 and to the localized flywheel 48 in rear portion.The quantity and the position of Motor Drive and directive wheel 44 or flywheel 48 can change.
Can operate x radiography unit 10 in conjunction with examining table or bed 34 that patient 8 is lain.X-ray production apparatus 10 can be shifted in mode of operation, move or the location, so that examining table 34 places in the C shape of arm 14, make x ray tube 16 can be positioned at the below of examining table 34, and detector 18 is positioned at the top of examining table 34, vice versa, and the patient 8 of examine is positioned in the path of X-ray beam 20.
As shown in Figure 2, X-ray production apparatus 10 can comprise controller or control unit 60, so that control driver 50 automatically the wheel 44 of mobile device 22 is moved.An embodiment of control unit 60 can comprise processor or microprocessor 62 and program storage 66 and the data storage 68,70 that is connected to bus 64.Program storage 66 can be divided into several regions or module, and each module is corresponding to function or the operator scheme or the action of X-ray production apparatus 10.Action can be corresponding to the realization by the 62 pairs of one or more modules of processor that are connected to program storage 66, and memory module in program storage 66 is instruction code all or part of that forms module.Action can be the result of program, makes action to be carried out by processor 62, and wherein processor 62 can be controlled by the instruction code in the program storage 66 that is recorded in x radiography unit 10.These instruction codes can realize that machine 10 can carry out the parts of action.
The argumentation of zone as herein described or memorizer 66,68,70 and diagram are the illustrating of record of the layout of for example assembly and data.According to the speed of the restriction of data base's size and/or desirable processing operation, these zones or memorizer 66,68,70 can be unified or distribute.
An embodiment of program storage 66 comprises the zone 70 of instruction code, so as to receive with mobile device 22 or X-ray production apparatus 10 on the corresponding movable signal of activation of position control (for example button, touch screen, trigger, stick or the like).Position control 72 also can be the ingredient of remote control unit 73.
The zone 74 of instruction code can communicate or order navigation system 78 with navigation system 78, so that determine the coordinate of the current location of X-ray production apparatus 10.Navigation system 78 can comprise manual position control 72, the moving of the drive system of the arm 14 of its control mobile device 22 and/or X-ray production apparatus 10.An embodiment may command mobile device 22 of position control 72 various directions (for example, forward, backward, to the left or to the right) move and control to the similar displacement (for example, panorama, level, vertical and zoom) of Image Acquisition.Navigation system 78 can be operated with the displacement of position control 72 or move and convert the signal of telecommunication that can be explained by the control unit 60 of mobile device 22 to.Stick 79 can be controlled moving of pre-programmed track that mobile device 22 wishes along operator thus.
The instruction code that zone 80 can comprise order navigation system 78 is so that set up from current location and from the mobile route of the position that x radiography unit 10 will reach.
An embodiment of data storage 68,70 can comprise predetermined parking and the operating position.Stand can be wherein X-ray production apparatus 10 park or during idle pulley in outside orientable place of the required restricted clearance of medical procedure or position.The operating position can be the place or the position of wherein X-ray production apparatus 10 execution patients' 8 Image Acquisition.An example of data storage 68,70 can constitute according to the table format of row and column, and wherein each row is corresponding to the coordinate of the position of X-ray production apparatus 10, and each row is corresponding to this locational information of X-ray production apparatus 10.For example, row can be corresponding to the predetermined work position of X-ray production apparatus 10 or the coordinate of stand, and row can corresponding to the related shift signal of startup of the given position order of X-ray production apparatus 10.
An embodiment of data storage 68,70 can constitute according to the table format of row and column, and wherein each is gone corresponding to the movable part 14,24,26 of X-ray production apparatus 10 or 40 task orientation, and each row is corresponding to an information on this orientation.For example, row can be corresponding to will be by moving that each movable part 14,24,26 or 40 carries out, and row can corresponding to the related movable signal of startup of the given orientation order of X-ray production apparatus 10.Position and orientation order can start simultaneously or successively.
Fig. 4 illustrates the embodiment of method 100 of the theme of this paper.First preliminary step 104 can comprise makes X-ray production apparatus 10 enter standby mode.Step 106 can comprise position or the orientation order that receives X-ray production apparatus 10.
In one embodiment, navigation system 78 can comprise carries out radio communication with various fixedly receptors with unique identification sign indicating number or position coordinates or emitter or (for example links, the optical identification of global positioning satellite (GPS), radio frequency, infrared ray, bar code or shape, ultrasound wave, electromagnetism, or the like) 111 radio communication or tracking system (for example, comprising antenna, transceiver, receptor, transmitter or emitter or their combination) 110.Fixedly receptor or emitter can be positioned on certain height and/or on the ground and/or on the ceiling or on workbench 34.
For example, navigation system 78 can comprise be equipped with battery wireless identification tag (for example, electromagnetic, radio frequency, hyperacoustic, ultrared, light, or the like) 112, battery transmits low frequency, intermediate frequency or the required energy of high-frequency signal for they provide by certain distance (for example from one centimetre to several centimetres).From the energy viewpoint, wireless identification tag 112 can be response various electromagnetism or a radiofrequency signal and independently activated.
An example of navigation system 78 can comprise optical pickup, and it can be operated with (for example two dimension) bar code 114 to the two-dimensional coordinate of representing their positions on (for example on the ground in room 12 and/or on the ceiling or on workbench 34) in the environment of X-ray production apparatus 10 and read or decode.Navigation system 78 can comprise and is designed to optical pickup that the information that comprises in the bar code is decoded.Optical pickup can be placed on towards ground under the mobile device 22 and/or towards ceiling be placed on the mobile device 22 or in any variant towards the direction between them, so that detect and read bar code.From the coordinate of the position of bar code 114, navigation system 78 can be calculated current location, and calculates the track of track and corrected X radiography unit 10 or mobile device 22 with respect to track primary Calculation or pre-programmed.
In another embodiment, navigation system 78 can communicate with GPS or global positioning system 116, so that can operate to calculate current location, its track or path or its pre-programmed track of X-ray production apparatus 10.
Another example of navigation system 78 can comprise the system 118 of optics or generating laser and/or detector, it can be operated with executing location and more new route or track or its gauged general real-time tracking, so that the X-ray production apparatus 10 of positioning support on mobile device 22.The system 118 of generating laser and/or detector can be positioned at one of fixed position that the navigation system 78 with X-ray production apparatus 10 or mobile device 22 communicates.Response receives the framing signal according to predefine track or artificial input, and navigation system 78 can activate the emission of laser beam, and measures the duration between incoming laser beam and the reflection lasering beam.According to measured duration, navigation system 78 can be calculated X-ray production apparatus 10 or mobile device 22 current location with respect to the best or pre-programmed track, and can produce signal, so that guide mobile device 22 with respect to the best or pre-programmed track or path and corresponding adjustment the thereof.An embodiment of system 118, antenna 110 can be mounted in the generating laser in mobile device 22 or the system 5.Generating laser 110 rotatable and measuring system 5 and the distances between one or more reflectors of room wall.
In another embodiment, navigation system 78 can comprise electromagnetic field link 120, so that the path or the track of definition X-ray production apparatus 10 or mobile device 22.Navigation system 78 can detect the position of X-ray production apparatus 10 and/or mobile device 22 according to electromagnetic field link 120, so that guide the path or the track of X-ray production apparatus 10 and/or mobile device 22 with respect to track precomputation or pre-programmed or path.
In another embodiment, navigation system 78 can comprise optical guidance system 122, it have the track that constitutes X-ray production apparatus 10 and/or mobile device 22 reference through scale designation.Optical guidance system 122 can be included in the camera or the similar device of mobile device 22 forward directions part, so that form the image in the path of mobile device 22 or X-ray production apparatus 10.According to the data that pass to control unit 60 from optical guidance system 122, control unit 60 can calculate the position of X-ray production apparatus 10 and/or mobile device 22, and comes correcting track or path with respect to the track of precomputation or pre-programmed.
Another embodiment of optical guidance system 122 can comprise at least one camera that fixed position from room 12 and X-ray production apparatus 10 and/or mobile device 22 communicate.Control unit 60 can be operated the data of obtaining from optical guidance system 122 to handle, and calculates the environment with predetermined adjacency or threshold value or the scene of X-ray production apparatus 10 and/or mobile device 22, comprises detecting possible barrier.Control unit 60 can calculate the position or the location of X-ray production apparatus 10 and/or mobile device 22, and proofreaies and correct its track with respect to precomputation or pre-programmed track.
In another embodiment, navigation system 78 can comprise pick off (for example accelerometer) 124, and pick off 124 can measured X radiography unit 10 and/or the displacement of the roller system 40 of mobile device 22 or mobile direction and/or size.According to the measurement result that these obtained, control unit 60 can use ranging technology to calculate the position of X-ray production apparatus 10 and/or mobile device 22.Begin and calculate measured moving from known initial position, control unit 60 can calculate the current location of X-ray production apparatus 10 and/or mobile device 22.According to this result calculated, control unit 60 can come the track or the path of corrected X radiography unit 10 and/or mobile device 22 with respect to the track of the track of precomputation or pre-programmed.
In another embodiment, data storage 68,70 can comprise the relevant information of drawing with the environment of X-ray production apparatus 10, the reference coordinate of the predefine stand that comprises X-ray production apparatus 10 of drawing.
Fig. 5 describes another embodiment of mobile device 22 that is connected to the X-ray production apparatus 10 of fixed platform (for example wall in ceiling or room 12) 132 by mechanical connection 130.An example of mechanical connection 130 can comprise the first arm 134 that is connected to mobile device 22 by first hinge means 136.This first arm 134 can be connected to second arm 138 by second hinge means 140.The quantity of arm and hinge can change.This second arm 138 can be with hinge means 132 couplings 10 at mobile device 22.The mechanical connection 130 of the arm 134,138 of hinge joint can comprise the encoder (not shown), it can operate with arm 134,138 detected machinery and move and to convert numerical variable to and to pass to control unit 60, and moving of mobile device 22 instructed or guided in the trail angle position of control unit 60 different coding devices capable of being combined.
One or more can the combination to improve computational accuracy in the foregoing description of navigation system 78 or its assembly with other embodiment.The type of navigation system 78 can change.
Step 150 can comprise the driver that move is passed to mobile device 22.Step 152 can comprise the control guiding or instruct driver the moving by planned orbit of mobile device 22.Control unit 60 bootable or instruct X-ray production apparatus 10 via mobile device 22 from starting point to by determine position, track or pre-programmed track, in case of necessity through the moving of position that overcorrect is controlled, and cause the correction or the variation of guidance with reference to this track.
If it is navigation or oriented signal that control unit 60 detects the type that receives command signal in step 108, then control unit 60 can be carried out the following step.Handling before institute receives oriented signal, step 155 can comprise one or more whether just being performed in the calculating above-mentioned steps.If situation is like this, then step 156 can comprise storage or cause that navigation or oriented signal are in the free time, and does not further handle.Step 158 can comprise the inspection whether calculating stops about the one or more execution in the above-mentioned steps, so that authorisation process navigation or oriented signal.If do not detect the one or more execution in the above-mentioned steps, then step 160 comprises mandate further this navigation of processing or oriented signal.
Step 162 can comprise moving corresponding to the instruction in navigation or the oriented signal of the one or more navigation that makes in arm 13, supporting member 24, turning arm 26 and/or the roller system 40 or orientation, so that X-ray beam 20 is positioned at anticipated orientation, thus the Image Acquisition of execution patient's 8 the expected areas of paying close attention to.
Under the situation that receives new orientation order, control unit 60 can come moving of lead arm 14, supporting member 24, turning arm 26 and/or roller system 40 according to controlled way and in expection navigation or orientation, and X-ray beam 20 is remained in the interest region of examine.
A technique effect of theme described herein is to make X-ray production apparatus 10 move to another operating position from an operating position by the roller system 40 via mobile device 22, for the variation of the interest region of examine, strengthens the variation in the Image Acquisition.
Fig. 6 and Fig. 7 illustrate by movable support bracket or platform or install the sketch map of an imaging system that embodiment supported (305) of 310, and be similar to the above imaging system 5 that is bearing on the mobile device 22.
The embodiment of brakes 350 also can comprise flexible driver (for example electronic, air operated, hydraulic, or the like) 365, and it can be operated so that chassis 325 raises with respect to wheel 335 and reduces.Brakes 350 can comprise brake pad 370, and it can be operated with engagement or contact wheel 335, and limited wheel 335 moves when reducing chassis 325 with convenient flexible driver 365 with respect to wheel 335.Reducing chassis 325 makes brake pad 370 joggle(d) joints contact plate or insert 372 that wheel 335 also can be configured to make (for example embedding wherein) on electromagnetic pads 355 engagements or the kiss the earth 375.
An embodiment of plate 372 can generally comprise successive U-shaped or annular plate or ground insert (for example ferromagnetic sheet etc.), so that be used for the periphery of the workbench 34 of Image Acquisition around supporting patient 8.Yet plate on the ground 375 or insert 372 can be included in a plurality of independently plates 372 of the predefine position in the ground 375, and can have any anticipated shape and length.
Fig. 9 illustrates according to theme described herein, by in conjunction with the movable support bracket or the platform of brakes 380 or install another embodiment of the imaging systems (305) of 310 supportings, and brakes 380 is in release conditions.Brakes 380 generally comprises one or more electric coils 382, it is provided with respect to electromagnetic pads 384, so that produce and the plate or the ground insert 386 interactive magnetic fields that are attached in ground 375, on structure and function, comprise that to the above the brakes 350 of coil 360, electromagnetic pads 355 and plate 372 is similar.
Brakes 380 also can comprise spring 390, so that make electromagnetic pads 384 be biased in 375 positions that raise from ground.The electric power that is sent to electric coil 382 can produce and plate 386 interactive magnetic fields at pad 384, so that cause or force electromagnetic pads 384 to be reduced to and approach contact or actual contact plate or ground insert 386 at least, so that restriction mobile device 310 moving with respect to ground 375.The reciprocal action in the magnetic field between electromagnetic pads 384 and the plate 386 can have certain intensity, make the little space between pad 384 and the plate 386 not have prevention or obstruction to the abundant restriction of moving (for example, vibration or mobile predefine limit) of mobile device 310 with respect to ground 375.When interrupting being sent to the electric power of coil 382, spring (for example, compression spring or tension spring) 390 can operate so that electromagnetic pads 384 departs from plate 386, so that between brakes 380 and ground 375, produce the spacing of increase, make mobile device 310 be easier to move.According to an embodiment, spring 390 can be interconnected to electromagnetic pads 384 by structure support 392.Spring 390 can be between structure support 392 and chassis 325.By contacting with chassis 325, moving of structure support 392 can be restricted to the predefine displacement.Chassis 325 can comprise groove 394, so that hold biasing to resist the spring that moves down 390 of structure support 392.Spring 390 can be in tension state and be positioned at structure support 392 tops, perhaps can be in compressive state and be positioned at structure support below, so that biasing 375 moves down towards ground to resist electromagnetic pads 384.
The above description that has with the formation of the embodiment of the system 300 of brakes 350, the 380 bonded mobile devices 310 of theme described herein generally is provided, and is the general description of method of operating (400) (referring to Figure 10) of the brakes 350,380 that moves of the mobile device 310 of control supporting imaging system (305) below.It is also understood that the action of the method described in the above description (400) or the order or the seriality of step can change.It is also understood that method (400) can not need each action or the step in the above description, perhaps can comprise undocumented additional move of this paper or step.The one or more forms that also can take to have the computer program 401 of module or zone or computer-readable program instructions in the following step of method (400) and the action, computer-readable program instructions can be stored in computer-readable medium or the memorizer 402, processor 403 for controller or control unit or other computer programmable device 404 is carried out, and they can be arranged in the program storage 66 that communicates with the processor 64 of above-mentioned control unit 60 or imaging system (305) or remote unit 385 or combine with it or have nothing to do with it to small part.
For example, suppose that mobile device 310 and thereon imaging system (305) of supporting are positioned at and park or deposit position 381, and operate in the robot mode and long-range or controlled in wireless mobile device 310 from all or part of remote unit 385 that can have control unit 60.Chassis 325 can be in the position of reduction, makes brake pad 370 mesh moving with limited wheel 335.Though do not do requirement, also can encourage the coil 360 at electromagnetic pads 355 places, so that produce magnetic field in electromagnetic pads 355, described electromagnetic pads 355 is at deposit or stand 381 engagements or contact plate or insert 372.
Also one or more instruction of carrying out in the following step of supposition can be via 310 radio communication receives from remote unit 385 to mobile device.
With reference to Figure 10, step 410 can comprise the restriction of moving of release to mobile device 310.This step 401 can comprise the electric power that interrupts being sent to coil 360, so that interrupt in magnetic field that electromagnetic pads 355 is produced.Step 410 can comprise that also excitation flexible driver 365 is to raise with respect to wheel 335 or to promote chassis 325 and supporting imaging system (305) thereon, so that allow wheel 335 move freely.
The mobile device 350 that step 415 can comprise indication flexible driver 330 guiding supporting imaging systems (305) moves to desired location with respect to plate or the insert 372 adjacent with the workbench 34 of the Image Acquisition that is used for person under inspection 8.An embodiment of step 415 can comprise the transmission instruction, be used for predefined type and/or body region and/or agreement, make flexible driver with mobile device 310 with the imaging system (305) that supported is directed to the predefine position and with respect to plate or insert 372 alignment according to the Image Acquisition that person under inspection 8 is carried out.In addition, but mobile device 350 receiver selectivities replenish mobile device 310 the manual command's (for example via stick) who moves to desired location.
Step 420 can comprise that receiving mobile device 350 and imaging system (305) is positioned at the expection alignment of the patient support platform 34 that obtains with respect to metallic plate or insert 372 and carries out image and the feedback of position.
Step 425 can comprise brake force is applied to mobile device 350.An embodiment of step 425 can comprise that indication flexible driver 365 reduces chassis 325 with respect to wheel 335, so that engagement brake pad 370 contact wheels 335, thereby limit moving of mobile device 310.Step 425 also can comprise reduction electromagnetic pads 355, so that plate or insert 372 on engagement or the kiss the earth 375.
Step 430 can comprise transmitting electric power with excitation coil 360, and produces magnetic field in electromagnetic pads 355.The electromagnetic force that is applied between the electromagnetic pads 355 at plate or insert 372 places combines with location and the brake force that the brake pad 370 at wheel 335 places on chassis 325 is applied, so that the vibration or the inclination of (high speed when for example, comprising location C type arm 14 (referring to Fig. 1) is quickened and obtained between deceleration phase or for 3-D view) restriction imaging system (305) when carries out image is obtained.
Step 435 can comprise detection finishing in the Image Acquisition of the current location of mobile device 310 and imaging system (305).
Step 440 can comprise the electric power that interrupts being sent to coil 360, so that interrupt in magnetic field that electromagnetic pads 355 is produced.
Step 445 can comprise with respect to wheel 335 lifting chassis, so that removal is to the restriction of mobile device 350.
Step 450 can be included in and repeat above-mentioned steps 215 to 245 when other selected location execution of the periphery of patient support platform 34 adds Image Acquisition.
Step 455 can comprise receiving to be moved to mobile device 310 and supporting imaging system (305) thereon to park or the instruction of reserve position 380.
Step 460 can comprise moving of restriction mobile device 350, comprises reducing chassis 325, so that engagement or contact brake pad 370, is limited in the moving of wheel 335 of reserve position 380.
One or more in the above-mentioned steps of method (400) can be according to from depending on selected pre-programmed agreement a plurality of Image Acquisition agreements of input that system 5 receives or expection diagnosis or treatment agreement.The pre-programmed agreement can comprise that response detects the suitable alignment/location of system (305) and causes that automatically the brakes 350,380 by mobile device 310 applies brake force, so that prepare to be used for Image Acquisition.Equally, the pre-programmed agreement can comprise that response detects and causes by brakes 350,380 the finishing of Image Acquisition of current alignment/position and to discharge brake force automatically.
Though the above description of system 5,300 and method (400) is described at the Image Acquisition that is bearing in the person under inspection 8 on the workbench 34, but be to be understood that, mobile device 310 and supporting imaging system (305) thereon can be used in the various application (for example airport examination, industry or commercial application or the like), and are not limited to theme described herein.
Said system 5 and 300 and a technique effect of method (400) be included in the power that moves that restriction imaging system 10, (305) are provided during the Image Acquisition.Brakes 350 improves stability, reduces the inclination of imaging system (305) during Image Acquisition or the risk of vibration, if these are uncontrolled, can influence picture quality and increase personnel or imaging person under inspection's 8 security risk originally.
This written description usage example openly comprises the present invention of optimal mode, and enables those skilled in the art to make and use the present invention.Patentable scope of the present invention is defined by claim, and can comprise other example that those skilled in the art can expect.If other example of this class has the structural element that does not have difference with the word language of claim, if perhaps they comprise the equivalent structure key element that has with the non-essence difference of the word language of claim, then they should be to fall within the scope of claim.
Reference numeral is quoted
5 systems
8 patients
10 X-ray production apparatus
12 operating rooms
13 gantrys
14 arms
15 supporting members
16 X-ray tubes
18 visual detectors
20 X-ray beams
22 movable support brackets, mobile platform, mobile device
24 supporting members
26 turning arms
32 roller systems
34 examining tables
40 roller systems
44 directive wheels
48 flywheels
50 drivers
60 controllers or control unit
62 processors, microprocessor
64 buses
66 program storages
68 data storages
70 data storages
72 position control
73 remote units
74 zones
78 navigation system
79 sticks
80 zones
82 zones
84 zones
86 zones
100 methods
104 preliminary steps
106 steps
108 steps
109 steps
110 wireless communication systems, radio tracking system
111 radio communications, Radio Link
112 wireless identification tags
114 bar codes
116 global positioning systems
118 systems
120 electromagnetic field links
122 optical guidance systems
124 pick offs
130 mechanical connections
132 fixed platforms
134 the first arms
136 first hinge means
138 second arms
150 steps
152 steps
155 steps
156 steps
158 steps
160 steps
162 steps
300 systems
305 imaging systems
310 movable support brackets, mobile platform, mobile device
325 chassis, framework
330 flexible drivers
335 take turns
350 brakes
355 electromagnetic pads
360 electric coils
365 flexible drivers
370 brake pads
372 plates, insert
375 ground
380 brakes
381 park, deposit position
382 electric coils
384 electromagnetic pads
385 remote units
386 plates, ground insert
390 springs
392 structure supports
394 grooves
400 methods
401 computer programs
402 media or memorizer
403 processors
404 controllers or control unit
410 steps
415 steps
420 steps
425 steps
430 steps
435 steps
440 steps
445 steps
450 steps
455 steps
460 steps
Claims (10)
1. the method (400) of a person under inspection's (8) mobile Image Acquisition, described method (400) comprises the following steps:
Provide the imaging system that is bearing on the mobile device (22,310) (305), so that guide described imaging system (305) moving on ground (375);
Release is to the restriction of moving of described mobile device (22,310);
The described mobile device (22,310) of the indication described imaging system of supporting (305) moves to the primary importance of the Image Acquisition that is used for described person under inspection (8);
Receive the feedback that described mobile device (22,310) is positioned at described primary importance;
Apply brake force to limit described mobile device (22, moving 310), the wherein said step that applies brake force comprises from described mobile device (22,310) produce electromagnetic force to limit described mobile device (22,310) with respect to being attached in moving of plate (372,386) on the described ground (375).
2. the method for claim 1 (400), wherein, the described step that applies brake force also comprises with respect to wheel (335) and reduces chassis (325), so that make in described wheel of contact (335) brake pad (370) engagement of at least one.
3. the method for claim 1 (400), wherein, the described step that applies brake force comprises that also transmitting electric power is with excitation coil (382,360), so that be attached to described mobile device (22,310) electromagnetic pads (355 on, 384) produce magnetic field, described magnetic field and the plate (372 that is attached on the described ground (375), 386) reciprocal action, make described electromagnetic pads (355,384) be attached in described plate (372 on the described ground (375), 386) the described mobile device of the magnetic confinement between (22,310) moves with respect to described ground (375).
4. system (100,300) that carries out person under inspection's (8) Image Acquisition comprising:
Imaging system (305) can be operated to carry out the Image Acquisition of described person under inspection (8);
Mobile device (22,310) can be operated so that described imaging system (305) moves on (375) on ground;
Brakes (350,380) limits described mobile device (22,310) moving with respect to described ground (375);
With described imaging system (305), described mobile device (22,310) and described brakes (350,380) controller that communicates (60), described controller (60) comprises memorizer (66), and described memorizer (66) has a plurality of programmed instruction that indication process (64) is carried out the following step:
The described mobile device (22,310) of the indication described imaging system of supporting (305) moves to the primary importance of the Image Acquisition that is used for described person under inspection (8);
Receive the feedback that described mobile device (22,310) is positioned at described primary importance;
Apply brake force to limit described mobile device (22, moving 310), the wherein said step that applies brake force comprise from described mobile device (22,310) produce electromagnetic force with restriction with respect to being attached in moving of plate (372,386) on the described ground (375).
5. system as claimed in claim 4 (100,300), wherein, the described step that applies brake force also comprises with respect to wheel (335) reduction chassis (325), so that make brake pad (370) engagement of described wheel of contact (335).
6. system (100 as claimed in claim 4,300), wherein, the described step that applies brake force comprises that also transmitting electric power is with excitation coil, so that be attached to described mobile device (22,310) electromagnetic pads (355 on, 384) produce magnetic field, described magnetic field and the plate reciprocal action that is attached on the described ground (375), make described electromagnetic pads (355,384) and the described mobile device (22 of magnetic confinement that is attached between the described plate (372,386) on the described ground (375), 310) moving with respect to the described plate (372,386) on described ground (375).
7. system as claimed in claim 6 (100,300) also comprises: produce described magnetic field, move to the described plate (372,386) that approaches at least to contact on the described ground (375) so that make described electromagnetic pads (355,384) resist spring (390) biasing.
8. system as claimed in claim 7 (100,300), wherein, when interrupting being sent to the electric power of described coil (360,382), described spring (390) biasing makes described electromagnetic pads (355,384) leave described plate (372,386) on the described ground (375).
9. system (100 as claimed in claim 6,300), also comprise: reduce described chassis (325), be attached in described mobile device (22 so that make, 310) the described electromagnetic pads (355 on, 384) be reduced to and approach contact at least and be attached in described plate (372,386) on the described ground (375).
10. system (100 as claimed in claim 6,300), also comprise: response detects at described mobile device (22, finishing of the Image Acquisition of described primary importance 310), automatically interrupt being sent to described coil (360,382) electric power, and interruption is in the generation in the described magnetic field of described electromagnetic pads (355,384).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/638201 | 2009-12-15 | ||
| US12/638,201 US8666585B2 (en) | 2009-05-22 | 2009-12-15 | System and method to automatic assist mobile image acquisition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102119862A true CN102119862A (en) | 2011-07-13 |
| CN102119862B CN102119862B (en) | 2014-12-03 |
Family
ID=44259696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010604230.0A Active CN102119862B (en) | 2009-12-15 | 2010-12-15 | System and method to automatically assist mobile image acquisition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102119862B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105596083A (en) * | 2015-09-07 | 2016-05-25 | 四川大学 | Robot surgical system with interactive route planning function |
| CN105982682A (en) * | 2015-02-12 | 2016-10-05 | 上海西门子医疗器械有限公司 | Mobile X-ray examination equipment |
| CN107260192A (en) * | 2017-07-28 | 2017-10-20 | 艾迪森海安数字医疗装备有限公司 | Medical multifunctional unmanned mobile high frequency shadowgraph system and its implementation |
| CN107704722A (en) * | 2017-10-27 | 2018-02-16 | 谭文勇 | A kind of medical information acquisition system |
| WO2018133652A1 (en) * | 2017-01-19 | 2018-07-26 | Shenzhen United Imaging Healthcare Co., Ltd. | Systems and methods for controlling an x-ray imaging device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4484666A (en) * | 1980-01-15 | 1984-11-27 | Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung | Electromagnetic sliding shoe brake |
| JPS6181104A (en) * | 1984-09-27 | 1986-04-24 | Toshiba Corp | Conveying apparatus |
| US20010044577A1 (en) * | 2000-01-26 | 2001-11-22 | Richard Braun | Apparatus and method for positioning medical treatment devices or treatment supporting devices |
-
2010
- 2010-12-15 CN CN201010604230.0A patent/CN102119862B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4484666A (en) * | 1980-01-15 | 1984-11-27 | Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung | Electromagnetic sliding shoe brake |
| JPS6181104A (en) * | 1984-09-27 | 1986-04-24 | Toshiba Corp | Conveying apparatus |
| US20010044577A1 (en) * | 2000-01-26 | 2001-11-22 | Richard Braun | Apparatus and method for positioning medical treatment devices or treatment supporting devices |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105982682A (en) * | 2015-02-12 | 2016-10-05 | 上海西门子医疗器械有限公司 | Mobile X-ray examination equipment |
| CN105596083A (en) * | 2015-09-07 | 2016-05-25 | 四川大学 | Robot surgical system with interactive route planning function |
| WO2018133652A1 (en) * | 2017-01-19 | 2018-07-26 | Shenzhen United Imaging Healthcare Co., Ltd. | Systems and methods for controlling an x-ray imaging device |
| CN107260192A (en) * | 2017-07-28 | 2017-10-20 | 艾迪森海安数字医疗装备有限公司 | Medical multifunctional unmanned mobile high frequency shadowgraph system and its implementation |
| CN107704722A (en) * | 2017-10-27 | 2018-02-16 | 谭文勇 | A kind of medical information acquisition system |
| CN107704722B (en) * | 2017-10-27 | 2023-09-15 | 谭文勇 | Medical information acquisition system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102119862B (en) | 2014-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102232836B (en) | Automatically the system and method for the location of person under inspection is assisted in mobile image acquisition | |
| US8666585B2 (en) | System and method to automatic assist mobile image acquisition | |
| CN102762150B (en) | The system and method for automatic assist mobile image acquisition | |
| CN108601569B (en) | Portable medical imaging system | |
| US9974502B2 (en) | Mobile base and X-ray machine mounted on such a mobile base | |
| CN107361780B (en) | Arrangement with a gantry and a suspension and method for performing a travel movement of the arrangement | |
| CN102119862B (en) | System and method to automatically assist mobile image acquisition | |
| US20110154569A1 (en) | Mobile patient support system | |
| CN102688048B (en) | Provide the mobile X-ray equipment of anticollision device, collision-prevention device | |
| US20160082596A1 (en) | Mobile medical apparatus | |
| JPH11192219A (en) | X-ray imaging apparatus | |
| CN103957799A (en) | Medical imaging system and method for providing an X-ray image | |
| US10413260B2 (en) | Mobile base and X-ray machine mounted on such a mobile base | |
| CN113133782A (en) | Mobile platform and system comprising a plurality of mobile platforms | |
| CN111134701B (en) | Portable medical imaging system and method | |
| WO2022060793A1 (en) | Medical imaging device and methods | |
| JP6899172B1 (en) | Patient transport trolley and particle beam irradiation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |