Method and device for automatically loading shim trays

Abstract

The device for automatically loading a shim tray with shim elements comprises a holding device for positioning a shim tray, at least one cassette, a loading device, and a control module for controlling the loading device. The cassette is designed to hold shim elements and / or separators. The loading device is designed to deposit shim elements and / or separators from at least one cassette into a shim tray positioned by the holding device.

Description

The invention relates to a device and a method for automatically loading shim trays with shim elements. In magnetic resonance imaging (MRI), shim elements, also called shims or shim plates, are crucial for homogenizing magnetic fields. Shimming refers to the process of adjusting a magnetic field in the context of MRI to minimize image artifacts and improve image quality. Various shimming methods exist, including basic shimming or passive shimming. In passive shimming, ferromagnetic materials are permanently placed within a magnetic field. Active shimming typically involves the use of electromagnetic coils controlled by a control current to dynamically adjust the magnetic field. The shim elements are arranged in shim trays, which are positioned on the MRI scanner to optimally align and / or balance the magnetic field. A technical challenge in using shim elements is the placement of the shim trays. Manually placing shims in the trays for passive shimming of the MR magnet is a time-consuming task requiring high precision. Typically, the magnet is measured using an array shim device to determine the homogeneity of the B0 field. Following the calculation of the precise shim tray placement, the pockets are filled with shim elements by hand. This procedure demands a high level of attention from the operator and can be time-consuming and tiring. Consequently, there is an increased error rate when placing shims in the trays. Given the critical importance of magnetic field homogeneity for medical imaging, it is essential to minimize errors in shim tray placement. The object of the present invention is to automate the process of filling shim trays. In particular, it is an object of the present invention to increase the efficiency of filling shim trays and to minimize errors in the filling of shim trays. The invention proposes a device for automatically loading a shim tray with shim elements. The device comprises a holding device for positioning a shim tray, at least one cassette, a loading device, and a control module for controlling the loading device. The cassette is designed to store shim elements and / or separators. The loading device is designed to deposit shim elements and / or separators from at least one cassette into a shim tray positioned by the holding device. A shim element is a component designed to adapt and homogenize magnetic fields, particularly in magnetic resonance imaging (MRI). For this purpose, the shim element can have a specific shape or dimensions. Typically, a shim element is designed as a sheet metal element with square dimensions. The shim properties of the shim element are typically determined by its thickness, i.e., the material thickness in the surface normal direction of the shim element. Shim elements are typically made of ferromagnetic materials. However, other magnetically influencing materials are also conceivable for shim elements. Due to the known and / or determinable properties of the shim element, a precise magnetic correction of a magnetic field can be achieved by positioning the shim element (and / or multiple shim elements).Shim elements can be available in various shapes, sizes, and thicknesses to meet different requirements and magnetic field anomalies. The shim tray can, in particular, comprise several (shim) pockets. These (shim) pockets can be designed to hold one and / or more shim elements and / or separators. The (shim) pockets can be arranged within the shim tray, preferably at uniform intervals. Shim trays can have a varying number of (shim) pockets, which can be arranged or spaced differently from one another. The holding device is specifically designed to accommodate a shim tray and / or fix it in a predetermined position within the device. In particular, the holding device can be configured to hold the shim tray in a position by clamps, bolts, pins, rivets, latches, and / or other locking elements. The holding device can also be configured to fix multiple shim trays, for example, side by side. In particular, the holding device can be configured such that a shim tray can only be received and / or fixed by the holding device in a predetermined orientation. For example, the holding device can have projections and / or contact edges for the shim tray that are designed to correspond to the geometry of the shim tray. The cassette can, in particular, be a container for storing and transporting shim elements. The cassette can therefore enable the handling and / or storage of a large number of shim elements. The cassette can preferably be designed as a cuboid container. In particular, the cassette can include a cavity bounded by walls for receiving shim elements. The cassette is specifically designed to receive and / or fix a large number of shim elements horizontally stacked on top of each other within the cassette. For this purpose, the cassette can, in particular, have guide elements in the form of, for example, guide rails. Furthermore, the cassette can, in particular, include a lifting device for vertically moving, in particular lifting, the stack of shim elements.For example, the cassette can include one or more lifting cylinders designed and / or arranged to raise and / or lower a base plate on which a stack of shim elements may be placed. The lifting device can also be included in the device. For example, the device can include a lifting cylinder that can act from outside the cassette on a base plate to move it vertically. The shim placement device can be controlled, in particular by means of the control module, by means of control commands. The shim placement device can be configured, in particular, to transport one and / or more shim elements from one position, preferably a storage cassette, to another position, preferably the shim tray. The shim placement device can be configured, in particular, to separate a shim element from a plurality of shim elements. The shim placement device can be configured, in particular, to fix a shim element, in particular mechanically, magnetically, and / or pneumatically. The shim placement device can be configured, in particular, to move a shim element in a first, second, and / or third direction and / or to adjust the orientation of the shim element, in particular by rotating the shim element about one and / or more axes of rotation. The control module can, in particular, comprise a computing and / or storage unit. The storage unit can be configured, in particular, to store occupancy information. For example, the storage unit can store an occupancy plan for a shim tray for a predetermined magnetic resonance device. In particular, other information, such as magnetic measurement data, can also be stored using the storage unit. In particular, a computing unit can be used to determine an occupancy plan for a shim tray. In particular, the computing unit can also be used to determine control commands for the occupancy unit of the device. In particular, the control module can also include a user interface. The user interface allows a user to start, interrupt, monitor, and / or adjust the occupancy of the shim tray. Preferably, the (individual) shim elements are stacked separately in the shim tray using separating elements (also referred to as intermediate elements). The separating elements are preferably made of plastic. The separating elements preferably prevent direct adhesion and / or direct contact of the shim elements when stacked on top of each other in the shim tray. The proposed device for automatically loading shim trays with shim elements advantageously enables the automation of the shim tray loading process. This significantly increases efficiency and reduces the time-consuming manual loading of the shim trays. This can lead to a substantial reduction in working time and relieve the operator of the burden of high precision and attention. Furthermore, the error rate during shim tray loading can be significantly minimized. The automatically loaded shim trays can lead to improved magnetic field homogeneity and thus to optimized image quality in magnetic resonance imaging (MRI). The device enables precise and controlled placement of the shim elements and / or separators, exceeding the capabilities of manual placement.In general, the device can increase the reliability and repeatability of the shimming process. According to one aspect of the invention, the loading device comprises a movement unit and a fixing unit. The movement unit is configured to move and / or position the fixing unit. The fixing unit is configured to fix a shim element and / or separator element. According to a further preferred aspect of the invention, the positioning device, in particular the motion device, comprises at least one robot arm. The fixing unit is preferably movable within a defined range of motion by means of the motion device, in particular the robot arm. A robot arm typically consists of the following components: a joint, a motor, a control unit, a sensor, an end effector, and an arm element. The sensor can, in particular, be configured to detect the position and movement of the robot arm and / or a part of the robot arm, as well as the environment. The sensor can, for example, include a rotary encoder, force sensor, and / or a camera. The motor can, in particular, be configured to drive the joints and / or to move the arm. The motor can include an electric, hydraulic, and / or pneumatic drive. The end effector can, in particular, be a tool and / or a device at the end of an arm.In particular, the end effector can include the fixing unit. The control unit can, in particular, comprise microprocessors and a program for controlling the robot arm, especially for controlling the joints and / or motors. The joint can, in particular, be designed as a rotary joint and / or a swivel joint. The control unit of the robot arm can include the control module. In particular, the motion device can be used to move and / or traverse the fixing unit to a position (within) the device. Specifically, the motion device can be used to position the fixing unit so that it can be placed on the shim element to be fitted. In other words, the motion device allows the fixing unit to be moved to a shim element. Preferably, the motion device can be connected to the control module, for example, via a cable connection. Preferably, the control module can be configured to send control signals to the motion device and / or the fixing unit. The fixing unit comprises, in particular, an element for fixing a shim element, for example, a suction element and / or a magnetic element. Furthermore, the fixing unit may include a further movement device, in particular for moving the element used to fix a shim element. For example, the fixing unit may include a rotary device. The fixing unit is specifically designed to fix a shim element by means of the element, in particular by means of a suction element and / or a magnetic element, and to separate it from the stack of shim elements, in particular individual shim elements located in a cassette, by means of a preferably vertical movement. The fixing unit is specifically designed to guide the shim element out of the cassette. The fixing unit is specifically designed to place the fixed shim element at a predetermined position and / or location on the shim tray.In other words, the fixing unit allows a shim element to be separated from the multitude of shim elements in the cassette, removed from the cassette, and positioned in the shim tray. Besides the preferred placement of a shim element from the cassette in the shim tray, other intermediate movements are conceivable, such as rotating the shim element and / or testing it at a dedicated testing station. For example, it is conceivable to move a shim element out of the cassette and / or into the shim tray at a predetermined angle. It is also conceivable, for instance, to use the fixing unit to lift and / or tilt a shim element and then transport it out of the cassette in a single movement. The shim tray assembly, comprising a movement unit and a fixation unit, can advantageously enable efficient and precise placement of shim elements on the shim tray. In particular, the fixation unit ensures that each individual shim element can only be placed at a predetermined position during the assembly process. The movement unit advantageously enables efficient and precise movement of the fixation unit within the assembly. According to one aspect of the invention, the motion unit comprises up to three linear motion elements and / or up to three rotary elements. The linear motion elements are configured to cause linear movement of the fixing unit in a first, second, and third direction. The rotary elements are configured to orient and / or rotate the fixing unit about a first, second, and third axis of rotation. A linear motion element is typically configured to convert a circular motion generated by a motor into a linear motion along an axis. A linear motion element can also be referred to as a linear axis. Through this linear motion along an axis, the linear motion element can be configured, in particular, to move and / or transport an object, especially a fixing unit. In other words, an object, especially one that is actively driven, can be pulled, pushed, raised, lowered, or tilted along a path by means of a linear motion element. In particular, linear motion elements can be nested, linked, and / or connected. This can enable the movement and / or transport of an object in more than one direction. This linking and / or combination of several linear motion elements can also be referred to as a linear system. A linear motion element typically comprises the following components: a roller, a profile, a sensor unit (e.g., a magnetically encoded position measuring system), a carriage, a control unit, a sliding element, and / or magnets. Preferably, one (or more) rollers enable the movement of a carriage within a profile. However, a sliding element may also be provided and / or encompassed by the carriage. Control is preferably achieved via a sensor unit in conjunction with a control unit. The control unit preferably receives measurement signals from the sensor. The control unit is specifically designed to analyze the sensor's measurement signals and / or send a corresponding motion signal to the linear motion element, particularly the moving carriage, and / or to the drive unit / motor. The control unit of the linear motion element may be encompassed by the control module. A rotary element is typically designed to rotate an object relative to an axis of rotation. In other words, a rotary element can change the spatial orientation of an object, particularly the fixing unit. A rotary element can also be referred to as an axis of rotation. Through this rotational movement along an axis, the rotary element, especially in combination with one and / or more linear motion elements, can move, spatially orient, rotate, and / or traverse an object, particularly the fixing unit. In other words, an object, especially one that is actively driven, can be rotated and / or tilted about an axis and / or a point by means of a rotary element. In particular, rotary elements can be nested, linked, and / or connected. This can enable the orientation of an object in more than one direction.This linking and / or combination of several rotating elements can also be referred to as an alignment system. For example, the motion device can comprise a linear motion element divided into two sections. These two linear motion elements can enable the (simultaneous) movement of two fixing devices, preferably in a second direction (Y-direction). In a first (X-direction) and a third (Z-direction), the motion device can each comprise a combination of a linear motion element and a rotary element. A combination of up to three linear motion elements and up to three rotary elements can enable a compact motion device. A motion device designed with linear motion elements and / or rotary elements can advantageously enable particularly simple, robust, and reliable control of the motion device and / or movement of the fixing unit. According to one aspect of the invention, the fixing unit comprises a suction element. The suction element is configured to fix a shim element and / or separating element by generating a vacuum. The suction element can preferably be designed in the form of a suction cup and / or a vacuum gripper. Preferably, the suction element is designed to generate a negative pressure, partial vacuum, and / or vacuum by resting on a surface of the shim element. In particular, this negative pressure, partial vacuum, and / or vacuum can be generated by connecting the suction element to a negative pressure and / or vacuum generator. The connection between the suction element and the negative pressure and / or vacuum generator can preferably be made via a hose connection. The generation of a negative pressure to fix the shim element can also be achieved mechanically, similar to a typical suction cup. For example, a negative pressure can be generated by applying pressure to the suction element using the selection device. In other words, the suction element is designed to attract a shim element.Additionally, for example by reversing the vacuum generator to apply positive pressure, the suction element can be designed to release the fixation of a shim element at a controllable time after fixation. A clamping device formed by a suction element can advantageously provide a secure and stable fixation of the shim elements. This can increase the precision and accuracy of the shim placement process. Furthermore, misalignments can be avoided, and it can be ensured that the shim elements are placed exactly in their intended positions in the shim tray. Additionally, the vacuum clamping action allows for smooth and quick handling of the shim elements. According to one aspect of the invention, the fixing unit comprises a magnetic element. The magnetic element is configured to magnetically fix a shim element and / or separator element. The magnetic element can preferably be in the form of a permanent magnet and / or an electromagnetic gripper. Preferably, the magnetic element is configured to rest on a surface of the shim element and generate an attractive force between the shim element and the magnetic element by applying a magnetic field. In particular, the magnetic field generated by the magnetic element can be adjustable and / or switchable on and off. The magnetic field can be generated by the magnetic element, in particular, by an electromagnet. In other words, a shim element can be fixed and / or gripped by the magnetic element when the magnetic field is switched on. Additionally, for example, when the magnetic element is switched off, it can be configured to release the fixation of a shim element at a controllable time after it has been fixed. A fixing device formed by a magnetic element can advantageously provide a secure and stable fixation of the shim elements. This can increase the precision and accuracy of the shim placement process. Furthermore, misalignments can be avoided, and it can be ensured that the shim elements are placed exactly in their intended positions in the shim tray. In addition, the magnetic fixing allows for smooth and quick handling of the shim elements. According to one aspect of the invention, the device comprises at least one sensor for monitoring the automatic loading of the shim tray. The device can include one or more sensors. The sensor can be designed, in particular, to monitor the automatic loading of the shim tray and can be arranged accordingly within the device. For example, the sensor can alternatively and / or additionally include a fill level sensor, a camera, a motion sensor, a weight sensor, and / or another monitoring sensor. In particular, the sensor can detect and / or determine the loading device, especially the movement unit and the fixing unit, the fill level of the cassettes and / or the shim tray, the singulation, condition, and / or orientation of the shim elements, and / or the position of a user of the device. The sensor can preferably transmit measurement signals, results, and / or information to the control module of the device.Based on these signals and / or information, the control module can modify, stop, start, and / or output (warning) information to the user of the device via a user interface. The sensor advantageously enables automatic monitoring of the shim tray loading process. This can significantly reduce the need for operator / user supervision. For example, the number of operators required for the device can be reduced, and / or a single operator can operate multiple systems simultaneously. In particular, the sensor also allows for the detection and documentation of faulty shim tray loading processes, thus enabling the quality and / or accuracy of the automatically loaded shim trays to be monitored. According to one aspect of the invention, the device is designed as a mobile device. In particular, the device, designed as a mobile device, is spatially movable and / or portable. In other words, the device, designed as a mobile device, can be moved within a facility, for example, a workshop and / or production plant, from one position, in particular a magnetic resonance device, to another position, in particular another magnetic resonance device. The device may, in particular, include a drive device. The drive device may, in particular, enable the device to move and / or travel. For example, the drive device 11 may include several wheels, axles, and / or a drive motor. However, the drive device may, for example, include a tracked drive, a chain drive, and / or another type of drive. Particularly by means of a drive unit, the device is advantageously designed as a mobile device. A mobile device allows, for example, the placement of one or more shim trays near a magnet. Especially in the production of magnetic resonance systems, this can reduce necessary transport distances and time. This thus enables advantageously efficient production of magnetic resonance systems. According to one aspect of the invention, the device comprises a locking device. The locking device is designed to lock at least one cassette. The locking device can preferably be designed to receive and / or secure at least one cassette. For each cassette to be received, the locking device can have a specific position for locking the cassette. The locking device can comprise a plate, a table, and / or a sheet metal plate. The locking device can have recesses, edges, ridges, and / or predefined (in a pattern) arranged fastening elements, such as bolts, pins, and the like. The locking device allows the user to precisely position the cassettes. With multiple different shim elements, the locking device can specify the position where each cassette should be placed. This reduces incorrect and / or erroneous positioning (and potentially resulting incorrect allocation). According to one aspect of the invention, the locking device is designed to receive at least one cassette and has a locking element for each cassette to be received. Each locking element is designed to lock a cassette that fits precisely in pairs with the locking element. Each locking element can be designed to fit precisely into pairs with a specific cassette. The locking device can, for example, alternatively or additionally include locking elements in the form of a code, a sensor, an electronic contact, a marking, or the like. The locking element allows the cassette to be locked and / or secured within the locking device. This locking of the cassette within the locking device can be achieved mechanically, pneumatically, magnetically, and / or electronically. A locking element precisely tailored to each cassette offers the advantage of precise positioning and fixation. With differently shaped cassettes, a separate locking element for each cassette reduces the risk of confusion and / or incorrect positioning. According to one aspect of the invention, the device comprises at least one singulation device for the at least one cassette. The singulation device is designed to dispense a singulated shim element and / or separator element from the cassette. In particular, the singulation device can include a device for singulating shim elements. The device can preferably include a cassette for storing a plurality of shim elements. The shim elements can, in particular, be arranged horizontally one above the other in the cassette in the form of a stack. The device can include a separating device for singulating a shim element. The separating device is configured to guide a shim element out of the cassette by means of a horizontal lateral movement. The cassette can, in particular, be a container for storing and transporting shim elements. The cassette can therefore enable the handling and / or storage of a large number of shim elements. The cassette can preferably be designed as a cuboid container. In particular, the cassette can include a cavity bounded by walls for receiving shim elements. The cassette is specifically designed to receive and / or fix a large number of shim elements horizontally stacked on top of each other within the cassette. For this purpose, the cassette can, in particular, have guide elements in the form of, for example, guide rails. Furthermore, the cassette can, in particular, include a lifting device for vertically moving, in particular lifting, the stack of shim elements.For example, the cassette can include one or more lifting cylinders designed and / or arranged to raise and / or lower a base plate on which a stack of shim elements may be placed. The lifting device can also be included in the device. For example, the device can include a lifting cylinder that can act from outside the cassette on a base plate to move it vertically. The separation device comprises, in particular, an element for fixing a shim element, for example, a suction element and / or a magnetic element. Furthermore, the separation device may include a movement device, in particular for moving the element used to fix a shim element. The separation device is specifically designed to fix a shim element by means of the element, in particular by means of a suction element and / or a magnetic element, and to separate it from the stack of shim elements with a horizontal lateral movement and to guide the shim element out of the cassette. In other words, by means of the separation device, a shim element can be separated from the multitude of shim elements in the cassette and pushed and / or pulled laterally out of the cassette.Besides the preferred method of singulating a shim element by a horizontal lateral movement, other separation and / or singulation movements are also conceivable. For example, it is possible to guide a shim element out of the cassette at a predetermined angle. It is also conceivable, for instance, to lift and / or tilt a shim element and then transport it out of the cassette with a single movement. The device for singulating shim elements can advantageously enable reliable, precise, and automated separation of shim elements. Even if shim elements stick together due to oil-impregnated storage or material properties, the proposed device allows for efficient handling. Furthermore, the automated singulation minimizes damage to the shim elements and / or incorrect separation compared to manual singulation. According to one aspect of the invention, the device comprises a verification device. The verification device is configured to detect the nature and / or condition of a shim element and / or separator element before it is placed on the shim tray and to verify it using predefined information. In particular, the specification information can include a predetermined property and / or condition of a shim element. For example, differently designed shim elements may differ in dimensions, shape, and / or material properties. Based on the property and / or condition of the shim elements, they can be placed in a shim tray, so that an inspection may be necessary before placement. The inspection device can include sensors for detecting the property and / or condition, such as a camera, a scale, a resistance meter, a contact meter, a micrometer, a template, and / or other detection means. In particular, detecting the property and / or condition of a shim element and / or a separator element can involve determining the thickness / height, dimensions, and / or metal content of a shim element and / or a separator element.Before the shim element and / or separator element is placed, a comparison of the determined properties and / or condition with the target information can be performed. If a deviation is detected, the shim element can, for example, be replaced with another, or the properties and / or condition can be corrected, for example, by an alignment device. The inspection device can be integrated into a component of the device. In particular, however, the inspection device can be located in the device at a position adjacent to the cassettes. The inspection device advantageously ensures that the shim element specified by a given set of information is identified and placed in the shim tray. This allows for the detection of defective shim elements. Overall, this can advantageously increase the efficiency of the device. According to one aspect of the invention, the device comprises an alignment device. The alignment device is configured to align a shim element and / or separator element before it is placed on the shim tray, using orientation information. In particular, the orientation information can include a predetermined spatial orientation of a shim element. For example, the shim elements may be arranged in different spatial orientations within the cassettes, so that orientation correction may be necessary before placement. The alignment device can include sensors for detecting the spatial orientation, such as a camera, an orientation template, and / or other detection means. The alignment device can be included by a component of the device. In particular, however, the alignment device can be located in the device at a position adjacent to the cassettes. For example, the alignment device can include a turntable. In particular, the alignment device can include a device for rotating the shims in one or more axes and / or directions.The shim elements can preferably be automatically placed into the alignment device using the placement device. The orientation can be detected optically and corrected by a precisely defined rotation. The alignment device advantageously ensures that the spatial orientation of a shim element corresponds to an orientation determined by orientation information. This allows incorrectly oriented shim elements to be detected and correctly placed in the shim tray. Overall, this can advantageously increase the efficiency of the device. According to one aspect of the invention, the control module for controlling the occupancy device is designed using shim information from a magnetic resonance device. The shim information can, in particular, include information about the magnet of a magnetic resonance device and / or the formation of a magnetic field to be shimmed in a magnetic resonance device. The shim information can be determined, for example, by measuring the magnetic field. The shim information can represent the input information for the control module. Using the shim information, the control module can determine an allocation information, in particular an allocation plan, for one and / or more shim trays. In particular, the allocation plan and / or the allocation information can be used by the control module to allocate a shim tray. In other words, the control module can be configured to translate the shim information of a magnetic resonance device into control signals for controlling the device according to the invention. For example, the shim information can include information about the B0 / homogeneity state of a magnetic field.This information can be translated by the control module into further information and / or instructions, specifically including the identity (ID) of the shim tray, the numbers of the shim pockets, and a list of shim plates per pocket. This (shim) information can then be used by the control module for assignment purposes. A device designed in this way advantageously allows the input of shim information as preferably the only input information. Advantageously, an efficient device for loading a shim tray for a magnetic resonance device can thus be provided. Furthermore, a method for providing a filled shim tray is proposed according to the invention. The method comprises several steps. One step comprises acquiring shim information. Another step comprises filling a shim tray with shim elements using a device according to one of the previously described embodiments of the device, based on the shim information. A further step comprises providing the filled shim tray. The acquisition of shim information includes in particular receiving and / or storing the shim information by the control module of a device according to one of the previously described embodiments (hereinafter referred to as device). The process of loading a shim tray with shim elements using a device according to one of the preceding device claims, based on the shim information, can in particular include determining control commands for the device based on the shim information. Based on these control commands, the device can automatically load a shim tray. For this purpose, for example, a shim element and / or separator to be loaded can be located in a cassette, fixed in place, transported to the shim tray by the loading device, and deposited. Additional steps, such as aligning the orientation of a shim element and / or separator, checking the condition of a shim element and / or separator, and / or verifying the loading of the shim tray by a sensor, can also be included. The proposed method advantageously enables efficient, automatic shim tray placement for shimming a magnetic field. This reduces the time and resources required for shim tray placement. Furthermore, the advantages of the proposed method essentially correspond to those of the proposed device. Features, advantages, or alternative embodiments / aspects of the device can likewise be transferred to the other claimed items and vice versa. According to one aspect of the invention, the method comprises singulating the shim elements from at least one cassette. Loading the shim tray comprises placing a singulated shim element based on the shim information. The singulation process can include removing at least one singulated shim element from the cassette. The singulation process can, in turn, comprise several steps. One step can include removing a shim element from the cassette by means of a lateral movement, preferably horizontal. Another step can include placing a singulated shim element into a storage cassette, a storage location, and / or another device for storing singulated shim elements. A further step can also include separating and / or detaching a shim element from a plurality of shim elements, particularly those arranged as a stack. Optionally, a shim element can be fixed in place by means of a separating device. Furthermore, the stack of shim elements can optionally be fixed (or, in other words, held in place).A further step may include moving and / or pressing one or more shim elements, in particular a stack, against a guide element, in particular by means of a lifting device. Singulation enables precise and automated separation of the shim elements. Even if shim elements stick together due to oil-soaked storage or material properties, efficient handling can be achieved in this way. Further advantages, features, and details of the invention will become apparent from the exemplary embodiments described below and from the drawings. Corresponding parts are designated with the same reference numerals in all figures. Figure 1 shows a schematic representation of one embodiment of the proposed device for automatically applying shim elements to a shim tray in a first view; Figure 2 shows a schematic representation of another embodiment of the proposed device for automatically applying shim elements to a shim tray in a second view; Figure 3 shows a schematic representation of another embodiment of the proposed device for automatically applying shim elements to a shim tray; Figure 4 shows a schematic representation of another embodiment of the proposed device for automatically applying shim elements to a shim tray; Figure 5 shows a schematic representation of another embodiment of the proposed device for automatically applying shim elements to a shim tray.Fig. 6 shows a three-dimensional schematic representation of a further embodiment of the proposed device for automatically loading a shim tray with shim elements, Fig. 7 shows a block diagram of a method for providing a loaded shim tray. Fig. 1 shows a schematic representation of the proposed device 10 for automatically loading a shim tray 2 with shim elements in a first embodiment. The schematic representation is shown in a first view, in particular a top view. The device 10 of this embodiment comprises a shim tray 2, a holding device 1 for a shim tray 2, a loading device 4, a control module 5, and a plurality of cassettes 6a, 6b, 6c with shim elements and / or separators. The plurality of cassettes 6a, 6b, 6c can also be clarified below by reference numeral 6. If one of the cassettes 6 is referenced, this is illustrated by example by cassette 6a. Shim elements can be used to minimize image artifacts and improve image quality, particularly in magnetic resonance imaging (MRI) systems. Specifically, the defined placement of the shim elements within / on a magnet of an MRI system can ensure a uniform and stable magnetic field. For this purpose, shim elements are typically arranged in shim trays in a predetermined position on the magnet. For storage and / or handling, the shim elements can be placed and / or transported in a cassette 6. At least one cassette 6 can be enclosed by the device 10. In particular, the device 10 and / or the cassette 6 can be designed to allow the insertion, removal, and / or replacement of a cassette 6 within the device 10.Furthermore, the device can also encompass several cassettes 6, particularly those with different shim elements. The cassette 6 can be configured in the form of a cuboid and / or a cylinder. In particular, the cassette 6 can have several wall elements that define its boundaries. The cassette 6 can have a side and / or location that allows a shim element to be extracted by a singulation device (not shown). The placement device 4 can be arranged, in particular in a vertical direction (marked by x in Fig. 1), above the cassette 6 and / or the shim tray 2. The placement device 4 can preferably be arranged opposite an open and / or accessible side of the cassette 6 and / or the shim tray 2. The placement device 4 can, in particular, be designed to be movable and / or repositionable. This allows the placement device 4 to be moved towards the cassettes 6 and / or the shim tray 2, and especially towards a shim element. The shim element can be fixed by means of the placement device 4, for example, by means of an enclosed vacuum gripper. The shim element can be guided out of a cassette 6a by means of the placement device 4, for example, by a horizontal lateral movement. The singulation of a shim element can preferably be effected by a movement of the placement device 4.However, it is also conceivable that, for example, the cassettes 6 are movable in relation to the occupancy device 4 in order to guide the shim element out of the cassette 6a. The individual shim element can be transported from the cassette 6a to a position in the shim tray 2, particularly by means of the loading device 4. The loading device 4 preferably positions the shim element at a predetermined position within the shim tray 2, in particular by depositing the shim element. The control of the shim tray 4 can be effected, in particular, by the control module 5. For this purpose, the control module 5 can, in particular, send control signals to the shim tray 4. The control module 5 can also, in particular, include a processing and / or storage unit. The control module 5 can, in particular, be configured to store shim tray information and / or shim information. For example, the control module 5 can store a shim tray layout for a predetermined magnetic resonance device. In particular, other information, such as magnetic measurement data, can also be stored by means of the control module 5. In particular, the control module 5 can be used to determine a shim tray layout for a shim tray 2. In particular, the control module 5 can also be used to determine control commands for the shim tray 4 of the device. Fig. 2 shows a schematic representation of the proposed device 10 for automatically loading a shim tray 2 with shim elements in a further embodiment. The schematic representation is shown in a second view, in particular a side view. The second view is a view rotated 90° about the y-axis relative to the first view. In addition to the components shown and described in Fig. 1, the device 10 of this embodiment comprises a locking device 3, a protective cover 12, and a drive device 11. Furthermore, the components comprised of the loading device 4, the motion unit 42 and the fixing unit 41, are shown. The motion unit 42 can, for example, comprise at least one robot arm. The fixation unit 41 can be moved by means of the motion device 42 within a defined movement volume, in particular within the device 10 limited by the protective cover 12. In particular, the end effector of a robot arm can comprise the fixation unit 41. The control unit of the robot arm can be comprised of the control module 5. The fixation unit 41 can be positioned by means of the motion device 42 so that the fixation unit 41 can be placed on / at the shim element to be fitted. Preferably, the motion device 42 can be connected to the control module 5, for example via a cable connection. Preferably, the control module 5 can be configured to send control signals to the motion unit 42 and / or the fixation unit 41. The fixing unit 41 preferably comprises at least one element for fixing a shim element, for example, a suction element and / or a magnetic element. Furthermore, the fixing unit 41 may include a further movement device (not shown) for moving the element used to fix a shim element. For example, the fixing unit 41 may include a rotary device. The fixing unit 41 is particularly designed to separate a shim element from the stack of shim elements, which are preferably individually arranged in a cassette 6, by means of a preferably vertical movement. The fixing unit 41 may, in particular, place the fixed shim element at a predetermined position and / or location in the shim tray 2. For example, it is conceivable to guide a shim element out of the cassette 6 and / or into the shim tray 2 at a predetermined angle.It is also conceivable, for example, to use the fixing element 41 to lift and / or tilt a shim element and then transport it out of the cassette 6 in one movement. The fixing unit 41 and / or movement device 42 can preferably also be used to remove the shim elements from the shim trays and place them in a cassette 6, for example, if the trays are already full. This can, for example, allow for (subsequent) corrections (to the contents of the shim tray 2). The locking device 3 can preferably be designed to receive at least one cassette. For each cassette 6 it can receive, the locking device 3 can have a locking element. Each locking element can be designed to fit precisely in pairs with a respective cassette 6. As schematically shown, the locking device 3 can comprise a plate and / or a sheet. The plate and / or sheet can, in turn, have locking elements, for example, in the form of recesses in the plate and / or sheet, edges, ridges, and / or predefined (in a pattern) arranged fastening elements such as bolts, pins, and the like. The locking device 3 preferably enables a user to precisely position the cassettes 6.With multiple different shim elements, the locking device 3 can specify to the user the position in which each cassette should be positioned. The locking device 3 can, for example, alternatively or additionally include locking elements in the form of a code, a sensor, an electronic contact, a marker, or the like. The protective cover 12 ensures that the device 10 is not significantly affected by foreign particles, such as dust, and / or manual intervention, for example by a user, during the loading of the shim tray 2. In other words, the protective cover 12 ensures that the user cannot manually intervene in the area of ​​the moving axes or the loading device 4, thus reducing the risk of injury. The protective cover 12 can be transparent, in particular, to allow a user of the device 10 to observe and monitor the loading of the shim tray. Specifically, the device 10 and / or the protective cover 12 can have a sensor that can detect whether the protective cover 12 is open and / or its condition.This can then, for example, transmit a signal and / or information to the control module 5 and stop, for example, the device or the occupancy of the shim tray 2. The drive device 11 can, in particular, enable the device 10 to be moved. By means of the drive device 11, the device 10 is therefore designed, in particular, as a mobile device 10. For example, the drive device 11 can (as shown) comprise several wheels and / or a drive motor. The device 10 can thus, for example, be pushed to a position and / or moved by a user. However, the drive device 11 can also be moved differently than shown, for example, by a tracked drive, chain drive, and / or other drive. Figures 3, 4, and 5 show further embodiments of the proposed device 10 for automatically applying shim elements to a shim tray 2 in a schematic representation. The schematic representations are shown in a first view corresponding to Figure 1, in particular a top view. In addition to the features included in Figure 1 (and Figure 2), these embodiments of the device 10 also include a sensor 7, a verification device 8, and an alignment device 9. Figure 3 also shows an application unit 4, in particular a motion unit 42, with three linear axes 42a, 42b, and 42c. The figures illustrate possible combinations of these features by way of example, so that other combinations not shown are also possible. In addition to the preferred placement of a shim element from the cassette 6 on the shim tray 2, further intermediate movements are conceivable, such as rotating the shim element, in particular by means of an alignment device 9, and / or checking the shim element on a testing device 8 designed for this purpose. The device can comprise one or more sensors 7. The sensor 7 can, for example, comprise a fill level sensor, a camera, a motion sensor, a weight sensor, and / or another monitoring sensor. In particular, the sensor 7 can determine the occupancy device 4, especially the motion unit 42 and the fixing unit 41, the fill level of the cassettes 6 and / or the shim tray 2, the singulation, condition, and / or orientation of the shim elements, and / or the position of a user of the device 10. In particular, the sensor 7 can comprise, or the device 10 can additionally comprise, a verification device 8 and / or an alignment device 9. The sensor 7 can preferably transmit measurement signals, results, and / or information to the control module 5 of the device 10.The control module 5 can use these signals and / or information to modify, stop, start and / or output (warning) information to the user of the device 10 via a user interface. The inspection device 8 can detect the properties and / or the condition of a shim element. In particular, the inspection device 8 can use predefined information to verify whether the properties and / or the condition of a shim element correspond to a predetermined property and / or condition before it is placed in the shim tray. For example, shim elements with different dimensions, shapes, and / or material properties may be placed in a shim tray, so that an inspection may be necessary before placement. The inspection device 8 can include sensors for detecting the properties and / or the condition, such as a camera, a scale, a template, and / or other detection means. The inspection device 8 can be integrated into a component of the device, such as the sensor 7 and / or the fixing unit 41.In particular, the inspection device 8 can, as shown, be arranged in the device 10 at a position adjacent to the cassettes 6. For example, after removal from the cassette 6 by means of the loading device 4, the shim elements can be transferred to the inspection device 8, placed there, and inspected. Subsequently, they can be placed, for example, in the shim tray 2. It is also conceivable (different from the illustration) that a further loading device 4 is included in the device 10, which transports the shim elements from the cassettes 6 to the inspection unit 8. The alignment device 9 can detect and / or correct the spatial orientation of a shim element. In particular, the alignment device 9 can use orientation information to check whether the spatial orientation of a shim element corresponds to a predetermined spatial orientation before it is placed in the shim tray. For example, the shim elements may be in different spatial orientations in the cassettes, so an orientation correction may be necessary before placement. The alignment device 9 can include sensors for detecting the spatial orientation, such as a camera, an orientation template, and / or other detection means. The alignment device 9 can be integrated into a component of the device, such as the fixing unit 41.In particular, the alignment device 9 can, as shown, be arranged in the device 10 at a position adjacent to the cassettes 6. In other words, the alignment device 9, like the inspection unit 8, can constitute a separate workstation. For example, after removal from the cassette 6 by means of the loading device 4, the shim elements can be transferred to the alignment device 9, placed there, and reoriented. Subsequently, they can be placed, for example, in the shim tray 2. It is also conceivable (contrary to the illustration) that a further loading device 4 is included in the device 10, which transports the shim elements from the cassettes 6 to the alignment device 9. Preferably, the motion unit 42 of the positioning device 4, as shown in Fig. 3, comprises three linear axes 42a, 42b, 42c. The linear axes 42a, 42b, 42c enable movement of the fixing unit 41 in a first (x-direction), a second (y-direction), and a third (z-direction) direction. The linear axes 42a, 42b, 42c can be dimensioned differently according to the required travel distances. Each linear axis 42a, 42b, 42c can include a motor and / or drive. Depending on the travel distance and / or dimensions of the linear axes 42a, 42b, 42c, they can be driven differently, allowing, for example, a higher travel speed in the x-direction compared to the y-direction. The linear axes 42a, 42b, 42c can be controlled in particular by the control module 5. Fig. 6 shows a further embodiment of the proposed device 10 for automatically loading a shim tray 2 with shim elements in a schematic three-dimensional representation. The figure illustrates a preferred combination of the pre-existing aspects. It is a spatial view of a device 10 mobile by a drive unit 11, further comprising: a loading unit 4 moved by the linear axes 42a, 42b, 42c with a fixing unit 41, cassettes 6, a shim tray 2 fixed by a holding device 1, a checking device 8, and an alignment device 9. Finally, it should be noted once again that the methods described in detail above, as well as the illustrated magnetic resonance device, are merely exemplary embodiments which can be modified in various ways by those skilled in the art without departing from the scope of the invention. Furthermore, the use of the indefinite articles "a" or "an" does not preclude the possibility that the features in question may be present multiple times. Likewise, the term "unit" does not preclude the possibility that the components in question consist of several interacting sub-components, which may also be spatially distributed. Regardless of the grammatical gender of a particular term, persons of male, female, or other gender identities are included. Fig. 7 shows a block diagram of a method for providing an occupied shim tray. Fig. 7 shows an embodiment of the method with 3 steps S10, S20, S30, and an optional step S40 (shown hatched). S10 comprises the acquisition of shim information. Acquiring shim information can include several substeps, such as receiving and / or storing the shim information by a control module. S20 comprises the loading of a shim tray with shim elements using a device 10 based on the shim information. Loading a shim tray with shim elements can, for example, also include determining control commands based on the shim information. Based on these control commands, automatic loading of a shim tray can occur. Additional steps can include, for example, aligning the orientation of a shim element and / or separator, checking the condition of a shim element and / or separator, and / or verifying the loading of the shim tray by a sensor. S30 comprises providing the loaded shim tray. Furthermore, the method can include singulating (S40) the shim elements from at least one cassette. In this case, loading the shim tray (S30) includes placing a singulated shim element based on the shim information. S40 can comprise several substeps, such as removing at least one singulated shim element from the cassette. Removing a shim element from the cassette can be accomplished, for example, by means of a lateral movement, preferably horizontal. Additionally, a singulated shim element can be placed in a storage cassette, at a storage location, and / or in another device for storing singulated shim elements.

Claims

Device for automatically loading a shim tray with shim elements, comprising: a holding device for positioning a shim tray, at least one cassette, wherein the cassette is designed for storing shim elements and / or separators, a loading device, wherein the loading device is designed for depositing shim elements and / or separators from at least one cassette into a shim tray positioned by the holding device, a control module for controlling the loading device. Device according to claim 1, wherein the occupancy device comprises a movement unit and a fixing unit, wherein the movement unit is configured for moving and / or positioning the fixing unit and the fixing unit is configured for fixing a shim element and / or separating element. Device according to claim 2, wherein the motion unit comprises up to three linear motion elements and / or up to three rotary elements, wherein the linear motion elements are configured for a linear movement of the fixing unit in a first, second and third direction, wherein the rotary elements are configured for orientation and / or rotation of the fixing unit about a first, second and third axis of rotation. Device according to claim 2 and / or 3, wherein the fixing unit comprises a suction element, wherein the suction element is configured to fix a shim element and / or separating element by generating a vacuum. Device according to claim 2, 3 and / or 4, wherein the fixing unit comprises a magnetic element, wherein the magnetic element is configured to magnetically fix a shim element and / or separating element. Device according to one of the preceding claims, further comprising at least one sensor for monitoring the automatic loading of the shim tray. Device according to one of the preceding claims, wherein the device is designed as a mobile device. Device according to one of the preceding claims, further comprising a locking device, wherein the locking device is designed to lock at least one cassette. Device according to claim 8, wherein the locking device is designed to receive at least one cassette and has a locking element for each cassette to be received, wherein each locking element is designed to lock a cassette that fits precisely in pairs with the locking element. Device according to one of the preceding claims, further comprising at least one singulation device for the at least one cassette, wherein the singulation device is designed to dispense a singulated shim element and / or separating element from the cassette. Device according to one of the preceding claims, further comprising a verification device, wherein the verification device is configured to detect the nature and / or condition of a shim element and / or separating element before the shim tray is loaded and to verify it using a predefined information. Device according to one of the preceding claims, further comprising an alignment device, wherein the alignment device is configured to align a shim element and / or separating element prior to the placement of the shim tray using orientation information. Device according to one of the preceding claims, wherein the control module for controlling the occupancy device is designed using shim information from a magnetic resonance device. Method for providing a filled shim tray, comprising: capturing shim information, filling a shim tray with shim elements by means of a device according to one of the preceding device claims based on the shim information, and providing the filled shim tray. Method according to the preceding method claim, further comprising: singling out the shim elements from at least one cassette, wherein the loading of the shim tray comprises placing a singled shim element based on the shim information.

Images