Systems and methods for mobile imaging systems

Abstract

This invention is entitled "System and Method for a Motion Imaging System." The invention provides a method and system for collapsing a column in a motion imaging system. In one example, a method may include collapsing a column coupled to the motion imaging system in response to user interaction while the motion imaging system is being driven.

Description

Technical Field

[0001] The embodiments of the subject matter disclosed herein relate to enabling a column to collapse when driving a mobile x-ray system. Background Technology

[0002] Mobile imaging systems, such as mobile X-ray devices, are typically mounted on motorized moving drive systems, such as trolleys capable of being driven to the patient's location. The trolley typically has four wheels, including a pair driven by a motor to move the system. Imaging components (such as X-ray sources or tubes) can be enclosed in a horizontal tube arm, which can be mounted on a column near the front of the trolley.

[0003] Mobile imaging systems, such as mobile X-ray units, may include an extendable tube arm attached to a column. Additionally, imaging components, such as an X-ray tube and collimator, may be attached to the end of the tube arm opposite to the column. The tube arm may comprise several nested segments that can extend and retract in a telescopic manner. The column can rotate relative to a trolley, causing the tube arm to rotate relative to the trolley while remaining fixed about the column; furthermore, the tube arm can extend and collapse radially and translate linearly upwards and downwards along the column. The column may also comprise multiple nested segments that can extend to a maximum extension point and collapse to a lowest ending position. After operation of the mobile X-ray system, to secure the tube arm used to move the mobile imaging system from one location to another (such as moving one patient from a hospital floor to another), the tube arm can be placed in a parking position, and the column can be placed in a first collapsed position. Additionally, the column can further transition from the first collapsed position to the ending position. The ability to park the tube arm and collapse the column to the end position allows for a more compact mobile X-ray system, and thus enables easy transport by the operator.

[0004] To manipulate the imaging assembly and the tubing arm, there may be manually actuated components, such as a first handle attached to the imaging assembly. Using the first handle, the operator can rotate the imaging assembly relative to the tubing arm and orient the tubing arm for imaging the patient. For transporting the mobile imaging system, the trolley may have a second manually actuated component, such as a second drive handle at the rear of the trolley for the operator to push. Using the second handle, the operator can drive the trolley to a position, position it close to the patient's bed, and position the imaging assembly for imaging the anatomy of interest. Summary of the Invention

[0005] In one embodiment, a system includes: when conditions for moving the imaging system are met, collapsing a column that connects an imaging component to the drive system while simultaneously moving the drive system. In this way, by simultaneously driving the imaging component as it collapses to a final orientation, the time between consecutive scans using the moving imaging system can be reduced.

[0006] It should be understood that the above brief description is provided to introduce selected concepts further described in the detailed embodiments in a simplified form. This is not intended to identify key or essential features of the claimed subject matter, the scope of which is uniquely defined by the claims following the detailed embodiments. Furthermore, the claimed subject matter is not limited to embodiments that address any shortcomings mentioned above or in any part of this disclosure. Attached Figure Description

[0007] The invention will be better understood by referring to the following description of non-limiting embodiments, in which:

[0008] Figure 1 A front view of an exemplary mobile imaging system is shown.

[0009] Figure 2 It shows Figure 1 A block diagram of the actuation mechanism of the components of the mobile imaging system.

[0010] Figure 3 Explanation is shown Figure 1 A schematic diagram of the orientation of the component arms of a mobile imaging system.

[0011] Figure 4A An exemplary embodiment of a mobile imaging system including a tube arm and a column in a first orientation is shown.

[0012] Figure 4B An exemplary implementation of a mobile imaging system in a second position is shown.

[0013] Figure 4C An exemplary implementation of a mobile imaging system in a third-party position is shown.

[0014] Figure 4D An exemplary implementation of a mobile imaging system in the fourth position is shown.

[0015] Figure 4E An exemplary implementation of a mobile imaging system in the fifth position is shown.

[0016] Figures 5A-5B A flowchart illustrating an exemplary method for causing column collapse when driving a moving imaging system is shown.

[0017] Figure 6 A first exemplary timeline for collapsing a column and driving a moving imaging system according to this disclosure is shown.

[0018] Figure 7 A second exemplary timeline for causing column collapse when driving a moving imaging system, according to this disclosure, is shown. Detailed Implementation

[0019] This disclosure relates to a mobile imaging system that allows the column of the mobile imaging system to collapse simultaneously when an operator is permitted to drive the mobile imaging system. Figure 1 An exemplary implementation of a mobile imaging system is given, specifically illustrating a column comprising two nested segments. Figure 2 It shows Figure 1 The system architecture of the mobile imaging system is in the form of a block diagram. Figure 3 It shows relative to Figure 1 An exemplary orientation of the tube arm of the trolley of the mobile imaging system. Figure 4A -E illustrates an exemplary orientation of the imaging system during the transition from a first operating azimuth to a fifth fully collapsed azimuth. Specifically, Figure 4A -E shows a tube arm containing two nested sections. Figure 5A -B illustrates the instructions for using a mobile imaging system, such as... Figure 4A The first orientation shown transforms into as follows Figure 4E A flowchart illustrating an exemplary method in the fifth position.

[0020] As part of operating a mobile imaging system, in order to scan a patient's anatomy, the operator can align the tube arm and the collimator mounted at the end of the tube arm relative to the patient in a specific orientation. As an example, as part of aligning the mobile imaging system relative to the patient, the system can be positioned close to the patient's bed. Furthermore, the column can be in a fully extended orientation, the tube arm can be fully extended radially, and the tube arm (attached to the column) can rotate axially. After the operator has completed the imaging process, it may be desirable to move the system to a different location. The mobile imaging system can be reoriented from the operating orientation to a fully collapsed orientation, which can be effective for trolley transport. A fully collapsed orientation can include the tube arm being fully radially retracted, secured to the trolley of the mobile imaging system via latches in the parking orientation, and the column being collapsed to its lowest end orientation.

[0021] As part of the transfer of the mobile imaging system from imaging orientation to a fully collapsed orientation for transport, the operator may have to wait for the arm to return to a fully parked orientation before the column begins to fully collapse. Once the arm is parked and the column has fully collapsed at the final orientation, the operator can begin driving the trolley. This process can be time-consuming in environments where the operator may have many patients to care for within strict time constraints (e.g., in an intensive care unit or emergency room setting).

[0022] In one example, the arm's parking can be initiated by applying force to a first handle attached to the imaging assembly. The imaging assembly can be connected to a column via a rotatable and extendable arm, which connects the arm to a drive system. Arm parking can be performed by rotating the arm to the origin orientation, retracting the arm toward the column to a fully retracted orientation, and driving the arm vertically downwards along the column. Furthermore, the arm's retraction can be based on a first input from a first orientation sensor attached to the column indicating the radial orientation of the arm, the vertical drive of the arm can be based on a second input from a second orientation sensor attached to the arm indicating the vertical orientation of the arm relative to the column, and the arm's rotation can be based on a third input from a third orientation sensor attached to the column indicating the angular displacement of the column and arm relative to the origin orientation. Even after the operator releases the first handle, each of the column and the arm can move downwards linearly. When the arm is in the parking orientation and the column is in the first collapsed orientation, the operator can initiate the movement of the trolley by applying force to a second handle. After the boom and column are in the parking position, the operator can then initiate the column collapse to the final position by switching on the drive handle or by continuing to apply force on the second handle while driving the trolley. As an example, the movement of the column from the parking position to the fully collapsed position can be performed concurrently with the forward-driving trolley. The trolley's movement speed can be adjusted based on force feedback from the second handle while the column can collapse at a constant speed.

[0023] In this way, by not waiting for the column to fully collapse before starting to drive the trolley, the mobile imaging system can be transported to the desired location more quickly, saving valuable time on the hospital floor. Even after release, the arm-holding actuation in response to the initial operator input to the first handle allows the system to more efficiently change to the orientation where the arm is fixed for movement. Additionally, the operator can initiate movement during arm-holding, allowing for a faster transition from imaging to transport. Collapsing the column while simultaneously driving the trolley provides a time-saving mechanism while still minimizing any visual obstruction caused by the column. Overall, by accelerating arm-holding and collapsing the column to the final orientation without waiting for the trolley to drive, the user's workflow can be made more efficient.

[0024] Figure 1 An example 100 of a mobile imaging system 10, which can be used in the medical field or other fields, is shown. The mobile imaging system 10 has a drive assembly 12 and an operator console 14 that can be supported by the drive assembly 12. The drive assembly 12 includes a frame 13 (also referred to herein as a trolley), two rear drive wheels 18 (one wheel shown) coupled to the frame at the rear end 26 of the mobile imaging system 10, and two front wheels 20 (one wheel shown) coupled to the frame at the front end 28 of the mobile imaging system 10.

[0025] A column 33 is attached to and extends upward from the frame of the drive assembly 12, and rotates or swivels relative to the drive assembly 12. The column 33 includes an outer segment 17 and an inner segment 16 nested within the outer segment 17. The inner segment 16 is fixed to the trolley 13, while the outer segment 17 can extend or retract outward from the inner segment 16 in response to operator manipulation. The outer segment can have a range of motion defined by a maximum focus (where the column 33 is fully extended and segments 16 and 17 have minimal overlap) and a minimum focus (where the column is fully collapsed at the end orientation, where the outer segment completely encloses the inner segment). A tube arm 32 is fixed to the column 33 and extends perpendicularly to the column. The tube arm 32 can be adjusted vertically relative to the column 33 and can otherwise be fixed in its orientation relative to the column. In other words, the tube arm 32 can not rotate independently of the column 33, but can rotate with the column when the column rotates relative to the trolley 13. The tube arm can, for example, translate vertically and independently along an axis 120 defined by the length of the column 33 in response to user manipulation. The tube arm 32 can also extend or retract relative to the column 33 (e.g., extend and retract horizontally), thereby allowing components mounted at the outer end of the tube arm 32 to move closer to or further away from the column 33.

[0026] An imaging assembly (in the form of a radiation source 34 including an x-ray source assembly 15 herein) is attached to the outer end of the tube arm 32 and has an x-ray tube housing 22 containing an x-ray source (not shown). A collimator 24 is attached to the tube housing 22 and is rotatable relative to the tube housing 22. An x-ray detector 36 detects x-ray data and is wirelessly or via a cable 37 to an imaging controller 27. Attached to the imaging assembly is a first manually actuated handle 66 (referred to herein as the first handle), which the operator can use to orient the tube arm and imaging assembly relative to the trolley.

[0027] The tube arm 32 may include a first force sensor 406. As an example, the first force sensor 406 may be positioned on the top side of the tube arm 32, at the base where the tube arm engages with the post 33. The first force sensor 406 can measure forces along three independent, mutually perpendicular axes, such as a radial force applied to the first handle 66 that can act to extend or retract the tube arm 32, a vertical force applied to the tube arm 32 that can act to linearly translate the tube arm 32 upwards or downwards relative to the post 33, and a tangential force applied to the first handle 66 that can act to rotate the post 33 and the tube arm 32 together. Additionally, the first force sensor 406 may be coupled to a cord contained within the post 33. The cord may exit the outer section 17 of the post and be attached to the tube arm near the first force sensor 406, and the first force sensor 406 may be further configured to measure forces on the tube arm 32 caused by the cord (e.g., regarding...). Figure 4A(As described in -E). The signal generated by the first force sensor 406 in response to the force applied to the first handle 66 can be sent to the controller 50, which can then actuate the movement of the tube arm 32 and / or the column 33, such as... Figure 2 It is described in more detail in the text.

[0028] Sensors can be included in the imaging assembly to measure the orientation and / or acceleration of various components. As an example, a first orientation sensor 42 coupled to the tube arm 32 can estimate the orientation of the tube arm 32 relative to the column 33 and the trolley 13, which can be used to estimate the degree of radial extension or retraction of the tube arm 32. During actuation of the tube arm 32, the first orientation sensor 42 can send a signal to the controller 50, which can then actuate further radial movements of the tube arm 32, such as those related to… Figure 2 To describe in more detail. In another example, a second orientation sensor 46 can be coupled to the tube arm 32 to estimate the vertical orientation of the tube arm 32 relative to the post 33 (along axis 120). The second orientation sensor 46 can send a signal to a controller 50, which can then actuate a vertical translation of the tube arm 32 relative to the post 33, as described above. Figure 2 Described in more detail. Sensors 42 and / or 46 can be optical sensors, magnetic sensors, pressure / force sensors, inertial measurement units (IMUs), or any variations thereof. It can be noted that the sensors in various embodiments can be any one or more suitable types of sensors. For example, one or more sensors may operate based on sensing distance changes using optical, magnetic, electrical, or other mechanisms. In another example, a third-party position sensor 48 can be coupled to the column 33 to estimate the angular displacement of the column 33 relative to the cart. The third-party position sensor 48 can send a signal to the controller 50, which can then adjust the rotational movement of the column 33, as per [the description of the sensor]. Figure 2 As further described in detail. Sensor 48 can be an optical sensor, a magnetic sensor, a Hall effect sensor, or other suitable sensor adapted to detect the degree of rotation of column 33. Figure 1 The placement of sensors 42, 46 and 48 shown is exemplary, and other configurations are possible.

[0029] The second manually actuated interface may be provided on the system 10 in the form of a second drive handle 38 (referred to herein as the second handle 38) located on the rear end 26 of the system 10, such as a frame coupled to the drive assembly 12. The controller 50 senses or receives signals based on manipulation (e.g., user manipulation) of the second drive handle 38, and the mobile imaging system 10 can be driven to different positions to image the patient. As an example, the second handle 38 may detect the force applied to the handle via a second force sensor 407 contained within the handle, which can then send a signal to the controller 50 to actuate the drive assembly 12. The drive assembly 12 may include a drive motor 52 and be capable of driving the rear drive wheel 18.

[0030] The patient or subject 29 is typically positioned on the bed or table 30. Once the mobile imaging system 10 is positioned near the table 30, the column 33 is rotated or rotated (e.g., via user operation) to position the X-ray source assembly 15 directly over the anatomical structures of the subject 29 to be scanned. The detector 36 is positioned on the opposite side of the subject 29.

[0031] A user interface 44 may be located near the rear end 26 of system 10. Optionally, the user interface 44 may be integrated with the second handle 38, or it may be configured as a remote control that can be held in the operator's hand away from system 10. The user interface 44 may communicate with the controller 50 wirelessly or via a wired connection. The user interface 44 may be one or a combination of buttons, joysticks, toggle switches, power-assisted handles, or configured as keys on a keyboard or selections on a touchscreen, etc. In some examples, the signals sent by the second handle 38 may differ from the signals sent by the user interface 44. For example, the user interface 44 may send signals for switching drive modes, turning system 10 on or off, etc.

[0032] The controller 50 receives information from multiple sensors regarding the orientation of the indicator column 33, tube arm 32, collimator 24, and / or X-ray source assembly 15. Furthermore, the controller 50 can receive force information indicating the degree of force applied to the first handle 66 and the second handle 38. In response to the orientation and force information, the controller 50 can actuate multiple motors (such as the first servo motor 210, the second servo motor 212, the third servo motor 214, the drive motor 52, and the column motor 420, all of which will be related to...) Figure 2 (To be further discussed) the plurality of motors can control the movement of the tube arm 32, the column 33, and the drive wheel 18 of the system 10. Additionally, the controller 50 can receive signals from the user interface 44, as described above.

[0033] Figure 2 It shows the actuation Figure 1Example 200 of the control system and components for each of the column, arm, and drive assembly of the moving imaging system 10. The moving imaging system 10 can be controlled via a controller 50, which can receive signals from a plurality of sensors further described herein.

[0034] To actuate the movement of the tube arm 32, the controller 50 can receive a signal from the first handle 66 via the first force sensor 406. (See also:) Figure 1 As described, the first handle 66 can be coupled to the first force sensor 406. The output of the first force sensor 406 can estimate the force applied to the first handle. Upon receiving a force signal from the first force sensor 406, the controller 50 can initiate movement of the tube arm via the tube arm actuator 208. Tube arm actuation can include two independent degrees of motion of the tube arm 32: radial extension and retraction of the tube arm 32 and vertical translation along the tube post. For each of the independent degrees of motion of the tube arm 32, there is a corresponding servo motor, namely the first servo motor 210 and the second servo motor 212, to provide force feedback along the corresponding degree of motion (e.g., regarding...). Figure 2 (To be further described). Additionally, a third servo motor 214 may be present to provide force feedback for the rotation of the column relative to the trolley in response to a signal received from the first handle 66.

[0035] A servo motor may include a motor coupled to an orientation sensor, which can then send a signal to the motor to actuate it in response to orientation information. As an example, a servo motor may include an internal orientation encoder, such as a rotary encoder, which can estimate the angular orientation of a shaft contained within the motor. The orientation information of the shaft contained within the motor can then be sent to a controller to actuate the motor. Additionally or alternatively, a servo motor may include an external orientation sensor that can record the orientation of a component outside the motor and driven by the motor. The signal obtained from the external orientation sensor can then be sent to a controller to actuate the motor. Furthermore, a servo motor may be configured to actuate in response to a signal from a force sensor combined with an orientation signal received from the orientation sensor.

[0036] As an example, the first servo motor 210 can provide power for the radial extension and retraction of the tube arm. In addition to orientation information from the first orientation sensor 42 of the outer section of the tube arm 32 (such as regarding...), Figure 4A (As described in -E), this may involve receiving force information from the first force sensor 406 regarding the force applied radially along the tube arm. The force and orientation information obtained from sensors 406 and 42, respectively, can then be sent to the controller 50 to actuate the second servo motor 212, thereby applying power to the radially extending or retracting tube arm 32 at a set speed. The set speed of the tube arm 32 can be determined via a force feedback loop based on the radial force estimated from the first force sensor 406.

[0037] As an example of the force feedback loop described above, a first proportional-integral (PI) controller can be used to regulate the power delivered to the first servo motor 210. The setpoint of the first PI controller can be adjusted based on each of the outputs of the first force sensor 406 and the first orientation sensor 42. The first PI controller can receive the difference between the setpoint power delivered to the first servo motor 210 and the actual power. At the first PI controller, the error can be processed and / or modified (scaled) by means of a proportional gain. The integral of the error can be similarly processed and / or modified (scaled) by means of an integral gain. Then, one of these terms or the sum of these terms is output as a signal. The output signal of the first PI controller can generate a final control signal for the motor that will be sent to the first servo motor 210.

[0038] As another example, the second servo motor 212 can provide power for vertically translating the tube arm 32 along the column 33. The second servo motor 212 can first receive force information from the first force sensor 406 regarding the force applied vertically along the tube arm, combined with orientation information along the column height from sensor 46 on the tube arm 32. The force and orientation information obtained from sensors 406 and 46 can then be sent to the controller 50 to actuate the second servo motor 212 to apply power, thereby translating the tube arm 32 upwards or downwards at a set speed. The set speed of the tube arm 32 can be determined via a force feedback loop based on the vertical force estimated from the first force sensor 406.

[0039] As an example of the force feedback loop described above, a second proportional-integral (PI) controller can be used to regulate the power delivered to the second servo motor 212. The setpoint of the second PI controller can be adjusted based on each of the outputs of the first force sensor 406 and the second orientation sensor 46. The second PI controller can receive the difference between the setpoint power and the actual power delivered to the second servo motor 212. At the second PI controller, the error can be processed and / or modified (scaled) by the proportional gain. The integral of the error can be similarly processed and / or modified (scaled) by the integral gain. Then, one of these terms or the sum of these terms is output to a signal. The output signal of the second PI controller can generate the final control signal for the motor that will be sent to the second servo motor 212.

[0040] Similarly, the third servo motor 214 can provide power for the axial rotation of the column 33. In addition to angular orientation information from the third position sensor 48, this could involve receiving force information about the tangential force on the tube arm from the first force sensor 406. The force and orientation information obtained from sensors 406 and 48, respectively, can then be sent to the controller 50 to actuate the third servo motor 214 to apply power, thereby rotating the column 33 at a set speed. The set speed can be determined via a force feedback loop based on the tangential force estimated from the first force sensor 406.

[0041] As an example of the aforementioned feedback loop, a third proportional-integral (PI) controller can be used to regulate the power delivered to the third servo motor 214. The setpoint of the third PI controller can be adjusted based on each of the outputs of the first force sensor 406 and the third position sensor 48. The third PI controller can receive the difference between the setpoint power and the actual power delivered to the third servo motor 214. At the third PI controller, the error can be processed and / or modified (scaled) by the proportional gain. The integral of the error can be similarly processed and / or modified (scaled) by the integral gain. Then, one of these terms, or the sum of these terms, is output to a signal. The output signal of the third PI controller can generate the final control signal for the motor that will be sent to the third servo motor 214.

[0042] Additionally, each of the servo motors 210, 212, and 214 may include an internal speed sensor. In an alternative embodiment, the orientation sensors (such as the first orientation sensor 42, the second orientation sensor 46, and the third orientation sensor 48) may be replaced with an accelerometer.

[0043] The controller 50 may also receive input signals from several other sources, including the user interface 44, the emergency stop mechanism 101, the emergency column drive stop mechanism 219, and the column switch 218. At any time during operation, the controller 50 may be configured to receive and act upon input from one or more emergency stop mechanisms 101, which may include one or more buttons, sensors, buffers, etc., and may act to deactivate the drive wheel 18. The controller 50 may also be configured to receive and act upon input from the column drive stop mechanism 219. As an example, the column stop mechanism 219 may deactivate further column collapse in response to, for example, insufficient power from the battery 206. As another example, the controller 50 may interrupt the actuation of the column motor 420 in response to the column switch 218. As yet another example, if the column is in the fully collapsed final state, the column switch 218 may indicate that the column is in the fully collapsed orientation, which may cause the controller 50 to deactivate further column collapse.

[0044] Additionally, the exemplary control system 200 may include a drive assembly 12 that houses a drive motor 52. The drive motor 52 may actuate a drive wheel 18 via a controller 50 in response to a force signal detected by a second force sensor 407 included within the second handle 38. The drive wheel 18 may rotate at a speed determined by a force feedback mechanism based on the force detected by the second force sensor 407. In other words, the motion drive system may include actuating a set of drive wheels 18 coupled to the drive system, wherein the speed of the drive wheels 18 is adjusted based on a signal received from the second force sensor 407 coupled to the second handle 38. The force feedback mechanism for the drive motor 52 may be substantially similar to the force feedback mechanisms for servo motors 210, 212, and 214, whereby the drive motor 52 may power the drive wheel 18 in response to a force applied to the second handle 38. The power applied to the drive wheel 18 by the drive motor 52 may then cause the drive wheel 18 to rotate at a set speed determined by the force applied to the second handle 38.

[0045] The second handle 38 may also include a drive switch 39, which can actuate the collapse of the column from a first collapsed state to a fully collapsed state (as per...). Figure 4D-5B (As described).

[0046] Furthermore, the exemplary control system 200 may include a column actuator 204, which may include the aforementioned third servo motor 214 and column motor 420. Column motor 420 may be a servo motor, which may include a motor and an internal orientation sensor (such as an encoder or potentiometer) that can record orientation information about the shaft within column motor 420. The extent of extension of column 33 can be inferred from the orientation information of the internal orientation sensor of column motor 420, wherein the end of the travel orientation is defined by a predefined value within the extension range. Additionally, the column motor may receive force information from a first force sensor 406 and may provide power for column 33 to collapse based on the force information from the first force sensor 406 and the orientation information of the extent of extension inferred from the internal orientation sensor of column motor 420. Additionally or alternatively, column motor 420 may provide power for column collapse based on input from drive switch 39. As a first example, in response to a force applied to the second handle 38, the column motor 420 can drive the column 33 downward at a set speed, which is determined by the force applied to the second handle 38 via a force feedback mechanism. As a second example, the column motor can drive the column 33 downward at a fixed speed in response to an input from the drive switch 39.

[0047] In addition to the controller 50, the actuators of the system 10, such as the column actuator 204, the drive assembly 12, and the tube arm actuator 208, can be powered by the battery 206, which can be a rechargeable energy storage device.

[0048] Figure 3 This is a schematic diagram 300 showing the orientation of the drive assembly 12 and the tube arm 32 relative to each other. Column 33 ( Figure 3 (Not shown in the image) pivots relative to drive assembly 12 at pivot point 108. For example, see reference... Figure 1 The center of column 33 may define a pivot point 108. The drive assembly 12 may have a coordinate system comprising a longitudinal axis 118 extending parallel to and symmetrically centered along the length of the drive assembly 12, a transverse axis 122 extending perpendicular to the longitudinal axis 118 and intersecting the longitudinal axis 118 at the pivot point 108, and a vertical axis 120 defined by the length of the column (not shown). The vertical axis 120 extends perpendicular to both the longitudinal axis 118 and the transverse axis 122, and intersects both at the pivot point 108.

[0049] like Figure 3 As shown, column 33 pivots relative to longitudinal axis 118, such that centerline 116 of tube arm 32 is located at rotation angle Φ relative to longitudinal axis 118. As used herein, when centerline 116 of tube arm coincides with longitudinal axis 118, rotation angle Φ is zero, and can describe the rotation angle Φ of column 33 relative to longitudinal axis 118. Since tube arm 32 rotates with column 33 and may not rotate independently of column 33, rotation angle Φ can also refer to the rotation angle of tube arm 32 relative to longitudinal axis. Rotation angle Φ increases (in a positive value) with clockwise rotation of column 33 and increases (in a negative value) with counterclockwise rotation of column 33. When tube arm 32 is in the parking position, rotation angle Φ is 0, such that tube arm 32 is parallel to longitudinal axis 118. Additionally, tube arm 32 can extend and retract along an axis defined by centerline as indicated by 110.

[0050] Figure 4A -E illustrates various configurations of a mobile imaging system 10 that change from a first orientation to a final orientation during transport of the imaging system. Figure 4A -E also shows arrows indicating the motion of the various parts of the moving imaging system 10 during changes in orientation, and a coordinate system 480 indicating mutually perpendicular directions x, y and z.

[0051] Figure 4A A mobile imaging system 10 in a first orientation is shown. The first orientation can be an orientation in which the mobile imaging system 10 can be positioned for imaging a patient (not shown). As an example, the first orientation may include a column 33 fully extended to its maximum length, a tube arm 32 radially extended to its maximum length, and a rotation angle Φ of the column 33 and tube arm 32 relative to a longitudinal axis of 180 degrees. As an example, the extent of extension of the column 33, the extent of extension of the tube arm 32, and the non-zero rotation angle Φ of the column 33 and tube arm 32 for the imaging configuration can take a range of values.

[0052] Figure 4A The internal components of the tube arm 32 and column 33 are shown. The tube arm 32 is shown as comprising an internal section 402 nested within an outer section 404, and can be positioned along the axis of the tube arm (such as the axis defined by the centerline 116 of the tube arm 32, as shown in the figure). Figure 3 The tube arm extends and retracts within a predefined range of motion (as shown). A tube arm actuator 208 is also shown within the tube arm 32, which may include servo motors 210 and 212 for two independent degrees of motion of the tube arm, such as... Figure 2 As described in detail. However, the exact placement of the arm actuator 208 and the servo motor contained therein is exemplary. Contained within the column 33 are various components that actuate the column 33 to collapse in the final orientation. Retained within both the inner section 16 and the outer section 17 of the column 33 is a first gas spring 412, which provides balancing forces to the arm and column, additional external loads on the trolley 13, and friction between the inner section 16 and the outer section 17, thereby helping to position the column 33 at a specific height. The first gas spring 412 can extend along the full length of the interior of the column 33. Adjacent to the first gas spring 412 is a ball screw 410, which is housed within both the inner section 16 and the outer section 17 and is fixed to the top of the interior of the outer section 17. The ball screw 410 can be actuated by a ball nut 416, which is housed within the inner section 16 and can be driven by a column motor 420 via a belt drive 414. The column motor is housed within the inner section 16, while the belt drive is externally positioned on top of the inner section 16. The ball nut 416 can rotate in response to actuation of the column motor 420 via the belt drive 414, and the outer section 17 can be lowered by the downward movement of the ball screw 410 caused by the rotation of the ball nut 416.

[0053] Also located inside column 33 is a tension gas spring 418 (referred to herein as the second gas spring), which is housed within inner section 16 and internally fixed to the top of inner section 16. The second gas spring 418 can expand and contract within inner section 16 and can transmit an upward force to tube arm 32 via cord 408. Cord 408 is attached to the top of the interior of inner section 16, is under tension, and contacts the second gas spring 418 via a pulley attached to the second gas spring. Cord 408 exits from the top of inner section 16 and wraps around another pulley inside outer section 17, thus exiting the outer section and attaching to the outside of tube arm 32. Cord 408 has a fixed length and can be placed under increased tension due to the increased expansion of the second gas spring 418. Figure 4AIn the first position, the second gas spring 418 is compressed, and the cord 408 extends inside the extended outer section 17.

[0054] Figure 4B A mobile imaging system 10 is shown transitioning from a first orientation to a second orientation. The second orientation may include an example rotation angle Φ from the imaging orientation (the column 33 and the tube arm 32). Figure 4A The tube arm 32 is rotated (as shown in the diagram, 180 degrees) to the origin position where the rotation angle Φ of the column 33 and the tube arm 32 is 0 degrees. The second position may also include the tube arm 32 in a fully retracted position. The rotation of the tube arm can be due to a force applied to the first handle 66 by the operator 401. In response to the force applied to the first handle 66 by the operator 401, a third servo motor (such as...) Figure 1-2 The third servo motor 214 can operate to drive the tube arm to rotate at a set speed determined by the applied force via a force feedback mechanism. Additionally, Figure 4B It shows the orientation from the fully extended orientation (e.g.) Figure 4A (As shown) the arm retracts to the fully retracted position. Arm retraction may be due to a force applied by operator 401 to the first handle 66, and in response to the force applied by operator 401 to the first handle 66, the first servo motor (such as...) Figure 1-2 The first servo motor 210 can be operated to drive the tube arm to retract at a set speed determined by the applied force via a force feedback mechanism. The retraction motion of the tube arm 32 is indicated by an arrow 450 parallel to the x-axis of the coordinate system 480.

[0055] Figure 4C The image shows the mobile imaging system 10 transitioning from a second orientation to a third orientation. The third orientation may include a fully retracted and parked arm 32. The parked orientation may include the arm 32 fully radially retracted, aligned parallel to the longitudinal axis 118, with a rotation angle Φ of 0°, and the arm 32 in a vertically lowered orientation relative to the post 33, secured to the trolley 13 via latches 53 and 65. Additionally, as part of the parked orientation, the post 33 may be in a first collapsed orientation. Due to the force applied by the operator 401 to the first handle 66, the arm can be moved from its maximum focal point (e.g., ...). Figure 4B (As shown) Vertical translation to the parking position; this movement is indicated by arrow 451 parallel to the z-axis of coordinate system 480. The vertical translation of the tube arm 32 can be based on a response from the operator 401 via a second servo motor (such as... Figure 2The second servo motor 212 applies force feedback to the first handle 66. The stopping speed of the tube arm can be set based on the force applied to the handle 66 by the operator 401 via force feedback. Additionally, after the operator 401 applies an initial downward force to the first handle 66, the operator 401 can release the first handle 66, and the tube arm can continue to translate vertically along axis 120 at a fixed speed determined by the speed of the tube arm when the handle is released and the force applied to the handle at release. When the tube arm 32 is lowered to the stopping position, the tube arm 32 can be attached to the trolley 13 via latches 53 and 65, which are respectively attached to the tube arm 32 and the trolley 13. Latches 53 and 65 can indicate to the controller 50 via latch sensor 57 that the tube arm is in the stopping position when tightened. With the tube arm stopping, the outer section 17 of the column 33 can retract from the maximum focal point to a first collapsed position in response to the force applied to the first handle 66 by the operator 401. The force applied to the first handle 66 is estimated by a first force sensor 406, which detects the direction and magnitude of the force and actuates the column motor 420 via controller 50 to retract the column. The retraction motion of the outer section 17 is indicated by arrow 452 parallel to the z-axis of coordinate system 480. The column motor 420 drives the ball nut 416 via belt drive 414, which causes the ball screw 410 to move downward, thereby lowering the outer section 17. As an example, the first collapse orientation of the column can be 50% between the fully extended orientation and the fully collapsed orientation.

[0056] Figure 4D The mobile imaging system 10 is shown transitioning from a third position to a fourth position. The fourth position may include the tube arm 32 in a parking position and the column 33 in an intermediate position between a first collapsed position and an end position. The intermediate position of the column can take a range of values. The outer section 17 of the column 33 may continue to retract in response to a signal received from the operator and applied to the drive handle 38, as indicated by arrow 453. Alternatively, the operator may actuate a drive switch 39 located on or near the second drive handle to initiate the collapse of the column to the end position. Pressing the second handle 38 by the operator 401 may cause the column motor 420 to be actuated via the controller 50, which may drive the outer section 17 downwards to the fully collapsed end position. During the collapse of the column 33 to the end position, a second gas spring 418 may extend to provide additional tension on the cable 408. The time for the column 33 to collapse from the parking state to the end state may be a fixed duration. As an example, the time taken for the outer segment 17 to move from the first collapse azimuth to the end azimuth may be less than 2 seconds.

[0057] During the collapse of the column to its final position, the operator 401 may apply a force to the second handle 38. The force applied to the second handle 38 can be estimated by a second force sensor 407 contained within the handle. The force sensor 407 can then send a signal to the controller 50, which can then actuate the drive motor 52, thereby actuating the drive wheel 18. The drive wheel can operate simultaneously with the collapse of the column. The speed of the drive wheel 18 can be determined via force feedback based on the force applied to the second handle 38. The movement of the trolley 13 is indicated by an arrow 454 parallel to the x-axis of the coordinate system 480.

[0058] Figure 4E The mobile imaging system 10 is shown in the fifth position. In the fifth position, the arm is at rest and the column is in the end position, with the second gas spring 418 fully extended to maintain tension within the cable 408. The drive wheel 18 can continue to be driven at a speed determined via force feedback from the second handle 38, as described above. The movement of the trolley 13 is indicated by arrow 455 parallel to the x-axis of coordinate system 480.

[0059] In this way, Figure 1-4E The system provided in the article provides a system for a mobile imaging system, the system including a controller that stores instructions in a non-transitory memory that can be executed by the controller to: during a first condition, when the drive system is driven forward at a second speed, collapse the column connecting the tube arm of the mobile imaging system and the drive system at a first speed; and during a second condition, when the drive system is driven forward at a third speed, collapse the column at the first speed, the third speed being higher than the second speed.

[0060] Figure 5A -B illustrates the method for parking the arm (such as) in a mobile imaging device such as system 10. Figure 1 The tube arm 32) and the column (such as Figure 1 The flowchart of method 500, in which column 33 collapses to the end position. Instructions for performing method 500 and the remaining methods included herein may be provided by a controller (e.g., Figure 1-4E The controller 50 shown is based on instructions stored in the controller's memory and combined with instructions from sensors of the mobile imaging system (such as those mentioned above). Figure 1-4E The controller uses signals received by the sensor described below to perform the operation. According to the method described below, the controller can employ an actuator of the moving imaging system to move the moving imaging system. Specifically, the controller can employ a drive motor (such as...) Figure 2 The drive motor 52) actuates the drive wheel (such as Figure 1 The drive wheel 18) uses two separate servo motors (such as Figure 2 The first servo motor 210 and the second servo motor 212 are used to actuate the movement of the tube arm along two independent degrees of motion, and a third servo motor (such as...) is used to... Figure 2 The third servo motor 214) and column motors (such as Figure 2 The column motor 420 is used to actuate the rotation and collapse of the column respectively.

[0061] At 502, method 500 determines whether conditions for parking the pipe arm have been met. Parking conditions may include receiving an application from the operator to the first handle (such as...). Figure 1 The force signal of the first handle 66). (As for...) Figure 1 As described, the first handle can convert user movement into movement of the arm and / or column of the mobile imaging system, and can be coupled to various sensors, including a first force sensor (such as...). Figure 1 A first force sensor 406 can detect the force applied to the first handle and send a signal to the controller to actuate the tube arm and / or column. The first force sensor can also detect forces due to wires (such as those inside the column) within the tube arm. Figure 4A -E's cord 408) and the force generated on the tube arm, and can sense the additional force generated on the tube arm due to the cord. In addition, the first handle can be connected to an orientation sensor (such as Figure 1 A first orientation sensor 42, a second orientation sensor 46, and a third orientation sensor 48) are included, which can transmit relative to the tube arm's vertical axis (such as...). Figure 1 The orientation signals include the axis 120 (or axis of the trolley), the radial extension of the tube arm, and the rotation angle Φ of the column and tube arm relative to the trolley. Conditions for parking the tube arm may also include instructions from the user to complete the scan via input to the instrument panel. Parking conditions may also include the drive wheels being deactivated or remaining deactivated, and the X-ray source (such as...) Figure 1 The X-ray source 15) is deactivated or remains deactivated, and the imaging controller (such as...) Figure 1 The imaging controller 27) is deactivated or remains deactivated, and the imaging components (such as...) Figure 1 The imaging component is oriented in the initial orientation, wherein the rotation angle of the imaging component relative to the tube arm is zero.

[0062] If condition 502 is not met, method 500 can proceed to 501, where the tube arm can be maintained under normal operation. Normal operation of the tube arm may include movement of the tube arm and column based on forces applied to the tube arm, such as rotation, extension, and / or retraction of the tube arm when driven by motors (such as a first servo motor, a second servo motor, and a third servo motor, and a column motor) via force feedback. Method 500 can then proceed back to 502. If the conditions for tube arm parking are met, method 500 can proceed to 504.

[0063] At 504, method 500 can proceed to driving the tube arm to a parking position based on force feedback from the first handle. The tube arm can be driven to the parking position in response to a force applied to the first handle. The driving motion can involve three separate driving mechanisms, such as rotation of the column (causing a corresponding rotation of the tube arm), retraction of the tube arm, and vertical downward translation of the tube arm. In other words, each of the rotation of the tube arm, the retraction of the tube arm, and the vertical drive of the tube arm can be adjusted based on force feedback in response to a first signal received from a first force sensor connected to the first handle of the tube arm. As an example, driving the tube arm to the parking position can include rotating the tube arm to the origin position (as per the rotation of the column) via rotation of the column. Figure 4B As discussed, the pipe arm is horizontally retracted to the fully retracted position by retracting the inner pipe section within the outer pipe section, and then vertically translated downwards along the post. However, the sequence of operations is exemplary and can be rearranged. For example, the pipe arm can be retracted first, then the post can be rotated, and finally the pipe arm can be placed in the parking position. As another example, the rotation of the post and the retraction of the pipe arm can be combined before reaching the origin position, after which the pipe arm can be driven to the parking position.

[0064] Driving the tube arm to the parking position may include, at 506, rotating the column based on force feedback in response to a force applied to the first handle. The tangential force applied to the first handle causes the column and tube to rotate together relative to the trolley. The angular displacement of the column can be estimated by a third position sensor, which can then send a signal to the controller to actuate a third servo motor, thereby driving the column to rotate at a set speed. The rotation can be determined based on the tangential force and angular displacement applied to the first handle, via... Figure 2 The described force feedback mechanism is used to set a set speed. The force feedback mechanism may include determining the power applied to the third servo motor based on orientation and tangential force information from a third position sensor and a first handle, respectively. The difference between the set power and the actual power applied to the third servo motor can then be proportional to the tangential force applied to the first handle, as determined by a first PI controller of the first servo motor.

[0065] Driving the telescopic arm to the parking position can involve, at point 508, retracting the arm based on force feedback in response to a radial force applied to the first handle. The radially inward force causes the arm to retract toward the post. For example, the internal section of the telescopic arm (such as...) Figure 4A The orientation of the internal section 402 of -E can be estimated by a first orientation sensor, which can then send a signal to the controller to actuate a first servo motor, thereby via about Figure 2The described force feedback mechanism drives the retraction of the tube arm at a fixed speed in response to the radial force applied to the first handle and the orientation of the inner section of the tube arm. The force feedback mechanism may include determining the power applied to the first servo motor based on orientation information and radial force information from the first orientation sensor and the first handle, respectively. The difference between the setpoint power and the actual power applied to the first servo motor can then be proportional to the radial force applied to the first handle, as determined by a second PI controller of the second servo motor.

[0066] Furthermore, driving the tube arm to the parking position may also involve, at point 510, linearly driving the tube arm downward based on force feedback in response to a vertically downward force applied to the first handle. The vertically downward force can cause the tube arm to translate vertically downward along the vertical axis of the post. The position of the tube arm relative to the post along the vertical axis can be estimated by a second position sensor, which can then send a signal to the controller to actuate a second servo motor, thereby translating the vertical force applied to the first handle via... Figure 2 The described force feedback mechanism linearly drives the tube arm downwards at a fixed speed. The force feedback mechanism may include determining the power applied to the second servo motor based on orientation information and radial force information from the second orientation sensor and the first handle, respectively. The difference between the setpoint power and the actual power applied to the second servo motor can then be proportional to the vertical force applied to the first handle, as determined by the second PI controller of the second servo motor. Furthermore, even after the force applied to the first handle stops, for example due to the operator (e.g., ...), Figure 4B -E operator 401) releases the first handle, and the tube arm can also be driven. After releasing the first handle, the drive can be determined by the orientation of the tube arm relative to the post, the vertically downward force applied to the handle at release, and the vertically downward velocity of the tube arm relative to the post at release.

[0067] While linearly driving the tube arm downwards to the parking position as indicated in 510, the ball screw (such as...) is actuated by a column motor. Figure 4A -E ball screw 410), the column can be driven downward at a constant speed to a first collapse position, which may not be the final collapse position, as indicated by 512. In other words, when the tube arm is actuated to the parking position, the column can be collapsed simultaneously by causing the outer column section enclosing the inner column section to collapse until the first collapse position is reached. The column motor can be actuated in response to a linear downward force applied to the first handle, which can cause a signal from the first force sensor to be sent to the controller, which can then actuate the column motor to drive the outer section of the column downward (such as... Figure 1 The outer section 17 of the column). The column motor can be driven via a belt drive (such as... Figure 4A-E's belt drive 414) drives the ball screw, which in turn causes the ball nut (such as Figure 4A -E's ball nut 416) rotates, thereby forcing the ball screw to rotate in combination with the rotational motion of the ball nut and translate linearly downward. Due to the linear downward movement of the ball screw, the ball screw, which can rotate relative to the post (e.g., fixed to the top of the interior of the outer section of the post by a flange bearing), can then drive the outer section of the post linearly downward.

[0068] At position 514, combined with the column drive, when the column is driven downwards, it can be driven via the first gas spring (such as...). Figure 4A -E's first gas spring 412) provides weight compensation inside the column. The first gas spring can provide a balancing force to the column to control the movement of the column when it is driven downward by the column motor. The first gas spring can be fixed to an internal section of the column (such as...) Figure 1 The first gas spring extends to the bottom inner side of the inner section 16) and the top inner side of the outer section of the column, and can extend if the applied compressive force is less than the extension force of the first gas spring; otherwise, it can compress based on the difference between the compressive force and the extension force. The compressive force applied to the first gas spring may include the weight of the tube arm, the force on the outer section of the frame and column when there is no drive, the additional force on the outer section of the frame and column when there is drive, and the additional frictional force within the first gas spring. As an example, the force that the first gas spring can apply to the outer section of the frame and column may be approximated (e.g., with an error margin of 5%) as a full compressive force of 1300 N and a full extension force of 800 N.

[0069] At 516, method 500 can check whether the tube arm is in a parked state. The tube arm being in a parked state can include the tube arm being secured via latches (such as latch 65 fixed to the tube arm and latch 53 fixed to the frame, e.g.) Figure 1 (As shown) securely fastened to the trolley, with the tube arm fully retracted radially, and the column and tube arm relative to the longitudinal axis of the trolley (such as...). Figure 3 The longitudinal axis 118 has a rotation angle Φ of 0, and the column is in the first collapsed orientation. As an example, the latch may include a sensor (such as...) Figure 1 The latch sensor 57 can send a signal to the controller to indicate that the tube arm is in the parking orientation when the latch is tightened. Alternatively or additionally, the parking orientation can be indicated by orientation data of the tube arm and column estimated by the first orientation sensor, the second orientation sensor and the third orientation sensor, which can be stored and recorded in the controller.

[0070] If the aforementioned conditions for boom parking are not met, it can be inferred that boom parking is incomplete. Method 500 can proceed to 503 to determine whether a signal was received from the second handle during boom parking. The moving imaging system may include a second handle (e.g., drive handle 38) that outputs a signal to the controller indicating the desired direction of movement of the moving imaging system. In one example, the moving imaging system may also include a switch (such as on a dashboard or on a smart device communicatively connected to the imaging system) that can be actuated to indicate the desired movement of the imaging system to a final orientation and to move the system from one position to another. In response to the aforementioned signal, the controller may activate the drive wheel (such as... Figure 1 The method 500 uses drive wheels 18 to move the imaging system. Therefore, if a signal is received from the second handle, method 500 proceeds to 505 to activate the drive wheels. In one example, the drive wheels can be actuated at a first constant speed. In another example, upon receiving a signal from the second handle, the speed of the drive wheels is adjusted based on the force applied to the second handle (such as that estimated by a second force sensor contained within the second handle). While driving the drive wheels at the first speed, method 500 can then proceed to 507, where the arm can continue to be driven to the parking position. If no signal is received from the second handle, method 500 can proceed directly to 507 to drive the arm to the parking position.

[0071] If the boom is in the parking position, then method 500 can proceed to 518, as follows. Figure 5B As shown. At 518, method 500 can determine whether a signal is received from the second handle after the tube arm has been parked. The signal received from the second handle may include the force applied by the operator to the second handle to manually drive the trolley, which may be detected by a second force sensor (such as...) coupled to the second handle. Figure 1 -4 (second force sensor 407) estimates. Furthermore, the signal for moving the mobile imaging system can come from a switch (such as on the dashboard or on a smart device communicatively connected to the imaging system), indicating the desired movement of the imaging system to the final orientation and the movement of the system from one position to another. If no signal is received from the second handle or switch, method 500 can proceed to 509 and keep the drive wheel in a deactivated state. The imaging system may not move to a different position. In one example, even if the imaging system does not move to a different position, the column can be actuated to a fully collapsed orientation via the steps described in step 524 of the method. After 509, method 500 can return.

[0072] If a signal is received from the second handle or switch, method 500 can proceed to 520 to actuate the drive wheel. The received signal may be from a force applied to the second handle and may be estimated by a second force sensor contained within the second handle, which can then send a signal to the controller to drive the drive motor, which can actuate the drive wheel.

[0073] The movement of the drive wheel can include adjusting its speed at point 522 based on force feedback. The wheel can be driven by a drive motor in response to a force applied to a second handle, based on force feedback. The force applied to the second handle can be sensed by a second force sensor contained within the handle, which can then send a signal to a controller that can drive the wheel at a set speed via a force feedback loop based on the force applied to the second handle. In other words, the speed of the drive wheel is adjusted based on the force applied to a second manually actuated component, estimated via the force sensor, and this speed is proportional to the applied force. The control mechanism in the force feedback loop that determines the power applied to the drive motor can be PI control, as described above. Figure 2 The setpoint of the drive motor controller can be adjusted based on the output of a second force sensor contained within the second handle and the orientation of the drive wheel inferred from the output of an orientation sensor. As an example, the orientation sensor can be a sensor inside the drive motor that continuously measures the angular orientation of the drive motor's shaft. The drive motor controller can receive the difference between the setpoint power and the actual power delivered to the drive motor. At the PI controller, the error can be processed and / or modified (scaled) by a proportional gain. The integral of the error can be similarly processed and / or modified (scaled) by an integral gain. Then, one of these terms or the sum of these terms is output to a signal. The controller's output signal can generate a final control signal to be sent to the drive motor, which can then actuate the drive wheel at a speed determined by the force applied to the second handle. In one example, the set speed for moving the drive wheel can be proportional to the force applied to the second handle. In another example, the set (second) speed for moving the drive wheel after parking the tube arm can be higher than the first speed at which the wheel is actuated when the tube arm is parked.

[0074] After initiating movement of the drive wheel in response to a force applied to the second handle, method 500 can proceed to 524, wherein the column is driven to a fully collapsed final position while the cart is in motion. In other words, actuating the column to the fully collapsed position can include collapsing the column from a first collapsed position to the final position while simultaneously moving the drive system via actuation of the drive wheel. In one example, the column can collapse at a constant speed regardless of the force applied to the second handle. In another example, the collapse speed of the column can be based on additional force feedback in response to a second signal received from a second force sensor coupled to the second handle, the collapse speed being proportional to the force applied to the second handle. Alternatively, the column can collapse even if the movement of the cart stops, for example, if the operator stops applying force to the cart via the second handle.

[0075] Driving the column to the fully collapsed final position can include, at point 526, using a column motor and ball screw to collapse the column to the fully collapsed final state. Collapse can be achieved by actuating the column motor via a force signal received by a second force sensor included in the second handle. Additionally or alternatively, this can be achieved via a drive switch (such as...) on the second handle. Figure 1 The drive switch 39) is used to initiate the collapse of the column to the end position. A signal received from the drive handle switch can actuate the column motor via the controller. The column motor can then drive the ball nut via a belt drive, and as the ball screw is forced to rotate in conjunction with the rotational motion of the ball nut, the ball nut can then linearly drive the ball screw downwards. In response to the linear downward movement of the ball screw, the ball screw, which can rotate relative to the column (e.g., attached to the top of the interior of the outer section of the column via a flange bearing), can then linearly drive the outer section of the column downwards.

[0076] During the collapse of the column, as indicated in 528, the first gas spring can provide weight compensation for the column as it collapses to the final position of full collapse. When the column collapses to the final position of full collapse, the first gas spring can be further compressed from a compressed state held below the column in the first collapsed position to another compressed state held below the column in the final position of full collapse. As an example, when the column collapses to the final position of full collapse, the first gas spring can be held at maximum compression, which may correspond to a compressive force of substantially (e.g., with a 5% variation) 1300 N, as described with respect to 514, or may reach some intermediate compression state between the fully extended state and the fully compressed state.

[0077] Furthermore, during column collapse, at position 530, method 500 can advance to extend the second gas spring. (See also: Regarding...) Figure 4AAs explained, the second gas spring is fixed at one end to the top of the interior section of the column and can extend downward toward the base of the column's interior. At the other end of the second gas spring is a pulley around which a rope can be wound. The rope, fixed at the top of the interior section of the column, can be wrapped around the pulley attached to the second gas spring, exiting the interior section of the column and extending upwards into the interior of the outer section of the column. Inside the outer section of the column, the rope can be wound around another pulley located near the top of the interior of the outer section of the column, can eventually exit the column and be attached to the base of the tube arm, and can be connected to the first force sensor at the base of the tube arm. When the column collapses from the stationary state to the fully collapsed final state, the rope may become slack due to the decrease in the relative distance between the rope's attachment point to the tube arm and the rope's exit point from the outer section of the column. The second gas spring, which can apply tension to the rope via the pulley, can counteract the slack tendency of the rope by extending in response to the reduced force applied to the pulley (as the rope slacks as the column collapses from the stationary state to the final state).

[0078] In 532, method 500 can proceed to determining whether the column is in the final orientation of complete collapse. This can involve a signal from an orientation sensor inside the column motor to the controller, indicating that the column has reached the end range of movement in the fully collapsed state, which can then cause the controller to activate an internal column switch (such as...). Figure 2 The column switch 218 is switched to indicate that the column is in the fully collapsed position. The column switch 218 can indicate to the controller that the column is in the fully collapsed position and prevent further drive of the column motor. If the column switch is not switched to indicate that the column is in the fully collapsed position, method 500 can proceed to 511, where method 500 can continue to drive the column to the fully collapsed position. In one example, even if the force applied to the second handle is removed (such as if the operator removes his hand from the second handle), the collapse of the column can continue until the fully collapsed position is reached. If it is determined that the column is in the fully collapsed position, method 500 can proceed to 534.

[0079] At 534, method 500 can interrupt the drive column while maintaining the trolley's motion. As an example, the trolley can be in motion because the drive wheels are actuated in response to a force applied to the second handle. In this example, the trolley can continue to move in response to a force applied to the second handle while deactivating the column motor in response to a signal received by the controller from the internal column switch indicating that the column has reached the fully collapsed end position. As an alternative example, the trolley can be stationary, for example, because no force is applied to the second handle, which may cause the drive wheels not to be driven by the drive motor. After 534, method 500 can return.

[0080] Figure 6An exemplary timeline 600 is shown for transitioning a mobile imaging system from an imaging configuration (such as during imaging of a patient in a first position) to moving the imaging system to a different second position. This transition includes parking the tubular arm (such as tubular arm 32, e.g.) Figure 4A -E as shown), and columns (such as column 33, as shown) Figure 1-2 and Figure 4A -E) collapses to the fully collapsed position, and then is driven by a motor (such as drive motor 52, as shown) Figure 1-2 and Figure 4A -E shows) the drive wheel of the actuation drive assembly (such as drive wheel 19, as shown) Figure 1-2 and Figure 4A (As shown in -E) to move the mobile imaging system from a first position to a second position. The horizontal (x-axis) represents time, and the vertical markers t1–t6 represent the critical times for parking, column collapse, and drive wheel actuation. In this example, the rotation angle Φ is 0.

[0081] Timeline 600 includes tube arms (such as...) Figure 4A -E shows a radial extension curve 602 of the inner section 402 of the tube arm 32, where the fully extended orientation is indicated by a "+" on the y-axis and the fully retracted orientation by a "-" on the y-axis. The vertical orientation of the tube arm is indicated by curve 604, where the maximum focal point of the tube arm is indicated by a "+" on the y-axis, the parking orientation by a "0" on the y-axis, and the minimum focal point by a "-" on the y-axis. Dashed line 606 indicates the parking orientation of the tube arm and aligns with the "0" on the y-axis of curve 604. Curve 608 indicates the vertical orientation of the column, where the maximum focal point is indicated by a "+" on the y-axis, the first collapse orientation by a "1" on the y-axis, and the fully collapsed orientation by a "0" on the y-axis. Additionally, dashed line 610 indicates the first collapsed orientation of the column corresponding to the parking orientation of the tube arm, and is aligned with "1" along the y-axis of curve 608, while dashed line 612 indicates the fully collapsed orientation of the column and is aligned with "1" along the y-axis of curve 608. Curve 614 indicates the application applied to the first handle (such as...) connected to the imaging assembly. Figure 1-2 and Figure 4A -E's first handle 66) force value, where zero force is indicated by "0" along the y-axis, and curve 616 indicates the force applied to the second handle (such as) connected to the drive assembly. Figure 1-2 and Figure 4A -E's second handle 38) indicates the magnitude of the force, where zero force is indicated by "0" along the y-axis. Curve 618 indicates the speed of the drive wheel, where the stationary wheel is indicated as "0" along the y-axis.

[0082] Before time t1, the arm is in the imaging configuration, with the arm fully radially extended, the column fully vertically extended to the maximum focal point, and the rotation angle Φ is 0. At time t1, in response to a force applied to the first handle to turn the arm to the parking position, radial retraction of the arm begins. Between times t1 and t2, the arm retracts radially from the fully extended position to the fully retracted position. The force applied to the first handle is based on a force from a first servo motor (such as first servo motor 210, e.g., ...). Figure 1-2 and Figure 4A The force feedback (as shown in -E) adjusts the retraction speed of the tube arm from the fully extended position to the fully retracted position. At time t2, the tube arm retracts to the fully retracted position.

[0083] At time t2, in response to the sustained force applied to the first handle as shown in curve 614, the tube arm continues to be parked. Between times t2 and t3, each of the tube arm and the column is lowered to the parking position and the first collapse position, as indicated by curves 604 and 608, respectively. In response to the force applied via the column motor (such as...) Figure 1-2 and Figure 4A -E shows the column motor 420) and the second servo motor (such as... Figure 1-2 and Figure 4A The force applied to the first handle by the second servo motor 212 (shown in E) adjusts the lowering of the column and tube arm via force feedback. From the operator (such as...) Figure 4B The force applied to the first handle by the operator 401 of -E stops at t3, as indicated by curve 614. Additionally, at t3, the tube arm reaches the parking position, and the column reaches the first collapse position, as indicated by curve 604 intersecting the dashed line 606 and curve 608 intersecting the dashed line 610, respectively.

[0084] After the boom and column are positioned, at t4, the operator begins to apply force to the second handle, as indicated by curve 616. From t4 to t5, in response to the force applied to the second handle, the column collapses from the first collapse orientation to the fully collapsed orientation, as indicated by curve 608. At t5, the column reaches the fully collapsed orientation, as indicated by curve 608 intersecting the dashed line 612. After the column has reached the fully collapsed orientation, at t5, the drive wheel is actuated by the drive motor, as indicated by curve 618. The rotational speed of the drive wheel is proportional to the force applied to the second handle via force feedback, as indicated by the comparison of curves 616 and 618.

[0085] From time t5 to t6, as indicated by graph 618, the force applied to the second handle increases continuously until it reaches a steady value. Accompanying this increase in the force applied to the second handle, as shown in graph 616, the speed of the drive wheel increases proportionally, as shown in graph 618, until it reaches a steady value, where the speed of the drive wheel is proportional to the force applied to the second handle via force feedback. Beyond t6, the drive wheel maintains a steady speed in response to the force applied to the second handle, and the trolley is transported to the second position.

[0086] Figure 7 An exemplary timeline 700 is shown for transitioning a mobile imaging system from an imaging configuration (such as during imaging of a patient in a first position) to moving the imaging system to a different second position. This transition includes parking the tubular arm (such as tubular arm 32, e.g.) Figure 4A -E as shown), and columns (such as column 33, as shown) Figure 1-2 and Figure 4A -E) collapses to the fully collapsed position, simultaneously via a drive motor (such as drive motor 52, as shown) Figure 1-2 and Figure 4A -E shows) the drive wheel of the actuation drive assembly (such as drive wheel 19, as shown) Figure 1-2 and Figure 4A -E (as shown) is used to move the mobile imaging system from a first position to a second position. The horizontal (x-axis) represents time, and the vertical markers t1–t6 represent the critical times for parking, column collapse, and drive wheel actuation. In this example, the rotation angle Φ is 0. An exemplary timeline 700 shows the timeline with... Figure 6 Compared to the exemplary timeline 600, the time from imaging configuration to transporting the mobile imaging system is reduced when the arm is parked and the column collapses while driving the mobile imaging system.

[0087] Timeline 700 includes tube arms (such as...) Figure 4A-E shows a radial extension curve 702 of the inner section 402 of the tube arm 32, where the fully extended orientation is indicated by a "+" on the y-axis and the fully retracted orientation by a "-" on the y-axis. The vertical orientation of the tube arm is indicated by curve 704, where the maximum focal point of the tube arm is indicated by a "+" on the y-axis, the parking orientation by a "0" on the y-axis, and the minimum focal point by a "-" on the y-axis. Dashed line 706 indicates the parking orientation of the tube arm and aligns with the "0" on the y-axis of curve 704. Curve 708 indicates the vertical orientation of the column, where the maximum focal point is indicated by a "+" on the y-axis, the first collapse orientation by a "1" on the y-axis, and the fully collapsed orientation by a "0" on the y-axis. Additionally, dashed line 710 indicates the first collapsed orientation of the column corresponding to the parking orientation of the tube arm, and is aligned with "1" along the y-axis of curve 708, while dashed line 712 indicates the fully collapsed orientation of the column and is aligned with "1" along the y-axis of curve 708. Curve 714 indicates the application applied to the first handle (such as...) connected to the imaging assembly. Figure 1-2 and Figure 4A -E shows the magnitude of the force applied to the first handle 66), where zero force is indicated by "0" along the y-axis, and curve 716 indicates the force applied to the second handle (such as...) connected to the drive assembly. Figure 1-2 and Figure 4A -E shows the magnitude of the force applied to the second handle 38), where zero force is indicated by "0" along the y-axis. Graph 720 is a graph of the speed of the drive wheel, where the stationary wheel is indicated as "0" along the y-axis. The dashed line 718 indicates the first threshold speed of the drive wheel and is aligned with "+" along the y-axis of graph 720. The first threshold speed is a pre-calibrated speed at which the drive wheel can rotate when force is applied to the second handle during the arm's rest.

[0088] Before time t1, the tube arm is in the imaging configuration, with the tube arm fully radially extended, the column fully vertically extended to the maximum focal point, and the rotation angle Φ is 0. At time t1, in response to a force applied to the first handle to turn the tube arm to the parking position, radial retraction of the tube arm begins. From t1 to t2, as shown in graph 702, the tube arm orientation retracts radially from the fully extended position to the fully retracted position. In response to the force applied to the first handle, based on the force from the first servo motor (such as the first servo motor 210, e.g., ...), ... Figure 1-2 and Figure 4A The force feedback (as shown in -E) adjusts the retraction speed of the tube arm from the fully extended position to the fully retracted position. At time t2, the tube arm retracts to the fully retracted position.

[0089] At time t2, in response to the sustained force applied to the first handle as shown in curve 714, the tube arm continues to be parked. Between times t2 and t3, each of the tube arm and the column is lowered to the parking position and the first collapse position, as indicated by curves 704 and 708, respectively. In response to the force applied via the column motor (such as...) Figure 1-2 and Figure 4A -E shows the column motor 420) and the second servo motor (such as... Figure 1-2 and Figure 4A -E shows the second servo motor 212) applying a force to the first handle, which adjusts the descent of the column and tube arm via force feedback, wherein the downward velocity of the tube arm and column is proportional to the force applied to the first handle. At t3, the operator (such as...) Figure 4B -E operator 401) stops applying force to the first handle, as shown in curve 714, and the column and tube arm continue to translate linearly downward at the same speed.

[0090] While the arm and column are parking, such as when the arm and column continue to translate linearly downwards in proportion to the force applied to the first handle, at time t4, the operator applies a force to the second handle, as shown in graph 716. From t4 to t5, in response to the force applied to the second handle, the drive wheel rises to a first threshold speed, as shown in graph 720. Because the arm is parking, between times t4 and t5, regardless of the force applied to the second handle, the speed of the drive wheel remains at the first threshold speed, as indicated by graph 720 intersecting the dashed line 718.

[0091] At t5, the tube arm reaches the parking position, and the column reaches the first collapse position, as indicated by curves 704 intersecting dashed line 706 and 708 intersecting dashed line 710, respectively. After reaching the first collapse position, between t5 and t6, in response to continued application of force to the second handle, the column continues to collapse to the fully collapsed position at a higher speed than during the collapse from the maximum focus to the first collapse position. Curve 708 indicates the increase in the collapse speed of the column. In an alternative example, the collapse of the column proceeds at a constant speed from the maximum focus to the fully collapsed (final) position. Additionally, at t5, upon completion of parking, the speed of the drive wheel increases from a first threshold speed to a second speed, as shown in curve 720, which is proportional to the force applied to the second handle.

[0092] From time t5 to t6, as indicated by curve 716, the force applied to the second handle increases continuously at a steady rate until it reaches a stable value. Accompanying this increase in the force applied to the second handle as shown in curve 716, the speed of the drive wheel increases proportionally as shown in curve 720 until it reaches a stable value, where the speed of the drive wheel is proportional to the force applied to the second handle via force feedback. Beyond t6, the drive wheel maintains a stable speed in response to the force applied to the second handle, and the trolley is in transport mode. In this way, in Figure 7 In the example shown, by initiating drive wheel operation while the tube arm is stationary and the column is collapsing, the time required to transition the mobile imaging system from an imaging configuration in a first position to a different second imaging position is reduced. For Figure 7 In the example shown, the time it takes for the imaging component to reach the second position will be relative to... Figure 6 The example shown takes less time. Figure 6 In the example shown, the drive wheel can be actuated after the tube arm and column have reached their respective fully retracted positions.

[0093] In this way, for a mobile imaging system comprising a radiation source connected to a drive system via a tube arm and a column, in response to user operation of a first manually actuated component, the tube arm can be actuated to a parking position, and then in response to user operation of a second manually actuated component, the column can be actuated to a fully collapsed position while the drive system is being moved.

[0094] The technical effect of a mobile imaging system having a mechanism for collapsing a column accompanying the driven movement of the mobile imaging system is to reduce the time interval during the transition from the imaging configuration to the transport configuration of the mobile imaging system. Overall, by reducing the time between two scans using the imaging components at two different locations, workflows in busy clinics / hospitals can be accelerated.

[0095] An embodiment provides a method for moving an imaging system, comprising collapsing a column connecting an imaging assembly to the drive system while simultaneously moving a drive system, when conditions for moving the imaging system are met. In a first embodiment of the method, the imaging assembly is connected to the column via a rotatable and extendable tube arm, the column connecting the tube arm to the drive system. In a second embodiment of the method, optionally including the first embodiment, the conditions for moving the imaging system include a force applied by a user on a second handle connected to the drive system or an actuation switch during or after the tube arm is parked. In a third embodiment of the method, optionally including one or both of the first and second embodiments, the parking of the tube arm is initiated by applying force to a first handle connected to the imaging assembly. In a fourth embodiment of the method, optionally including one or more of the first to third embodiments, the parking of the tube arm includes rotating the tube arm to an origin position, retracting the tube arm toward the column to a fully retracted position, and driving the tube arm vertically downward along the column. In a fifth embodiment of the method, it optionally includes one or more or each of the first to fourth embodiments, adjusting each of the rotation of the tube arm, the retraction of the tube arm, and the vertical drive of the tube arm based on force feedback in response to a first signal received from a first force sensor coupled to a first handle or tube arm. In a sixth embodiment of the method, it optionally includes one or more or each of the first to fifth embodiments, wherein the retraction of the tube arm is further based on a first input from a first orientation sensor coupled to a post indicating the radial orientation of the tube arm, wherein the vertical drive of the tube arm is further based on a second input from a second orientation sensor coupled to the tube arm indicating the vertical orientation of the tube arm relative to the post, and wherein the rotation of the tube arm is further based on a third input from a third orientation sensor coupled to the post indicating the angular displacement of the post and the tube arm relative to the origin. In a seventh embodiment of the method, it optionally includes one or more or each of the first to sixth embodiments, wherein collapsing the post includes collapsing the post to a fully collapsed orientation, the collapse rate of the post being based on another force feedback in response to a second signal received from a second force sensor coupled to a second handle. In an eighth embodiment of the method, optionally including one or more or each of the first to seventh embodiments, a first gas spring housed within the column is compressed to provide weight compensation during column collapse, while a second gas spring housed within the column expands to maintain tension in the rope. In a ninth embodiment of the method, optionally including one or more or each of the first to eighth embodiments, the motion drive system includes a set of drive wheels actuated at a speed based on a second signal received from a second force sensor coupled to a second handle.

[0096] An embodiment provides a method for a mobile imaging system including a radiation source coupled to a drive system via an arm and a column. The method includes actuating the arm to a parking position in response to user manipulation of a first manually actuated component, and then actuating the column to a fully collapsed position while moving the drive system in response to user manipulation of a second manually actuated component. In a first embodiment of the method, actuating the arm to the parking position includes rotating the arm to an origin position via rotation of the column, horizontally retracting the arm to a fully retracted position by retracting an inner section within an outer section, and translating the arm vertically downward along the column. In a second embodiment of the method, it optionally includes the first embodiment, wherein user manipulation of the first manually actuated component includes applying a force to the first manually actuated component to initiate parking of the arm, and then releasing the first manually actuated component. In a third embodiment of the method, optionally including one or both of the first and second embodiments, the column is collapsed by collapsing the inner column section within the inner column section until a first collapse orientation is reached when the tube arm is actuated to the parking orientation. In a fourth embodiment of the method, optionally including one or more or each of the first to third embodiments, actuating the column to the fully collapsed orientation includes collapsing the column from the first collapse orientation to the final orientation while moving the drive system via actuation of the drive wheel. In a fifth embodiment of the method, optionally including one or more or each of the first to fourth embodiments, the speed of the drive wheel is adjusted based on a force estimated via a force sensor applied to a second manually actuable component, the speed being proportional to the applied force.

[0097] An embodiment provides a system for a mobile imaging system, the system including a controller that stores instructions in a non-transitory memory executable by the controller to: during a first condition, while driving the drive system forward at a second speed, collapse the tube arm of the imaging system and the column of the drive system at a first speed; and during a second condition, while driving the drive system forward at a third speed, collapse the column at the first speed, the third speed being higher than the second speed. In a first embodiment of the system, the first condition includes receiving a second signal from a second handle when the tube arm is actuated from a scanning orientation to a parking orientation in response to a first signal received at a first handle, and the second condition includes receiving a second signal from the second handle after the tube arm has reached the parking orientation. In a second embodiment of the system, it optionally includes the first embodiment, the parking orientation including the tube arm in a fully retracted orientation, aligned along the drive system, and translated along the column to the lowest point of the tube arm, and the column retracting to the first orientation, and wherein, upon receiving the second signal, the column collapses to the final, fully retracted orientation. In a third embodiment of the system, it optionally includes one or both of the first and second embodiments, wherein the second signal includes an estimate of the force applied to the second handle, and the fourth speed is adjusted based on the estimate of the force applied to the second handle and the orientation of the drive system.

[0098] As used herein, elements or steps listed in the singular and beginning with the word "a" or "an" should be understood to not exclude a plurality of said elements or steps unless such exclusion is explicitly stated. Furthermore, references to "an embodiment" of the invention are not intended to be construed as excluding the existence of additional embodiments that also include the referenced features. Moreover, unless explicitly stated to the contrary, embodiments that "comprise," "include," or "have" elements or multiple elements having a particular characteristic may include additional such elements that do not have that characteristic. The terms "comprise" and "in..." are used as concise linguistic equivalents to the corresponding terms "comprising" and "wherein". Furthermore, the terms "first," "second," and "third," etc., are used merely as notations and are not intended to impose numerical requirements or a particular order of position on their objects.

[0099] This written description uses examples to disclose the invention, including the best mode, and also enables those skilled in the art to practice the invention, including making and using any device or system and performing any included methods. The scope of patentability of the invention is defined by the claims and may include other examples that would occur to those skilled in the art. Such other examples are intended to fall within the scope of the claims if they have structural elements that are not indistinguishable from the literal language of the claims, or if they include equivalent structural elements that have minor differences from the literal language of the claims.

Claims

1. A method for a mobile imaging system, comprising: When the conditions for moving the mobile imaging system are met... When the accompanying drive system moves, the column connecting the imaging component to the drive system collapses. The conditions for moving the mobile imaging system include the user applying force or actuating a switch on a second handle connected to the drive system during or after the parking of the tube arm.

2. The method of claim 1, wherein the imaging component is coupled to the post via a rotatable and extendable tube arm, the post connecting the tube arm to the drive system.

3. The method of claim 1, wherein the arm is initiated by applying force to a first handle coupled to the imaging assembly.

4. The method of claim 3, wherein the parking of the tube arm includes rotating the tube arm to the origin position, retracting the tube arm toward the column to the fully retracted position, and driving the tube arm vertically downward along the column.

5. The method of claim 4, wherein each of the rotation of the tube arm, the retraction of the tube arm, and the vertical drive of the tube arm is adjusted based on force feedback in response to a first signal received from a first force sensor coupled to the first handle or the tube arm.

6. The method of claim 5, wherein the retraction of the tube arm is further based on a first input from a first orientation sensor coupled to the post indicating the radial orientation of the tube arm, wherein the vertical drive of the tube arm is further based on a second input from a second orientation sensor coupled to the tube arm indicating the vertical orientation of the tube arm relative to the post, and wherein the rotation of the tube arm is further based on a third input from a third orientation sensor coupled to the post indicating the angular displacement of the post and the tube arm relative to the origin.

7. The method of claim 1, wherein collapsing the column comprises collapsing the column to a fully collapsed orientation, the collapse rate of the column being based on another force feedback in response to a second signal received from a second force sensor coupled to the second handle.

8. The method of claim 7, wherein during the collapse of the column, a first gas spring housed within the column is compressed to provide weight compensation, while a second gas spring housed within the column expands to maintain tension in the rope.

9. A method for a mobile imaging system, the mobile imaging system comprising a radiation source coupled to a drive system via an arm and a column, the method comprising: In response to user operation of the first manually actuated component, the tube arm is actuated to the parking position; as well as Then, in response to user manipulation of the second manually actuated component, the column is actuated to the fully collapsed position when the drive system is moved.

10. The method of claim 9, wherein actuating the tube arm to the parking position comprises rotating the tube arm to the origin position via rotation of the post, horizontally retracting the tube arm to the fully retracted position by retracting the inner tube section within the outer tube section, and vertically translating the tube arm downward along the post.

11. The method of claim 10, wherein user manipulation of the first manually actuated component comprises applying force to the first manually actuated component to initiate the parking of the tube arm, and then releasing the first manually actuated component.

12. The method of claim 9, further comprising, when actuating the tube arm to the parking position, causing the column to collapse by causing the outer column section enclosing the inner column section to collapse until a first collapse position is reached.

13. The method of claim 9, wherein actuating the column to the fully collapsed orientation comprises collapsing the column from a first collapsed orientation to a final orientation while moving the drive system via actuation of the drive wheel.

14. A system for a mobile imaging system, the system comprising a controller that stores instructions executable by the controller in a non-transitory memory to: During the first condition, while the drive system is driven forward at a second speed, the column connecting the tube arm and the drive system collapses at a first speed; and During the second condition, while the drive system is driven forward at a third speed, the column collapses at the first speed, the third speed being higher than the second speed.

Images