System and method for controlling motion-assisted examination table

Abstract

The invention relates to a system and a method for controlling a motion-assisted examination table. Methods and systems for controlling a patient table (102) are provided. In one example, a system may include a patient table (102), an imaging system (130), and a controller (156). The controller (156) may be configured to: adjust a drive wheel (116) output of the patient table (102) in response to a user force input received at the patient table (102) when docking from the imaging system is undocked; and adjust a vertical height of the patient table (102) in response to the user force input when docked to the imaging system (130). For example, when the patient table (102) is undocked, only the drive wheel (116) output can be adjusted in response to the user force input; and when the patient table (102) is docked, only the vertical height of the patient table (102) can be adjusted in response to the user force input.

Description

Technical Field

[0001] The present disclosure relates to systems and methods for controlling a motion-assisted examination table. In one or more examples, the motion-assisted examination table can be a patient table, and the patient table can be configured to dock to an imaging system.

[0002] Background technology / invention content

[0003] The motion-assisted patient table may provide motor assistance, enabling the user to move the table with less force. For example, the motion-assisted patient table may detect the amount of force input to the table by the user via a force sensor, and provide motor assistance to the drive wheels of the table based on the detected force input. In this manner, the user may push or pull on the motion-assisted patient table and receive a corresponding amount of drive motor assistance.

[0004] In addition to providing drive motor assistance to a motion-assisted patient table, it is also desirable to provide vertical motor assistance for vertical adjustment of the motion-assisted patient table. However, the ability to accurately discern the direction of a force via a force sensor is limited. Thus, there are challenges in determining whether to provide drive motor assistance along a horizontal axis or whether to provide vertical motor assistance along a vertical axis based on force sensor detection.

[0005] Previous approaches have attempted to address this problem by relying on user force input to provide motor assistance along one axis and then providing a different type of user input device for a second axis. For example, some example approaches have used force sensors for drive motor assistance along the horizontal axis and have used user input (pressing a button) for vertical motor assistance along the vertical axis.

[0006] However, the inventors have recognized potential problems with such approaches. As an example, hand repositioning to provide different types of user input may result in inefficient positioning of the examination table. Methods that require user input involving pressing and holding a button may be particularly inefficient.

[0007] Therefore, the inventors have developed systems and methods that at least partially address the above-mentioned problems. In one example, a system according to the present disclosure may include a patient table having a controller, the controller being configured to: when in an undocked state, adjust the drive wheel output of the patient table in response to a user force input; and when in a docked state, adjust the vertical height of the patient table in response to the user force input. For example, the patient table can be docked to an imaging system and can be undocked from an imaging system. In at least one example, a handle of the patient table may include a plurality of force sensors configured to detect the user force input.

[0008] Therefore, the method developed by the inventors utilizes whether the patient table is docked in conjunction with a user force input to a handle of the patient table to provide accurate motor assistance. In one or more examples, the patient table can also transition from a docked state to an undocked state via the user input force to the handle being a pulling force greater than a threshold.

[0009] In this manner, a user may intuitively provide force input to the table's handles and receive directionally accurate motor assistance when pushing, pulling, raising, and lowering the table.

[0010] It should be understood that the above summary is provided to introduce a series of concepts further described in the detailed description in a simplified form. It is not meant to identify key features or essential features of the claimed subject matter, the scope of which is uniquely defined by the claims that follow the detailed description. Furthermore, the claimed subject matter is not limited to implementations that address any disadvantages noted above or in any part of this disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A side view of an example motion-assisted examination table is shown according to one or more examples of the present disclosure.

[0012] Figure 2A A partial view of an example motion-assisted examination table in an undocked state is shown according to one or more examples of the present disclosure.

[0013] Figure 2B A partial view of an example motion-assisted examination table in a docked state is shown according to one or more examples of the present disclosure.

[0014] Figure 3 A block diagram of a control system for a motion-assisted examination table according to one or more examples of the present disclosure is shown.

[0015] Figure 4A A flow chart is shown of an example method for controlling a motion-assisted examination table according to one or more examples of the present disclosure.

[0016] Figure 4B Shows from Figure 4A The example method continues with a flowchart.

[0017] Figure 5 A first example force sensor configuration for a motion-assisted examination table according to one or more examples of the present disclosure is shown.

[0018] Figure 6 A second example force sensor configuration for a motion-assisted examination table is shown according to one or more examples of the present disclosure.

[0019] Figure 7 A third example force sensor configuration for a motion-assisted examination table is shown according to one or more examples of the present disclosure.

[0020] Figure 8 A fourth example force sensor configuration for a motion-assisted examination table is shown according to one or more examples of the present disclosure. DETAILED DESCRIPTION

[0021] Figure 1 , Figure 2A , Figure 2B and Figures 5 to 8 Shown approximately to scale.

[0022] The following description relates to a motion-assisted examination table such as Figure 1 In one or more examples, the motion-assisted examination table can be a patient examination table. Therefore, the motion-assisted examination table may also be referred to herein as a patient examination table or a motion-assisted patient examination table. Figure 2A and Figure 2B As shown in the example of , a patient table can be docked and undocked with the imaging system.

[0023] like Figure 4A and Figure 4B As shown, in response to detecting that the patient table is in a docked state, the patient table can be vertically adjusted in response to a user force input. The user force input can be detected via a force sensor. For example, Figures 5 to 8 As shown in FIG. 1 , a handle of a patient table may include a force sensor arrangement therein to detect user force input at the handle.

[0024] In response to detecting that the patient table is in an undocked state, the patient table may adjust the drive wheel output of the patient table in response to the user force input. Figure 3 As shown, the controls for adjusting the drive wheel output can be separate from the controls for vertically adjusting the patient table. In this way, the user can intuitively (e.g., at the handle) provide force input to the patient table to receive automatic motor assistance when adjusting the position of the patient table along the horizontal axis or the vertical axis.

[0025] For the purpose of discussion, these drawings are described together. Therefore, similar or identical features in the drawings may be labeled similarly and may not be re-introduced.

[0026] Now turn to Figure 1 , a side view 100 of an example motion-assisted examination table 102 is shown. In particular, Figure 1The side view 100 of FIG. 1 shows a side view of a patient table 102. It should be noted that Figure 2A The undocked view 104 at FIG. 1 shows a partial view of the patient table 102 in an undocked state, and Figure 2B The docked view 106 of FIG. 1 shows a partial view of the patient table 102 in a docked state.

[0027] Figure 1 The motion-assisted examination table 102 shown in FIG. 1 may be a patient examination table configured to provide motor assistance in response to a user input force. Thus, the motion-assisted examination table 102 may also be referred to herein as a patient examination table or a motion-assisted patient examination table.

[0028] Turning now to the side view 100, it can be seen that the patient table 102 includes a handle 110, a top 112, a base 114, a support 115, and a battery 119, wherein the battery 119 may be the single and only battery for the patient table 102. The handle 110 includes a user brake input 111 to engage and disengage a brake 121 of the patient table 102. The handle 110 also includes a force sensor positioned therein. The force sensor may be configured to detect the amount of force as well as the direction of the force input to the handle 110. Further details regarding the force sensor that may be provided in the handle 110 are provided herein. Figures 5 to 8 Available in.

[0029] As in Figure 1 As shown in the side view 100 of FIG. 1 , the patient table 102 can be configured to detect the direction of the force input 113 to the handle 110, including whether a push force 136, a pull force 138, a lift force 140, or a downward force 142 is input at the handle 110. In this manner, the direction of the force input along a first axis and a second axis at the handle 110 can be detected. The first axis can be a horizontal axis including the push force 136 and the pull force 138, and the second axis can be a vertical axis including the lift force 140 and the downward force 142.

[0030] Continuing with the side view 104, a drive wheel 116 and a plurality of driven wheels 118 are coupled to the base 114 of the patient table 102. For example, in Figure 1 The example patient table 102 includes one drive wheel 116 and four driven wheels 118, wherein the drive wheel 116 is positioned approximately at the center of the patient table 102, and each of the driven wheels 118 is positioned at a different corner of the table 102. However, it should be noted that different wheel configurations are possible. For example, there may be more drive wheels 116 and / or more or fewer driven wheels 118. Additionally or alternatively, in some examples, the positioning of the drive wheel 116 and the driven wheels 118 may vary.

[0031] The drive wheel 116 can be configured to provide motor assistance based on a user input force received at the handle 110 of the patient table 102 to help propel the patient table 102 in a forward direction or a reverse direction. The forward direction can be a direction toward the base 126 of the patient table 102, and the reverse direction can be a direction toward the handle 110 of the patient table 102. In this manner, the drive wheel 116 is configured to propel the patient table 102 along a first horizontal axis.

[0032] Adjusting the output of the drive wheels 116 via the drive motor 120 may include adjusting one or more of a direction and amount of torque to be output from the drive motor 120 to the drive wheels 116 based on a user force input to the patient table 102. In at least one example, the direction and amount of torque provided from the drive motor 120 to the drive wheels 116 may be controlled via a corresponding drive motor controller. Further details regarding the drive motor controller are described in Figure 3 Discuss at.

[0033] Based on the user force input detected via the force sensor, during the driving condition, the drive motor 120 coupled to the drive wheel 116 is configured to adjust the torque output of the drive wheel 116. In at least one example, when the user force input at the handle 110 during the driving condition is detected as a thrust force, the drive wheel 116 can be configured to provide motor assistance to help propel the patient table 102 in the forward direction. When the user force input at the handle 110 during the driving condition is detected as a pull force, the drive wheel 116 can be configured to provide motor assistance in the reverse direction. For example, in the present invention, Figure 4A and Figure 4B Further details regarding detecting driving conditions and adjusting drive wheel 116 are provided at .

[0034] The plurality of driven wheels 118 do not have a motor coupled thereto. Instead, for example, the plurality of driven wheels 118 may be swivel casters. Thus, the plurality of driven wheels 118 may assist in supporting the patient table 102 and allow a user to steer the patient table 102 via a steering force input to the table. In this manner, the driven wheels 118 are support wheels and allow a user to steer the patient table 102, while the drive wheels 116 are configured to provide motor drive assistance in either a forward or reverse direction.

[0035] Referring now to the support 115, the support 115 couples the base 114 to the top 112 of the patient table 102. The support 115 can be configured to vertically adjust the patient table 102 when docked in an upward direction or a downward direction, wherein the upward direction is a direction toward the top 112 of the patient table 102 and the downward direction is a direction toward the base 114 of the patient table 102.

[0036] The support 115 may include an arm 128 and a lift motor 124, wherein the lift motor 124 is configured to vertically adjust the arm 128. The arm 128 of the support 115 may be directly coupled to the top 112 and the base 114 of the patient table 102. In some examples, the arm 128 may be a telescopic arm that is extended and retracted via the lift motor 124. When the arm 128 is extended, the top 112 of the patient table 102 may be vertically raised in an upward direction, and when the arm 128 is retracted, the top 112 of the patient table 102 may be vertically lowered in a downward direction. The top 112 of the patient table 102 may be a patient cradle configured to accommodate and support a patient. Therefore, vertical adjustment of the patient table 102 to move the top 112 up and down may be used to position the patient as desired.

[0037] In order to extend and retract the arm 128, the arm 128 may be coupled to the lift motor 124 of the support 115, and the lift motor 124 may be configured to adjust the torque output to the arm 128 based on the user force input detected in the upward direction or the downward direction via the force sensor. The user force input may be a lifting force input or a downward force input at the handle 110 of the patient table 102. When the user force input at the handle 110 is detected as a lifting force, the lift motor 124 may be actuated to lift the patient table 102 in the upward direction. When the user force input at the handle 110 is detected as a downward force, the lift motor 124 may be actuated to lower the patient table 102 in the downward direction. In at least one example, the direction and amount of torque provided from the lift motor 124 to the support 115 may be controlled via a corresponding lift motor controller. Further details regarding the lift motor controller are described in detail below. Figure 3 Discuss at.

[0038] In at least one example, the support 115 may include a housing 117 that is configured to surround the arm 128 and the lifting motor 124. The housing 117 may be configured to extend and retract as the arm 128 is extended and retracted, respectively. Thus, when the arm 128 is extended and the top 112 is vertically lifted in an upward direction, the housing 117 is also extended. In addition, when the arm 128 is retracted and the top 112 is vertically lowered in a downward direction, the housing 117 may retract. For example, the housing 117 may include an accordion-style folding configuration for such extension and retraction. In some examples, the housing 117 may include a flexible material that is configured to move with the vertical adjustment of the patient table 102. Other possible housing 117 configurations that are capable of extension and retraction, such as a telescoping configuration, are also possible.

[0039] Now turn to Figure 2A ,exist Figure 2AThe undocked view 104 at FIG. 1 is a partial view of a patient table 102 shown in an undocked state. The undocked view 104 shows the patient table 102 undocked from an imaging system 130. The imaging system 130 may be a medical imaging system, such as an MRI system, a PET scanning system, or an X-ray system, among others. In another representation, it is also possible that the patient table 102 is docked to a non-imaging system. Figure 2A The patient examination table 102 at Figure 1 The patient table 102 shown is the same or similar.

[0040] In the undocked state, the patient table 102 may provide motor assistance along a first axis in forward and reverse directions 144, 146 and along a second axis in upward and downward directions 148, 150. The first axis may also be referred to as a horizontal axis and the second axis may be referred to as a vertical axis.

[0041] The patient table 102 may be determined to be in a docked state or an undocked state via a system-level controller 156 of the patient table (e.g., see the system-level controller 156 at the side view 104). For example, the patient table 102 may include a table docking device 152. When the table docking device 152 is engaged with the docking piece 154 of the imaging system 130, a signal indicating that the patient table 102 is in the docked state may be output to the system-level controller 156. Therefore, in the absence of a signal indicating that the patient table 102 is in the docked state, the system-level controller 156 may determine that the patient table 102 is in the undocked state.

[0042] Additionally, in some examples, the system-level controller 156 may determine that the patient couch 102 is in an undocked state in response to one or more of: receiving a signal indicating a failure of successful docking of the patient couch 102 with the imaging system 130 , and receiving a signal indicating a release of the patient couch 102 from the docked state.

[0043] In one or more examples, the signal output to the system-level controller 156 to indicate that the patient table 102 is engaged may be output from one or more sensors of the table docking device 152. For example, the table docking device 152 may include one or more positioning sensors that output signals to the system-level controller 156 in response to detecting engagement of the table docking device 152 with the docking piece 154 of the imaging system 130. These positioning sensors may include RF sensors or other sensors capable of detecting such relative positioning.

[0044] The docking piece 154 of the imaging system 130 may include an extension 158 that is configured to mechanically mate with the table docking device 152 of the patient table 102. For example, the extension 158 of the docking piece 154 may latch into the table docking device 152 of the patient table 102. Additionally or alternatively, a signal may be output from the docking controller to the system-level controller 156 to indicate to the patient table 102 whether the patient table 102 is in a docked state. In some examples, the docking controller may be a controller of the imaging system 130. In other examples, the docking controller may be a controller included in the table docking device 152.

[0045] In at least one example, a safety switch in the handle 110 can allow movement along the horizontal axis and the vertical axis at all times (except when docked to the imaging system 130). For example, the safety switch can be a switch lever integrated with the handle 110 such that when the operator grasps the handle 110, movement of the patient table 102 is permitted, and when the operator releases the handle 110, movement of the handle is prevented. The type of movement (e.g., vertical or horizontal) can be based on the state of the patient table 102.

[0046] Now turn to Figure 2B ,exist Figure 2B The docking view 106 at 104 shows the patient table 102 in a docked state. Figure 2B The patient examination table 102 at Figure 1 The patient examination table 102 shown in FIG. 1 is similar or identical to, and / or has the same Figure 2A The patient table 102 shown is similar or identical.

[0047] As in Figure 2B As can be seen, once docked, vertical motion and the ability to undock the patient table 102 are enabled. However, in the docked state, the ability to move the patient table 102 in the forward direction is disabled. That is, in the docked state, the patient table 102 has the potential to provide motor assistance along the second vertical axis in both the upward direction 148 and the downward direction 150. Additionally, in the docked state, the patient table 102 has the potential to undock in response to the user input force at the handle 110 being a pulling force 138 in the reverse direction 146 that is greater than a threshold amount of force.

[0048] Now turn to Figure 3 , Figure 3 A block diagram 200 of a control system for a motion-assisted examination table, such as a motion-assisted examination table that is the same or similar to the patient table 102 , is shown.

[0049] As in Figure 3As can be seen, the system-level controller 156 of the patient table 102 can communicate with a plurality of controllers and a plurality of force sensors 206 in the handle 110 of the patient table 102 to provide motor assistance in response to user force input at the handle 110. In particular, the system-level controller 156 receives signals from the various sensors and controllers, and then the system-level controller 156 uses Figure 1 The actuators are used to adjust the operation of the patient table 102 based on the received signals and instructions stored in the memory of the system level controller 156.

[0050] like Figure 3 As illustrated, the patient table 102 may include separate drive motor controllers 202 and lift motor controllers 204, each of which is controlled based on communication with a system-level controller 156 of the patient table 102. In particular, the system-level controller 156 of the patient table 102 is configured to receive signals from one or more of the plurality of force sensors 206 and the docking controller 210. Then, based on the signals from the plurality of force sensors 206 and the docking controller 210, the system-level controller 156 provides outputs to actuate one or more of the drive motor 120, the brake 121, and the lift motor 124 of the patient table 102.

[0051] In particular, the drive motor 120 and the brake 121 of the patient table 102 may be actuated based on the output from the system-level controller 156 via the drive motor controller 202, where the drive motor controller 202 may be tuned to actuate the drive motor 120. Based on the output from the system-level controller 156, the drive motor controller 202 may then adjust the operation of the drive motor 120 accordingly. Similarly, the lift motor 124 may be controlled via the lift motor controller 204, where the lift motor controller 204 is tuned to actuate the lift motor 124 based on the output from the system-level controller 156.

[0052] like Figure 3As shown, the patient table 102 may also include a battery 119. In one or more examples, the battery 119 may be the single and only battery for the patient table 102. The battery 119 may be controlled via the system-level controller 156 to provide power to only one of the drive motor 120 and the lift motor 124 at a time. Thus, during the undocked state, the battery 119 may be controlled by the system-level controller 156 to provide power only to the drive motor 120, and the battery 119 may be configured not to provide power to the lift motor 124 during the undocked state. On the other hand, during the docked state, the battery 119 may be controlled by the system-level controller 156 to provide power only to the lift motor 124, and the battery 119 may be configured not to provide power to the drive motor 120 in the docked state. Additionally or alternatively, power may be provided to the patient table 102 by the imaging system when the patient table 102 is in the docked state.

[0053] In this manner, based on user force input to the handle 110 and the docking state of the patient table 102 determined based on a signal (or lack of signal) received from the docking controller 210, the system-level controller 156 communicates with the drive motor controller 202 and / or the lift motor controller 204 to actuate one or more of the drive motor 120, the brake 121, and the lift motor 124.

[0054] Now turn to Figure 4A and Figure 4B , showing a flow chart of method 300. Instructions for executing method 300 may be provided by a controller based on instructions stored in a memory of the controller and in combination with sensors of a system according to the present disclosure (such as those described above with reference to Figure 1 , Figure 2A and Figure 2B The controller may be the same as or similar to the system-level controller 156 and may employ an actuator of a patient table (eg, the patient table 102) to adjust the patient table operation according to the method described below.

[0055] Step 302 of method 300 includes estimating and / or measuring table operating conditions. For example, a system-level controller of a patient table may receive one or more signals from a force sensor, a drive motor controller, a lift motor controller, and other potential sensors (e.g., a velocity sensor) to determine the current operating condition of the patient table.

[0056] After step 302, method 300 includes determining the docking status of the patient table at step 304, such as in step 300. Figure 4B4B . Thus, briefly looking at step 304 of method 300 may include determining whether a docking status signal has been received at step 330. In one or more examples, the docking status signal may be a signal indicating that the patient table is successfully docked to the imaging system. The docking status signal may be a signal output by a docking system controller and received at a system-level controller. For example, a table docking device may include one or more sensors that engage with a docking member of the imaging system and provide an output to the docking system controller in response to successfully docking the patient table to the imaging system. The docking system controller may then be configured to automatically provide a docking status output signal to the system-level controller of the patient table.

[0057] In response to receiving the docking status signal at step 330 , the method 300 proceeds to step 336 .

[0058] At step 336 , method 300 includes determining whether the drive motor is enabled. If the drive motor is not enabled at step 336 , method 300 includes maintaining the drive motor disabled and enabling the lift motor at step 338 .

[0059] Referring back to step 336, if the drive motor was enabled at step 336, method 300 includes deactivating the drive motor and activating the lift motor at step 340. The drive motor may be deactivated by not directing power from the battery of the patient table to the drive motor, while the lift motor may be activated by directing power from the battery of the patient table to the lift motor.

[0060] Furthermore, deactivating the drive motor and enabling the lift motor at step 336 may additionally or additionally include updating how the force sensor output is calculated to determine the direction of the force request. For example, because the patient table is docked and the drive motor is deactivated while the lift motor is enabled at step 340, the output from the force sensor responsive to the user force input may only be used to determine the raise motor assist and the lower motor assist unless the pulling force exceeds a threshold indicating that it is desired to undock the patient table.

[0061] After step 340, Figure 4B The flowchart at may end and method 300 may proceed to Figure 4A Step 306 of the method.

[0062] Now watch it Figure 4B At step 330, if a docking status signal is not received at step 330, the method 300 proceeds to pinging the docking controller at step 342. For example, the system level controller may send an output to the docking controller requesting a status update regarding the docking status.

[0063] After step 342, if a docking status signal is received at step 344, the method 300 moves to step 336 and proceeds as previously discussed herein. However, if a docking status signal is not received at step 344, then at step 346, the method 300 includes determining whether an undocking status response signal is received in response to pinging the docking controller at step 342.

[0064] For example, if it has recently been determined that the table docking device was successfully undocked from the docking member of the imaging system, the undocked state response signal may be provided. Additionally or alternatively, the table docking device may be configured to determine that the patient table is in the undocked state in response to determining that one or more sensors of the table docking device are not docked to the imaging system.

[0065] If an undocked state response signal is received at step 346, the method 300 includes enabling the drive motor and disabling the lift motor at step 348. The drive motor may be enabled by directing power from the battery of the patient table from the drive motor to the lift motor, while the lift motor may be disabled by not directing power from the battery of the patient table to the lift motor. Furthermore, enabling the drive motor and disabling the lift motor at step 336 may additionally or additionally include updating how the force sensor output is calculated to determine the direction of the force request.

[0066] For example, because the patient table is in an undocked state at step 348 (where the drive motor is enabled and the lift motor is disabled), output from the force sensor responsive to the user force input may only be used to determine forward drive motor assist and reverse drive motor assist.

[0067] It should be noted that the activation and deactivation of the drive motor and the lifting motor mentioned may be performed in a similar manner for situations discussed later in this document.

[0068] Referring back now to step 346 , if an undock status signal is not received at step 346 , then at step 350 it may be determined that there is degradation in one or more of the docking controller and the table docking device's one or more sensors.

[0069] Look at Figure 4A At step 306, method 300 includes determining whether a user force input has been received. If no user force input has been received, method 300 maintains the current operating state of the patient table at step 308. If a user force input has been received at step 306, method 300 proceeds to step 310. The user force input may be received at a handle of the patient table. For example, the user force input may include one or more of a push force, a pull force, a lift force, or a downward force on the handle of the patient table.

[0070] At step 310, it is determined whether the patient table is docked. If the patient table is undocked, the method 300 includes determining whether a request to engage the brakes of the patient table is received at step 311. For example, a user input to a user brake input may request engagement of the brakes.

[0071] If it is determined at step 311 that there is no engagement of the brakes of the patient table, the method 300 may include actuating the drive motor to adjust the drive wheels based on the user force input received at step 306 at step 312. Because the patient table is in an undocked state at step 312, the user force input will not be determined as a lifting force input or a downward force input. Instead, the user force input will be limited to being interpreted as a pushing force input or a pulling force input.

[0072] For example, in response to a user force input including a thrust input, the drive motor controller may actuate the drive motor to adjust the drive wheel to provide a forward rotation of the drive wheel. The amount of torque provided to the drive wheel in the forward direction may be based on the amount of user force input. For example, if the user pushes harder on the handle and thus provides a greater amount of thrust, the drive wheel may be adjusted to provide more assistance in the forward direction.

[0073] In another example, the user force input may be determined as a pulling force input. In such examples, the drive motor controller may actuate the drive motor in response to the pulling force input to adjust the drive wheel and provide reverse rotation of the drive wheel. The greater the pulling force input to the handle, the more motor assistance is provided by the drive wheel in the reverse direction. When the drive motor is actuated in response to a pushing user force input or a pulling user force input at the handle to provide motor assistance in a forward direction or a reverse direction, there may be an upper limit torque provided by the drive motor. For example, the upper limit torque may be based on a predetermined maximum speed at which the drive motor can propel the patient examination table. In one or more examples, the upper limit torque in the forward direction may be different from the upper limit torque in the reverse direction.

[0074] However, in one or more representations, it is possible that both vertical adjustment and drive adjustment are available at step 312. In some examples, the user force input can be used to determine both the lift force input or the downward force input and the push force input or the pull force input to actuate both the lift motor and the drive motor simultaneously accordingly.

[0075] Returning to step 311, if it is determined at step 311 that there is a request to engage the brakes of the patient table, method 300 may include engaging the brakes at 313 and actuating the lift motor to vertically adjust the table based on the user force input received at step 306. Because the patient table is in an undocked state and the brakes are engaged at step 313, the user force input will not be determined as a push force input or a pull force input. Instead, the user force input will be limited to being interpreted as a lift force input or a downward force input.

[0076] That is, in response to receiving a user brake request while the patient table is in an undocked state at step 311 , method 300 may include engaging brakes of the patient table, preventing drive assist for the patient table, and enabling vertical assist for the patient table.

[0077] For example, in response to a user force input including a lifting force input, the lift motor controller may actuate the lift motor to vertically adjust the examination table upward to a higher position. The amount of torque provided to the lift motor in the upward direction may be based on the amount of user force input. For example, if the user lifts harder on the handle, and thus provides a greater amount of lifting force, the lift motor may be adjusted to provide more assistance in the upward direction.

[0078] In another example, the user force input may be determined as a downward force input. In such examples, the lift motor controller may actuate the lift motor in response to the downward force input to adjust the lift motor and provide a lowering of the examination table. That is, the examination table may be adjusted vertically downward. The greater the downward force input to the handle, the more motor assistance is provided by the lift motor in the downward direction. When the lift motor is actuated in response to a lifting user force input or a downward user force input at the handle to provide motor assistance in an upward direction or a downward direction, there may be an upper limit torque provided by the lift motor. For example, the upper limit torque may be based on a predetermined maximum speed amount that the lift motor can vertically adjust the patient examination table. In one or more examples, the upper limit torque in the upward direction may be different from the upper limit torque in the downward direction.

[0079] If the examination table is in the docked state at step 310, the method 300 includes determining whether the pulling force applied via the user force input is greater than a threshold force. It should be noted that the threshold is a non-zero threshold and indicates that the user desires to transition the patient examination table from the docked state to the undocked state. The threshold force can be a predetermined force to avoid the examination table from accidentally transitioning from the docked state to the undocked state. For example, the threshold force can be a pulling force greater than 50N. In another example, the threshold force can be a pulling force greater than 100N. Other force ranges are also possible.

[0080] In response to the user force input including a pulling force greater than a threshold at step 314, the method 300 includes enabling the patient table to transition from the docked state to the undocked state at step 324. Enabling the patient table to transition from the docked state to the undocked state may include determining whether the patient table is successfully undocked from the imaging system. For example, the patient table may include a latch or other mechanical device that couples the patient table to the imaging system, and thus successfully undocking the table may include disengaging the latch or other mechanical device. Additionally or alternatively, undocking the patient table may include electronically releasing the patient table from the imaging system. For example, the imaging system may be configured to operate in response to the patient table being coupled to the imaging system. Thus, determining whether the patient table is successfully undocked may include electronically undocking the patient table from the imaging system. After step 325, if the undocking is successful, the method 300 may include actuating the drive motor to adjust the drive wheel output based on the user force input received at 328.

[0081] For example, actuating the drive motor to adjust the drive wheel output based on the user force input received at 328 may include determining whether the user force input is a thrust input or a pull input received at a handle of the patient table. In response to the user force input including a thrust input, the drive motor controller may actuate the drive motor to adjust the drive wheel to provide a forward rotation of the drive wheel. The amount of torque provided to the drive wheel in the forward direction may be based on the amount of the user force input. For example, if the user pushes harder on the handle and thus provides a greater amount of thrust, the drive wheel may be adjusted to provide more assistance in the forward direction.

[0082] In another example, the user force input may be determined as a pulling force input. In such an example, the drive motor may actuate the drive motor in response to the pulling force input to adjust the drive wheel and provide reverse rotation of the drive wheel. The greater the pulling force input to the handle, the more motor assistance is provided by the drive wheel in the reverse direction.

[0083] In some examples, there may be an upper threshold for the amount of torque provided via the drive wheels. For example, the upper threshold may be based on an upper speed limit for moving the patient table. As an example, the upper threshold for the amount of torque provided via the drive wheels may be an amount of torque that moves the patient table at a predetermined speed without assistance from the user. For example, such a predetermined speed may be 15 miles per hour.

[0084] Additionally, transitioning the patient table from the docked state to the undocked state may also include updating how the force sensor output is calculated to determine the direction of the user force input, as previously discussed herein.

[0085] If the undocking is unsuccessful at step 325, an undocking error indication may be provided and operation of the patient table may be maintained at step 323. At step 314, the undocking may be determined to be unsuccessful in response to a failure to transition the patient table from a docked state to an undocked state within a predetermined threshold time period to undock the patient table in accordance with a user instruction. Additionally or alternatively, the undocking may be determined to be unsuccessful in response to an output received from the imaging system. The undocking error indication may include one or more of a visual indication (such as a light or message on a display device) and an audible alarm.

[0086] Referring again to step 314 , after step 314 , method 300 includes determining whether the user input force includes a lifting force or a downward force on the handle at step 318 . If not, then at step 322 the current operating state of the patient table is maintained.

[0087] If it is determined at step 320 that the user input force includes a lifting force or a downward force on the handle, the method 300 includes actuating the lift motor to vertically adjust the patient table based on the received user force input.

[0088] For example, actuating the lift motor to vertically adjust the patient table based on the received user force input may include: determining whether the user force input is a lifting force input or a downward force input received at the handle of the patient table. In response to the user force input including the lifting force input, the lift motor controller may actuate the lift motor to adjust the vertical height of the patient table. The amount of torque provided to the lift motor to extend the arm of the support and vertically raise the table may be based on the amount of user force input. For example, if the user lifts up harder on the handle and thus provides a greater amount of lifting force, the lift motor may be adjusted to provide more assistance in the upward direction. If the user lifts the handle upward with less force, the lift motor may be adjusted to provide less assistance in the upward direction. One or more force sensors are also configured to detect when the user changes the amount of force input to the handle in the same force direction and adjust the amount of torque provided to the lift motor accordingly. In this way, the lift motor responds to the change in the amount of lifting force on the handle to provide a corresponding amount of motor assistance in the upward direction via the lift motor.

[0089] In another example, the user force input may be determined as a downward force input. In such an example, the lift motor may actuate the arm of the support in response to the downward force input to lower the workbench vertically downward. The greater the downward force input to the handle, the more motor assist is provided by the lift motor in the downward direction.

[0090] In some examples, there may be an upper threshold for the amount of torque provided via the lift motor.For example, the upper threshold may be based on an upper speed for moving the patient table.

[0091] Through the example methods and systems disclosed herein, a user can receive drive and lift motor assistance by intuitively inputting force into the handles of a patient table, and in particular, provide lift, lower, push and pull motor assistance as well as docking and undocking of a patient table in an efficient and accurate manner.

[0092] Now turn to Figure 5 , Figure 5 A first example force sensor configuration 500 is shown for a motion-assisted examination table, such as a table similar or identical to the patient examination table 102. Figures 5 to 8 Each of the example force sensor configurations shown in FIG. 1 can be implemented separately in different patient examination tables. Figures 5 to 8 Each of the example force sensor configurations shown in FIG. 1 may enable independent determination of vertical and horizontal forces of a user force input.

[0093] As shown, the first example force sensor configuration 500 includes a force sensor 206 positioned in the handle 110 of the patient table 102. In one or more examples, the force sensor 206 can be a load sensor. Therefore, the force sensor 206 can also be referred to as a load sensor 206 herein.

[0094] Looking at the first example force sensor configuration 500, the handle 110 includes two load sensors 206, one of which is positioned at each end of the handle 110 and oriented at the same angle. Thus, the same force input will control either vertical or horizontal motion, as each motion will be enabled separately. The angle of the load sensor 206 can also be set to minimize any vertical force effect on the drive motion.

[0095] Now turn to Figure 6 2, the second example force sensor configuration 600 uses two load sensors 206 oriented at the same angle but in opposite directions. In this case, the load sensors 206 are oriented at equal but opposite angles. Therefore, the direction of the force can be determined by determining the magnitude and direction of each load sensor. This allows at least partial differentiation between vertical force input and horizontal force input.

[0096] Move to Figure 7 The third example force sensor configuration 700 at FIG. 7 includes a multi-axis load sensor 206 for isolating vertical force, horizontal force, and torque in the handle 110. That is, each load sensor 206 may be a multi-axis load sensor 206 included in the handle 110.

[0097] about Figure 8 , a fourth example force sensor configuration 800 is shown, which includes a mechanical linkage 410 and two or more load sensors 206a, 206b to isolate vertical and horizontal motions. The mechanical linkage 410 can be a T-shaped linkage, where the top 410a of the T extends parallel to the handle 110 of the patient examination table 102, and the base 410b of the T extends perpendicular to the handle 110. The handle 110 of the patient examination table 102 can be configured to mechanically pivot at the handle base 802 as indicated by arrow 804, where the handle base 802 is positioned below the top 410a of the T-shaped mechanical linkage 410 to isolate vertical forces. In this way, the first load sensor 206a in the handle 110 is configured to detect only vertical forces, and the second load sensor 206b positioned in the mechanical linkage 410 is configured to detect positive and negative forces.

[0098] Thus, systems and methods are provided herein that allow motor assistance along both the vertical and horizontal axes of a patient table that is controllable via user force input to a handle of the table. By limiting the movement of the patient table to only provide lift and lower motor assistance when in a docked state, and by further limiting the movement of the patient table to only provide drive motor assistance when in an undocked state, technical advantages result in providing directional accurate motor assistance in a manner that is intuitive and efficient for the user. Furthermore, in examples where the patient table can be transitioned from a docked state to an undocked state by merely pulling a handle, even greater efficiency in positioning the patient as needed can result.

[0099] The present disclosure also provides support for a system, the system comprising: a patient table; an imaging system; and a controller, the controller comprising non-transient instructions stored in a memory, the non-transient instructions executable to perform the following operations: when undocked from the imaging system, adjusting the drive wheel output of the patient table in response to a user force input, and when docked to the imaging system, adjusting the vertical height of the patient table in response to the user force input. In a first example of the system, the controller also includes instructions executable to perform the following operations: when docked, not adjusting the drive wheel output in response to the user force input; and when undocked, not adjusting the vertical height of the patient table in response to the user force input. In a second example of the system, optionally including the first example, a drive motor is coupled to the drive wheel of the patient table, and wherein the controller also includes instructions executable to perform the following operations: when undocked from the imaging system, actuating the drive motor in response to the user force input to adjust the drive wheel output of the patient table. In a third example of the system, optionally including one or both of the first and second examples, a lift motor is coupled to a support of the patient table, and wherein the controller further includes instructions executable to perform the following operations: when docked to the imaging system, actuating the lift motor in response to the user force input to adjust the vertical height of the patient table. In a fourth example of the system, optionally including one or more or each of the first to third examples, a lift motor is coupled to a support of the patient table, and wherein the lift motor is configured to provide motor assistance to vertically adjust the patient table in an upward direction or a downward direction. In a fifth example of the system, optionally including one or more or each of the first to fourth examples, a drive motor is coupled to a drive wheel of the patient table, and wherein the drive wheel is configured to adjust the drive wheel output in a forward direction or a reverse direction.

[0100] The present disclosure also provides support for a method for controlling a motion-assisted patient table, the method comprising: detecting that the motion-assisted patient table is in a docked state; and in response to detecting that the motion-assisted patient table is in the docked state, disabling drive assistance for the motion-assisted patient table while enabling vertical assistance for the motion-assisted patient table. In an example of the method, the method further comprises: when the motion-assisted patient table is in the docked state, receiving a request for drive assistance and not providing the drive assistance in response to the request. In a third example of the method, optionally including one or both of the first and second examples, detecting that the motion-assisted patient table is in the docked state comprises: directing power to a lift motor for the vertical assistance and not directing power to a drive motor for the drive assistance, wherein a power source for the motion-assisted patient table comprises only a single battery. In a fourth example of the method, optionally including one or more or each of the first to third examples, the method further includes: detecting that the motion-assisted patient table is in an undocked state; in response to detecting that the motion-assisted patient table is in the undocked state, disabling the vertical assist for the motion-assisted patient table while enabling the drive assist for the motion-assisted patient table; receiving a drive assist request when the motion-assisted patient table is in the undocked state; and actuating a drive motor of the motion-assisted patient table to provide a table push assist or a table pull assist in response to the drive assist request when the motion-assisted patient table is in the undocked state. In a fifth example of the method, optionally including one or more or each of the first to fourth examples, the vertical assistance for the motion-assisted patient table is provided in response to detecting a user input at a handle of the motion-assisted patient table, and wherein providing the vertical assistance includes: when the motion-assisted patient table is docked, in response to the user input, operating a lift motor to apply torque to assist in lifting or lowering the motion-assisted patient table. In a sixth example of the method, optionally including one or more or each of the first to fifth examples, enabling the vertical assistance for the motion-assisted patient table includes: directing power from a power source to the lift motor of the motion-assisted patient table, and wherein the motion-assisted patient table includes only a single battery as the power source.In a seventh example of the method, optionally including one or more or each of the first to sixth examples, the method further includes: detecting that the motion-assisted patient table is in an undocked state and a brake of the motion-assisted patient table is disengaged; in response to detecting that the motion-assisted patient table is in the undocked state and the brake of the motion-assisted patient table is disengaged, disabling the vertical assist for the motion-assisted patient table while enabling drive assist for the motion-assisted patient table; receiving a user brake request when the motion-assisted patient table is in the undocked state with the brake disengaged; and in response to receiving the user brake request when the motion-assisted patient table is in the undocked state, engaging the brake of the motion-assisted patient table, preventing the drive assist for the motion-assisted patient table, and enabling the vertical assist for the motion-assisted patient table. In an eighth example of the method, optionally including one or more or each of the first to seventh examples, the method further includes: detecting a request to undock the motion-assisted patient table; and in response to detecting the request to undock the motion-assisted patient table, releasing the motion-assisted patient table from the docking member; and enabling drive assistance for the motion-assisted patient table while disabling vertical assistance for the motion-assisted patient table. In a ninth example of the method, optionally including one or more or each of the first to eighth examples, the method further includes: receiving a vertical assistance request when the motion-assisted patient table is in the docked state; and in response to the vertical assistance request, actuating a lift motor of the motion-assisted patient table to provide table lifting assistance or table lowering assistance.

[0101] The present disclosure also provides support for a system for controlling a motion-assisted patient table, the system comprising: a table top; a support coupling the table top to a base; one or more wheels coupled to the base; a drive motor configured to provide torque to the one or more wheels; a lift motor configured to extend and retract the support; a single battery coupled to the drive motor and the lift motor; a brake; a plurality of force sensors; and a controller including instructions in a non-transitory memory executable to: under a first condition, in response to detecting that the motion-assisted patient table is in a docked state, deactivate the drive motor and enable the lift motor; under a second condition, in response to an indication that the motion-assisted patient table is in an undocked state and detecting that the brake is disengaged, enable the drive motor and deactivate the lift motor; and under a third condition, in response to the indication that the motion-assisted patient table is in the undocked state and detecting that the brake is engaged, deactivate the drive motor and enable the lift motor. In a first example of the system, the motion-assisted patient table is detected to be in the docked state in response to determining that the docking latch of the motion-assisted patient table is in an engaged position, and wherein the motion-assisted patient table is detected to be in the undocked state in response to determining that the docking latch of the motion-assisted patient table is in a disengaged position. In a second example of the system, optionally including the first example, the motion-assisted patient table is docked to a medical scanner in the docked state, and wherein the motion-assisted patient table is detected to be in the docked state based on an output received from the medical scanner. In a third example of the system, optionally including one or both of the first and second examples, the instructions are further executable to perform the following operations: transition the motion-assisted patient table from the docked state in the first condition to the undocked state in the second condition in response to user input, wherein the motion-assisted patient table is docked to a medical scanner in the docked state, and wherein undocking the motion-assisted patient table includes: outputting a signal at both the motion-assisted patient table and the medical scanner that the motion-assisted patient table is in the undocked state. In another representation, it should be noted that alternative sensors to force sensors can be used in the handle. For example, a Hall Effect sensor can be implemented.

[0102] Figure 1 , Figure 2A , Figure 2B and Figures 5 to 8An example configuration with relative positioning of various parts is shown. Unless otherwise specified, at least in one example, if shown as being in direct contact or directly coupled to each other, such elements may be referred to as being in direct contact or directly coupled, respectively. Similarly, at least in one example, elements shown as being adjacent or adjacent to each other may be adjacent or adjacent to each other, respectively. For example, parts placed in coplanar contact with each other may be referred to as being in coplanar contact. For another example, in at least one example, elements positioned to be spaced apart from each other and having only space therebetween without other parts may be described and referenced as such. For another example, elements shown as being located above / below each other, located on opposite sides of each other, or located on the left / right side of each other may be described and referenced as such relative to each other. In addition, as shown in the figure, in at least one example, the topmost element or the point of the element may be referred to as the "top" of the part, and the bottommost element or the point of the element may be referred to as the "bottom" of the part. As used herein, top / bottom, upper / lower, above / below may be relative to the vertical axis of the figure, and may be used to describe the position of the elements relative to each other in the figure. Thus, in one example, elements shown as being above other elements are positioned vertically above other elements. For another example, the shapes of the elements depicted in the figures may be referred to as having those shapes (e.g., such as being round, straight, planar, curved, rounded, chamfered, angled, etc.). In addition, in at least one example, elements shown as intersecting each other may be referred to as intersecting elements or intersecting each other. In addition, in one example, elements shown as being within another element or being shown as being outside another element may be described and referenced as such.

[0103] The control methods and routines disclosed herein may be stored as executable instructions in a non-transitory memory and may be performed by a control system including a combination of a controller and various sensors, actuators, and other hardware.

[0104] It should be understood that the configurations and routines disclosed herein are exemplary in nature, and these specific embodiments should not be considered in a restrictive sense, as many variations are possible. In addition, unless explicitly stated to the contrary, the terms "first," "second," "third," etc. are not intended to represent any order, position, quantity, or importance, but are merely used as a mark to distinguish one element from another. The subject matter of the present disclosure includes all novel and non-obvious combinations and sub-combinations of the various systems and configurations and other features, functions, and / or characteristics disclosed herein.

[0105] As used herein, unless otherwise indicated, the term "about" is understood to mean ±5% of the range.

[0106] The following claims particularly point out certain combinations and subcombinations regarded as novel and non-obvious. The claims may refer to "an" element or "a first" element or the equivalent thereof. Such claims should be understood to include incorporation of one or more such elements, neither requiring nor excluding two or more such elements. Other combinations and subcombinations of the disclosed features, functions, elements, and / or properties may be claimed by amendment of the present claims or by presentation of new claims in this or a related application. Such claims, whether broader, narrower, equal, or different in scope to the original claims, are deemed to be included within the subject matter of the present disclosure.

Claims

1. A system, comprising: Patient examination table (102); An imaging system (130); and A controller (156) comprising non-transitory instructions stored in a memory, the non-transitory instructions being executable to: When undocked from the imaging system (130), adjusting a drive wheel (116) output of the patient table (102) in response to a user force input; and When docked to the imaging system (130), the vertical height of the patient table (102) is adjusted in response to the user force input.

2. The system of claim 1, wherein the controller (156) further comprises instructions executable to: When docked, the drive wheel (116) output is not adjusted in response to the user force input; and When undocked, the vertical height of the patient table (102) is not adjusted in response to the user force input.

3. The system of claim 1, wherein a drive motor (120) is coupled to a drive wheel (116) of the patient table (102), and wherein the controller (156) further comprises instructions executable to: When undocked from the imaging system (130), the drive motor (120) is actuated in response to the user force input to adjust the drive wheel (116) output of the patient table (102).

4. The system of claim 1, wherein a lift motor (124) is coupled to a support of the patient table (102), and wherein the controller (156) further comprises instructions executable to: When docked to the imaging system (130), the lift motor (124) is actuated in response to the user force input to adjust the vertical height of the patient table (102).

5. The system of claim 1, wherein a lift motor (124) is coupled to a support (115) of the patient table (102), and wherein the lift motor (124) is configured to provide motor assistance to vertically adjust the patient table (102) in an upward direction or a downward direction.

6. The system of claim 1, wherein a drive motor (120) is coupled to a drive wheel (116) of the patient table (102), and wherein the drive wheel (116) is configured to adjust the drive wheel (116) output in a forward direction or a reverse direction.

7. A method for controlling a motion-assisted patient examination table (102), the method comprising: detecting that the motion-assisted patient examination table (102) is in a docking state; as well as In response to detecting that the motion-assisted patient table (102) is in the docked state, drive assistance for the motion-assisted patient table (102) is disabled while vertical assistance for the motion-assisted patient table (102) is enabled.

8. The method of claim 7, wherein a brake (121) of the motion-assisted patient table (102) is engaged in response to a user input.

9. The method according to claim 7, further comprising: When the motion-assisted patient table (102) is in the docked state, a request for drive assistance is received and the drive assistance is not provided in response to the request.

10. The method according to claim 7, wherein detecting that the motion-assisted patient examination table (102) is in the docked state comprises: directing power to a lift motor (124) for said vertical assist; And electric power is not directed to the drive motor (120) for the drive assist.

11. The method according to claim 7, further comprising: detecting that the motion-assisted patient examination table (102) is in an undocking state; In response to detecting that the motion-assisted patient table (102) is in the undocked state, disabling the vertical assistance for the motion-assisted patient table (102) while enabling the drive assistance for the motion-assisted patient table (102); When the motion-assisted patient examination table (102) is in the undocking state, receiving a drive assist request; as well as When the motion-assisted patient examination table (102) is in the undocked state, in response to the drive assist request, a drive motor (120) of the motion-assisted patient examination table (102) is actuated to provide examination table push assist or examination table pull assist.

12. The method of claim 7, wherein providing the vertical assistance to the motion-assisted patient table (102) is responsive to detecting a user input at a handle (110) of the motion-assisted patient table (102), and wherein providing the vertical assistance comprises: When the motion-assisted patient table (102) is docked, a lift motor (124) is operated in response to the user input to apply torque to assist in lifting or lowering the motion-assisted patient table (102).

13. The method of claim 7, wherein enabling the vertical assistance for the motion-assisted patient table (102) comprises: Power is directed from a power source (119) to a lift motor (124) of the motion-assisted patient table.

14. The method according to claim 7, further comprising: detecting that the motion-assisted patient examination table (102) is in an undocking state and that a brake (121) of the motion-assisted patient examination table (102) is disengaged; In response to detecting that the motion-assisted patient table (102) is in the undocked state and the brake (121) of the motion-assisted patient table is disengaged, disabling the vertical assistance for the motion-assisted patient table (102) while enabling the drive assistance for the motion-assisted patient table (102); When the motion-assisted patient examination table (102) is in the undocking state with the brake (121) disengaged, receiving a user brake request; and In response to receiving the user brake request when the motion-assisted patient table (102) is in the undocked state, the brake (121) of the motion-assisted patient table (102) is engaged, the drive assist for the motion-assisted patient table (102) is prevented, and the vertical assist for the motion-assisted patient table (102) is enabled.

15. The method according to claim 7, further comprising: detecting a request to undock the motion-assisted patient examination table (102); as well as In response to detecting the request to undock the motion-assisted patient table (102), releasing the motion-assisted patient table (102) from a docking station (154), and Drive assistance for the motion-assisted patient table (102) is enabled, while vertical assistance for the motion-assisted patient table (102) is disabled.

Images