Anti-vibration damping system for carbon fiber C-arm mounted on mobile base

Abstract

A mobile X-ray imaging system (100) includes an X-ray radiation source (105). The mobile X-ray imaging system (100) further comprises an X-ray detector (107). The mobile X-ray imaging system (100) also includes a C-arm (110) having an X-ray radiation source (105) disposed on a first end and an X-ray detector (107) disposed on a second end opposite the first end. The mobile X-ray imaging system (100) also includes a C-arm rotation device (111) coupled to the C-arm (110) and configured to rotate the C-arm (110) relative to the C-arm rotation device (111) in an orbital direction (174). The mobile X-ray imaging system (100) further comprises a mobile base (140) coupled to the C-arm rotation device (111), where the mobile base (140) is configured to move the mobile X-ray imaging system (100), and where the mobile base (140) comprises a damping system (146) configured to damp the mobile X-ray imaging system (100). The damping system is configured to dampen vibrations occurring when the C-arm (110) is decelerated to stop during rotational movement of the C-arm (110) in a single or combined direction.

Description

Background Art

[0001] The subject matter disclosed herein relates to X-ray imaging systems, and more particularly, to a damping system (eg, an anti-vibration damping system) for a mobile X-ray imaging system having a C-arm.

[0002] Medical diagnostic imaging systems generate images of objects (such as patients), for example, by exposure to energy sources (such as, for example, X-rays passing through the patient). The generated images can be used for many purposes. Typically, when a physician obtains an X-ray of a patient, it is desirable to obtain several X-rays of one or more parts of the patient's body from multiple different positions and angles, and preferably without frequently repositioning the patient. In order to meet this need, C-arm X-ray diagnostic equipment has been developed. The term C-arm generally refers to an X-ray imaging device having a rigid and / or hinged structural member, which has an X-ray source and an image detector assembly each located at the opposite end of the structural member, so that the X-ray source and the image detector face each other. The structural member is usually "C" shaped, and is therefore called a C-arm. In this way, the X-rays emitted from the X-ray source can be projected onto the image detector and provide an X-ray image of an object or multiple objects placed between the X-ray source and the image detector. During the deceleration phase of the C-arc movement of the C-arm (particularly when the system is used in manual movement mode (ie joystick mode) and due to adjustments), a large amount of vibration is generated for a few seconds, which may affect image quality (eg causing blur). Summary of the invention

[0003] Certain embodiments commensurate with the scope of the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the claimed subject matter, but rather, these embodiments are intended only to provide a brief overview of possible forms of the subject matter. In fact, the subject matter may include a variety of forms that may be similar to or different from the embodiments described below.

[0004] According to one embodiment, a mobile X-ray imaging system is provided. The mobile X-ray imaging includes an X-ray radiation source. The mobile X-ray imaging system also includes an X-ray detector. The mobile X-ray imaging system includes a C-arm having an X-ray radiation source disposed on a first end and an X-ray detector disposed on a second end opposite to the first end. The mobile X-ray imaging system also includes a C-arm rotating device, which is coupled to the C-arm and is configured to rotate the C-arm in an orbital direction relative to the C-arm rotating device. The mobile X-ray imaging system also includes a mobile base, which is coupled to the C-arm rotating device via a pivot point, and the pivot point is configured to rotate both the C-arm rotating device and the C-arm relative to the mobile base, wherein the mobile base is configured to move the mobile X-ray imaging system. The mobile base includes a damping system, which is configured to attenuate vibrations that occur when the C-arm decelerates to a stop during the rotational movement of the C-arm in a single or combined direction.

[0005] According to another embodiment, a damping system for a mobile X-ray imaging system is provided. The damping system includes a first plate. The damping system also includes a second plate. The damping system also includes a first damper, which includes at least one elastic body disposed between the first plate and the second plate. The mobile X-ray imaging system includes: a C-arm, which is made of carbon fiber and has an X-ray radiation source disposed on a first end and an X-ray detector disposed on a second end opposite to the first end; a C-arm rotating device, which is connected to the C-arm and is configured to rotate the C-arm in an orbital direction relative to the C-arm rotating device; and a mobile base, which is connected to the C-arm rotating device via a pivot point, which is configured to rotate both the C-arm rotating device and the C-arm relative to the mobile base, wherein the mobile base is configured to move the mobile X-ray imaging system. The damping system is configured to attenuate vibrations that occur when the C-arm decelerates to a stop during the rotational movement of the C-arm in a single or combined direction.

[0006] According to another embodiment, a mobile base for an X-ray imaging system is provided. The mobile base includes a chassis having a Y-shaped arm, wherein the Y-shaped arm includes a central arm and two arms angled relative to the longitudinal axis of the central arm. The mobile base also includes a first set of wheels. The mobile base also includes a second set of wheels, wherein the first set of wheels and the second set of wheels are coupled to the respective ends of the two arms away from the central arm. The mobile base also includes a damping system, which includes a first set of elastomers disposed between the first set of wheels and the Y-shaped arm and a second set of elastomers disposed between the second set of wheels and the Y-shaped arm. The mobile X-ray imaging system includes: a C-shaped arm, which is made of carbon fiber and has an X-ray radiation source disposed on a first end and an X-ray detector disposed on a second end opposite to the first end; a C-shaped arm rotating device, which is coupled to the C-shaped arm and is configured to rotate the C-shaped arm relative to the C-shaped arm rotating device in a track direction, and the C-shaped arm rotating device is coupled to the mobile base via a pivot point, which is configured to rotate both the C-shaped arm rotating device and the C-shaped arm relative to the mobile base. The moving base is configured to move the X-ray imaging system.The damping system is configured to dampen vibrations that occur when the C-shaped arm decelerates to a stop during rotational movement of the C-shaped arm in a single or combined direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] These and other features, aspects, and advantages of the disclosed subject matter will be better understood when the following detailed description is read with reference to the accompanying drawings, in which like characters refer to like parts throughout the several views, and in which:

[0008] Figure 1 is a block diagram illustrating components of an example mobile X-ray imaging system according to aspects of the present disclosure;

[0009] Figure 2 is a schematic diagram of a side view of a portion of a mobile X-ray imaging system and its associated movement according to aspects of the present disclosure;

[0010] Figure 3 According to various aspects of the present disclosure Figure 2 A schematic diagram of a side view of a portion of a mobile X-ray imaging system after a deceleration phase of a C-arc motion;

[0011] Figure 4 According to various aspects of the present disclosure Figure 2 The C-arm bracket of the mobile X-ray imaging system Figure 2 A schematic diagram of a cross section taken along line 4-4 in FIG.

[0012] Figure 5 According to various aspects of the present disclosure, a technician and a patient and Figure 2 Schematic diagram of the interaction of the mobile X-ray imaging system;

[0013] Figure 6 A mobile base and a damping system according to various aspects of the present disclosure Figure 2 A schematic diagram of a side view of a mobile X-ray imaging system;

[0014] Figure 7 According to various aspects of the present disclosure Figure 6 A schematic diagram of a top view of a chassis of a mobile base of an X-ray imaging system;

[0015] Figure 8 is connected to the various aspects of the present disclosure Figure 6 A perspective view of a damping unit of a chassis of a mobile base of a mobile X-ray imaging system;

[0016] Fig. 9 is a schematic diagram of one side of a damping unit (eg, having a damper including a single elastomer) according to aspects of the present disclosure;

[0017] Fig.10 is a perspective view of a damping unit according to aspects of the present disclosure;

[0018] Fig.11 According to various aspects of the present disclosure Fig.10 A side view of the damping unit in FIG.

[0019] Fig.12 According to various aspects of the present disclosure Fig.10 Bottom view of the damping unit in FIG.

[0020] Fig.13 According to various aspects of the present disclosure Fig.10 A top view of the damping unit in FIG. 1 ; and

[0021] Fig.14 According to various aspects of the present disclosure Fig.10 The damping unit in Fig.10 A cross-sectional view taken along line 14-14 in FIG. DETAILED DESCRIPTION

[0022] One or more specific embodiments will be described below. In order to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be understood that in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the developer's specific goals, such as complying with system-related and business-related constraints that may vary from implementation to implementation. In addition, it should be understood that such development efforts may be complex and time-consuming, but are still routine tasks for design, fabrication, and manufacturing for ordinary technicians who benefit from this disclosure.

[0023] When introducing elements of various embodiments of the present subject matter, the articles "a," "an," "the," and "said" are intended to indicate that there are one or more elements. The terms "comprising," "including," and "having" are intended to be inclusive, and mean that there may be additional elements in addition to the listed elements. Furthermore, any numerical examples in the following discussion are intended to be non-limiting, and thus the additional numerical values, ranges, and percentages are within the scope of the disclosed embodiments.

[0024] The following embodiments describe an X-ray imaging system (e.g., a mobile X-ray imaging system) comprising an X-ray radiation source. The mobile X-ray imaging system also includes an X-ray detector. The mobile X-ray imaging system includes a C-arm having an X-ray radiation source disposed on a first end and an X-ray detector disposed on a second end opposite to the first end. The mobile X-ray imaging system also includes a C-arm rotating device, which is coupled to the C-arm and is configured to rotate the C-arm in a track direction relative to the C-arm rotating device. The mobile X-ray imaging system also includes a mobile base (e.g., an automatic guided vehicle) coupled to the C-arm rotating device, wherein the mobile base is configured to move the mobile X-ray imaging system. The mobile base includes a damping system configured to attenuate vibrations that occur when the C-arm decelerates to a stop during the rotational motion of the C-arm.

[0025] In certain embodiments, the C-shaped arm is made of carbon fiber. In certain embodiments, the damping system is configured to attenuate vibration at a frequency of about 3 Hz (Hz). In certain embodiments, the mobile base includes a chassis and at least one set of wheels connected to the chassis, and the damping system includes a damper arranged between at least one set of wheels (such as front wheels) and the chassis. In certain embodiments, the chassis includes a Y-shaped arm, and the Y-shaped arm has a central arm and two arms angled relative to the longitudinal axis of the central arm. The mobile base includes a first set of wheels (such as front wheels) and a second set of wheels (such as front wheels), and the first set of wheels and the second set of wheels are connected to the chassis at the respective ends of the two arms away from the central arm. The damping system includes a first damper arranged between the first set of wheels and the chassis and a second damper arranged between the second set of wheels and the chassis.

[0026] In certain embodiments, the damper includes at least one elastomer. In certain embodiments, the damper includes three elastomers. In certain embodiments, the damping system includes a first plate, a second plate and at least one elastomer, and the at least one elastomer is arranged between the first plate and the second plate. In certain embodiments, the damping system includes an interface with a ball joint (e.g., configured to compensate for the defect of floor flatness), which is connected to the first plate on the first side of the first plate opposite to the at least one elastomer. The interface connects the damping system to the chassis. The ball joint is configured to rotate independently of at least one set of wheels. Moreover, the ball joint is configured so that the damping system can be tilted laterally relative to the vertical axis. In certain embodiments, at least one set of wheels is connected to the second side of the second plate opposite to the at least one elastomer.

[0027] The following embodiments also describe a damping system for a mobile X-ray imaging system. The damping system includes a first plate. The damping system also includes a second plate. The damping system also includes a first damper, which includes at least one elastomer disposed between the first plate and the second plate. The mobile X-ray imaging system includes: a C-arm, which is made of carbon fiber and has an X-ray radiation source disposed on a first end and an X-ray detector disposed on a second end opposite to the first end; a C-arm rotating device, which is connected to the C-arm and is configured to rotate the C-arm in an orbital direction relative to the C-arm rotating device; and a moving base, which is connected to the C-arm rotating device and is configured to move the mobile X-ray imaging system. The damping system is configured to attenuate the movement of the C-arm in a single or combined direction (for example, in a circumferential direction 184 around the rotation axis 182 and / or in an orbital direction 174 (see Figure 2 ))'s vibrations that occur during rotational movement of the C-arm as it decelerates to a stop.

[0028] In some embodiments, the damping system is configured to attenuate vibrations at a frequency of about 3 Hz. In some embodiments, the first damper includes three elastomers. In some embodiments, the damping system also includes a third plate, a fourth plate, and a second damper, the second damper including an additional three elastomers disposed between the third plate and the fourth plate. In some embodiments, the second plate is configured to be coupled to a first set of wheels (e.g., front wheels), and the fourth plate is configured to be coupled to a second set of wheels (e.g., front wheels).

[0029] In some embodiments, the damping system also includes: a first interface having a first ball joint and a second interface having a second ball joint, the first interface is connected to the first plate on the first side of the first plate opposite to the three elastomers, and the second interface is connected to the third plate on the second side of the third plate opposite to the additional three elastomers. Both the first interface and the second interface are configured to connect the damping system to the chassis of the mobile base. In some embodiments, the first ball joint is configured to rotate independently of the first set of wheels, and the second ball joint is configured to rotate independently of the second set of wheels. In some embodiments, the first ball joint is configured to enable the first plate, the second plate and the three elastomers to be tilted laterally relative to the vertical axis (and rotate around the vertical axis to increase additional degrees of freedom, thereby facilitating motion control), and the second ball joint is configured to enable the third plate, the fourth plate and the additional three elastomers to be tilted laterally relative to the vertical axis.

[0030] In some embodiments, the second plate is configured to be connected to the first set of wheels on the third side of the second plate opposite to the three elastomers, and the fourth plate is configured to be connected to the second set of wheels on the fourth side of the fourth plate opposite to the additional three elastomers. In some embodiments, the chassis includes a Y-shaped arm having a central arm and two arms angled relative to the longitudinal axis of the central arm. The first interface, the first plate, the second plate and the three elastomers are all configured to be connected at the first end of the first arm of the two arms away from the central arm. The second interface, the third plate, the fourth plate and the additional three elastomers are all configured to be connected at the second end of the second arm of the two arms away from the central arm.

[0031] The following embodiments further describe a mobile base for an X-ray imaging system. The mobile base includes a chassis having a Y-shaped arm, wherein the Y-shaped arm includes a central arm and two arms angled relative to the longitudinal axis of the central arm. The mobile base also includes a first set of wheels. The mobile base also includes a second set of wheels, wherein the first set of wheels and the second set of wheels are coupled to the respective ends of the two arms away from the central arm. The mobile base also includes a damping system, which includes a first set of elastomers disposed between the first set of wheels and the Y-shaped arm and a second set of elastomers disposed between the second set of wheels and the Y-shaped arm. The X-ray imaging system includes: a C-shaped arm, which is made of carbon fiber and has an X-ray radiation source disposed on a first end and an X-ray detector disposed on a second end opposite to the first end; a C-shaped arm rotating device, which is coupled to the C-shaped arm and is configured to rotate the C-shaped arm in a track direction relative to the C-shaped arm rotating device, and the C-shaped arm rotating device is coupled to the mobile base. The mobile base is configured to move the X-ray imaging system. The damping system is configured to attenuate the C-arm in a single or combined direction (e.g., in a circumferential direction 184 about the rotation axis 182 and / or in an orbital direction 174 (see Figure 2))'s vibrations that occur during rotational movement of the C-arm as it decelerates to a stop.

[0032] The disclosed damping system, when located (e.g., vertically located) between a Y-arm of a chassis and a front wheel coupled to the Y-arm, enables absorption of oscillations (e.g., vertical oscillations) or vibrations as the C-arm approaches a stop during a deceleration phase of the C-arm's motion. In particular, the damping system enables utilization of a C-arm made of carbon fiber (which has a very low damping coefficient relative to aluminum) as part of an interventional C-arm medical imaging system that is configured for manual movement and decelerates with similar timing compared to a C-arm medical imaging system constructed with a C-arm made of aluminum. Damping of vibrations as the C-arm decelerates to a stop during movement of the C-arm in a single or combined direction enables high quality images (e.g., without blurriness).

[0033] Figure 1 1 is a block diagram illustrating components of an example mobile X-ray imaging system 100. The mobile X-ray imaging system 100 includes an X-ray source 105 and an X-ray detector 107 mounted on a C-arm gantry 110 (eg, a C-arm). The C-arm gantry 110 may be made of carbon fiber.

[0034] The C-arm gantry 110 includes a C-arm motor 112 for adjusting the position of the C-arm gantry 110. More specifically, the C-arm gantry 110 is mechanically coupled to a C-arm bracket 111 (e.g., a C-arm rotation device) including the C-arm motor 112, and the C-arm motor 112 can be driven to adjust the position of the C-arm gantry 110 relative to the C-arm bracket 111. For example, the C-arm bracket 111 in combination with the C-arm motor 112 is configured to rotate the C-arm gantry 110 in a track direction relative to the C-arm bracket 111. In certain embodiments, the C-arm bracket 111 is configured (via a motorized system) to rotate a pivot (e.g., a pivot point), wherein the C-arm bracket 111 is coupled to a mobile base 140 (e.g., an automatic guided vehicle) or an end of an L-shaped arm coupled to the mobile base 140. The C-arm bracket 111 rotates around the rotation axis (e.g., horizontal axis) of the pivot. In certain embodiments with an L-shaped arm, the L-shaped arm can rotate around the position where the other end of the L-shaped arm (i.e., the end of the L-shaped arm not connected to the pivot) is connected to the mobile base 140.

[0035] The mobile X-ray imaging system 100 also includes a mobile base 140. The C-arm bracket 111 is connected to the mobile base 140. The mobile base 140 is configured to move (e.g., transfer) the mobile X-ray imaging system 100 from one position on the floor to another position. The mobile base 140 includes a chassis 141. In some embodiments, the chassis 141 includes a Y-shaped arm having a central arm and two arms angled relative to the longitudinal axis of the central arm, thereby forming a Y shape. The distal ends of the two arms (i.e., the ends of the two arms located away from the bifurcation of the central arm) are positioned toward the front of the mobile X-ray imaging system 100 (i.e., on the side of the mobile X-ray imaging system 100 having the C-arm frame 110). The mobile base 140 includes one or more motors 142, which are used to drive one or more wheels 144 (e.g., drive wheels) to adjust the position of the mobile base 140. In addition, the one or more wheels 144 can be free or non-motorized, as further described herein. For example, the wheels 144 may include a first group of freewheels (eg, a first group of front wheels) and a second group of freewheels (eg, a second group of front wheels). The first group of freewheels and the second group of freewheels may be located on the respective ends of the two arms of the Y-shaped arm away from the central arm.

[0036] The mobile X-ray imaging system 100 also includes a damping system 146. The damping system 146 is configured to dampen vibrations that occur when the C-arm gantry 110 (e.g., made of carbon fiber) decelerates to a stop (e.g., during a deceleration phase) during rotational movement of the C-arm gantry 110 in the orbital direction. In some embodiments, the damping system 146 is configured to dampen vibrations (e.g., oscillations) at a frequency of approximately 3 Hz. The damping system 146 includes dampers 147. For example, respective dampers 147 can be disposed between a first set of front wheels and the chassis 141 and between a second set of front wheels and the chassis 141. The location of the dampers 147 between each set of front wheels and the chassis 141 enables the damping system 146 to absorb vibrations due to rotation of the C-arm gantry 110 in a single or combined direction (e.g., in a circumferential direction 184 around the axis of rotation 182 (see Figure 2 ) and / or vibrations or oscillations (e.g., vertical oscillations) generated by decelerating the C-arm gantry 110 to a stop during rotational movement in the orbital direction 174).

[0037] The damping system 146 also includes a plate 148. For example, the first damper can be disposed between the first plate and the second plate. Moreover, the second damper can be disposed between the third plate and the fourth plate. The plate can be made of aluminum. The first damper and the second damper can each include one or more elastomers (e.g., rubber bodies). In some embodiments, the first damper and the second damper can each include three smaller elastomers. In some embodiments, the first damper and the second damper can each include a single larger elastomer. In some embodiments, each damper 147 can include 1, 2, 3 or more elastomers. In some embodiments, the damper can include two tapered portions to have a higher stiffness in the lateral direction than in the vertical direction, thereby facilitating motion control. The damper 147 is specifically tuned (e.g., based on the number and material of the elastomers) to absorb the friction caused by the C-arm frame 110 in a single or combined direction (e.g., in the circumferential direction 184 around the rotation axis 182 and / or in the orbital direction 174 (see Figure 2 )) during the rotational movement of the C-arm frame 110 to decelerate to a stop.

[0038] The damping system 146 also includes an interface 149 having a ball joint. The interface 149 can be made of aluminum. The interface 149 connects the damping system 146 to the chassis 141. For example, the first interface can be arranged on the side of the first plate opposite to the first damper. Moreover, the second interface can be arranged on the side of the third plate opposite to the second damper. The first group of free wheels can be arranged on the side of the second plate opposite to the first damper. The second group of free wheels can be arranged on the side of the fourth plate opposite to the second damper. Each ball joint is configured to rotate independently of a group of free wheels associated with it. Each damper 147, its associated plate 148 and the associated interface 149 form a damping unit. In addition, each ball joint is configured so that the damping system 146 (each damping unit) can be tilted laterally relative to a vertical axis (e.g., the rotation axis of the ball joint). This provides additional degrees of freedom for the movement of each damping unit. Each ball joint enables each associated damping unit to adapt to floor flatness (ie to counteract or compensate for the lack of flatness of the floor).Each damping unit may be located on a respective end of the two arms of the Y-shaped arm remote from the central arm.

[0039] The mobile X-ray imaging system 100 further includes a controller 150 including a processor 152 and a non-transitory memory 154. A method for controlling the mobile X-ray imaging system 100 may be stored as executable instructions 155 in the non-transitory memory 154 and executed by the processor 152.

[0040] The mobile X-ray imaging system 100 also includes a user interface 160 for receiving input from a user or operator of the mobile X-ray imaging system 100. The user interface 160 can be communicatively coupled to the controller 150 for providing commands input by the user via the user interface 160 to the controller 150. The user interface 160 can include one or more of the following: a keyboard, a mouse, a trackball, one or more knobs, one or more joysticks, a touchpad, a touch screen, one or more hard buttons and / or soft buttons, a smart phone, a microphone, a virtual reality device, etc. Thus, the user interface 160 can implement voice control and information display, such as an interactive display device (e.g., a touch screen). In some examples, the user interface 160 can be remotely located relative to the mobile X-ray imaging system 100. For example, the user interface 160 can be communicatively coupled to the controller 150 and / or the mobile X-ray imaging system 100 via a wired or wireless connection and can be located away from the mobile base 140.

[0041] As an example, the memory 154 may store processor executable software code or instructions (e.g., firmware or software) that are tangibly stored on a non-transitory computer readable medium. Additionally or alternatively, the memory 154 may store data. As an example, the memory 154 may include volatile memory (such as random access memory (RAM)) and / or non-volatile memory (such as read-only memory (ROM), flash memory, hard drive, or any other suitable optical, magnetic or solid-state storage medium or a combination thereof. In addition, the processor 152 may include multiple microprocessors, one or more "general purpose" microprocessors, one or more special purpose microprocessors, and / or one or more application specific integrated circuits (ASICS) or some combination thereof. For example, the processor 152 may include one or more reduced instruction set (RISC) or complex instruction set (CISC) processors. The processor 152 may include multiple processors and / or the memory 154 may include multiple memory devices.

[0042] For example, a user of the mobile X-ray imaging system 100 may input a desired isocenter position via the user interface 160. The controller 150 may then determine a position adjustment to one or more of the C-arm gantry 110 and the mobile base 140 to align the isocenter of the mobile X-ray imaging system 100 with the desired isocenter position. As another example, a user of the mobile X-ray imaging system 100 may directly control the position of one or more components of the mobile X-ray imaging system 100 relative to other components of the mobile X-ray imaging system 100 via the user interface 160. For example, the user may directly input a position adjustment to one or more components of the mobile X-ray imaging system 100 via, for example, a joystick or knob. As another example, the movement of the components of the mobile X-ray imaging system 100 may be preprogrammed such that the user does not directly control any movement, but rather initiates the start of a preprogrammed movement. The movement may include a complex movement with continuous movement of the isocenter.

[0043] The controller 150 is further communicatively coupled to a display device 165 for displaying one or more X-ray images acquired via the X-ray detector 107. Additionally, in some examples, one or more of the controller 150, the user interface 160, and the display device 165 may be located away from (e.g., remotely from) the remaining components of the mobile X-ray imaging system 100.

[0044] The mobile X-ray imaging system 100 may also include a cooling system 168 for cooling the X-ray source 105 and / or the X-ray detector 107. As an illustrative and non-limiting example, the cooling system 168 may include one or more flexible tubes and pumps for providing a cooling fluid to the X-ray source 105 to transfer thermal energy away from the X-ray source 105. The cooling system 168 may actively cool the X-ray source 105 and the X-ray detector 107 independently, or in some examples may cool the X-ray detector 107 through any suitable type of derivative of a cooling circuit for the X-ray source 105.

[0045] Figure 2 1 is a schematic diagram of a side view of a portion of a mobile X-ray imaging system 100 and its associated movement. The mobile X-ray imaging system 100 includes a C-arm gantry 110. The C-arm gantry 110 is made of carbon fiber. The mobile X-ray system 100 also includes an X-ray radiation source 105 coupled to a first end 170 of the C-arm gantry 110 and an X-ray detector 107 coupled to a second end 172 of the C-arm gantry 110 opposite the first end 170. A collimator 171 is coupled to the X-ray radiation source 105 and is configured to collimate an X-ray beam.

[0046] The C-arm gantry 110 is coupled to a C-arm bracket 111 (e.g., a C-arm swivel) configured to rotate the C-arm gantry 110 relative to the C-arm bracket 111 in an orbital direction 174 about an isocenter 176 (of the X-ray radiation source 105 and the X-ray detector 107). The C-arm bracket 111 includes rollers 177 (e.g., guide rollers) to guide the movement of the C-arm gantry 110 relative to the C-arm bracket 111. The structure of the C-arm bracket 111 is Figure 4 Shown in.

[0047] The C-arm carriage 111 is coupled to a pivot 178 (e.g., a pivot point or axis). The pivot 178 is coupled to a structure 180. The pivot 178 (in conjunction with the motorized system) is configured to rotate both the C-arm carriage 111 and the C-arm gantry 110 about an axis of rotation 182 (e.g., a horizontal axis) of the pivot 178, as indicated by arrow 184. In some embodiments, the structure 180 is a mobile base (e.g., Figure 1 In some embodiments, the structure 180 is an L-shaped arm connected to the mobile base. In some embodiments, the L-shaped arm can rotate around the end of the L-shaped arm connected to the mobile base.

[0048] In order to obtain good quality images when performing orbital CBCT, the travel range (α′+α″) of the C-arm gantry 110 should be approximately 200 degrees. On the contrary, it is necessary to limit the total travel range (α+α′+α″) of the C-arm gantry 110 (e.g., Figure 5 The angle α is preferably as small as possible. As the C-arm frame 110 is made of carbon fiber, the force of the guide roller 177 of the C-arm bracket 111 is limited, which helps to reduce the angle α.

[0049] However, carbon fiber is known to have a very low damping rate (eg, compared to aluminum), which leads to undesirable effects that may affect image quality. Figure 3 yes Figure 2 Schematic diagram of a side view of a portion of the mobile X-ray imaging system 100 after a deceleration phase of a C-shaped arc motion. The mobile X-ray imaging system 100 is shown in FIG. Figure 2 As described in Figure 3As depicted, the C-arm gantry 110 has moved or rotated in the track direction 174 until the C-arm gantry 110 decelerates and reaches the end of the C-arm motion or travel path. Since the C-arm gantry 110 is made of carbon fiber (and has a very low damping rate), the deceleration and stopping of the C-arm motion in the track direction 174 causes a large amount of vibration (e.g., oscillation, as indicated by reference numeral 181) for several seconds due to the force 183 generated by the X-ray radiation source 105 (e.g., weighing approximately 60 kilograms) away from the C-arm bracket 111 when the C-arm motion stops. Vibrations may also occur before the C-arm motion ends. Vibrations may also occur when the C-arm is not fully extended and the pivot 178 is angled (i.e., rotated about the pivot 178). In the absence of a damping system, these vibrations will affect the image quality (e.g., produce blur).

[0050] Figure 4 yes Figure 2 The C-arm bracket 111 of the mobile X-ray imaging system 100 is arranged along Figure 2 Schematic diagram of a cross section taken along line 4-4. Figure 4 As depicted, a portion of the C-arm gantry 110 is disposed within the C-arm carrier 111. In particular, a portion of the C-arm gantry 110 flanks the wall 185 of the C-arm bracket 111. The C-arm gantry 110 has rails 186 on opposite sides of the C-arm gantry 110. Rods 188 are disposed along the rails 186. Guide rollers 177 (e.g., bearings) are coupled to each wall 185 and interact with corresponding rods 188 to move along the rails 186, thereby moving the C-arm gantry 110. As described above, the C-arm gantry 110 having the carbon fiber constrains the force of the guide rollers 177 of the C-arm bracket 111, so that the C-arm gantry 110 can be reduced. Figure 2 The angle α is shown.

[0051] Figure 5 The technician and the patient Figure 2 Schematic diagram of the interaction of the mobile X-ray imaging system 100 in FIG. The mobile X-ray imaging system 100 is as shown in FIG. Figure 2 As described in Figure 5 As depicted, a patient 190 (e.g., a subject) is placed on a table 192 for imaging using the mobile X-ray imaging system 100. Figure 5As depicted, technician 194 is helping to position patient 190. In some cases, the head of technician 194 may interfere with end 172 of C-arm gantry 110 during movement of the C-arm in orbital direction 174, as indicated by reference numeral 196. Also, in some cases, the legs of technician 194 may interfere with end 170 of C-arm gantry 122 during movement of the C-arm in orbital direction 174, as indicated by reference numeral 198. For these reasons, as described above, the total range of travel of C-arm gantry 110 is (α+α′+α″), with angle α being as small as possible.

[0052] Figure 6 The invention has a mobile base 140 and a damping system 146. Figure 2 Schematic diagram of a side view of a mobile X-ray imaging system 100. The mobile X-ray imaging system 100 is as shown in Figure 2As described in the figure. As depicted, the structure 180 is a mobile base 140. The C-arm bracket 111 is connected to the mobile base 140 via a pivot 178. The mobile base 140 is configured to move (e.g., transfer) the mobile X-ray imaging system 100 from one position on the floor 200 to another position. The mobile base 140 includes a chassis 141. In some embodiments, the chassis 141 includes a Y-shaped arm having a central arm and two arms angled relative to the longitudinal axis of the central arm, thereby forming a Y shape. The distal ends of the two arms (i.e., the ends of the two arms positioned away from the bifurcation of the central arm) are positioned toward the front side 202 of the mobile X-ray imaging system 100 (i.e., on the side of the mobile X-ray imaging system 100 having the C-arm frame 110). As depicted, the mobile base 140 includes wheels 144 located at both the rear side 204 and the front side 202 of the mobile X-ray imaging system 100. Although only a single wheel 144 is depicted at both the rear side 204 and the front side 202, multiple wheels 144 and / or multiple sets of wheels 144 may be located at both the rear side 204 and the front side 202 of the mobile base 140 of the mobile X-ray imaging system 100. For example, one or more drive wheels 206 or one or more sets of drive wheels 206 may be located at the rear side 204 of the mobile base 140. One or more motors may be used to drive the one or more drive wheels 206 or one or more sets of drive wheels 206 to adjust the position of the mobile base 140 (and thus the mobile X-ray imaging system 100). Also, one or more non-motorized or free wheels 208 (e.g., front wheels) or one or more sets of free wheels 208 (e.g., front wheels) may be located at the front side 202 of the mobile base 140. Furthermore, one or more wheels 144 may be free or non-motorized, as further described herein. For example, the freewheel 208 may include a first group of freewheels 208 (eg, a first group of front wheels) and a second group of freewheels 208 (eg, a second group of front wheels). The first group of freewheels 208 and the second group of freewheels 208 may be located on respective ends of the two arms of the Y-shaped arm away from the central arm.

[0053] The mobile X-ray imaging system 100 also includes a damping system 146. The damping system 146 is configured to damp vibrations that occur when the C-arm gantry 110 (e.g., made of carbon fiber) decelerates to a stop (e.g., during a deceleration phase) during rotational movement of the C-arm gantry 110 (e.g., made of carbon fiber) in the track direction 174. In some embodiments, the damping system 146 is configured to damp vibrations (e.g., oscillations) at a frequency of approximately 3 Hz. The damping system 146 includes one or more damping units 210. Although only one damping unit 210 is shown, the damping system 146 may include multiple damping units 210. For example, respective damping units 210 may be disposed between the first set of front wheels 208 and the chassis 141 and between the second set of front wheels 208 and the chassis 141 (see Figure 7 and Figure 8 The position of the damping unit 210 between each set of front wheels and the chassis 141 enables the damping system 146 to absorb the impact caused by the C-arm frame 110 in a single or combined direction (for example, in the circumferential direction 184 around the rotation axis 182 and / or in the track direction 174 (see Figure 2 )) during the rotational movement of the C-arm frame 110 to decelerate to a stop and produce vibrations or oscillations (eg, vertical oscillations).

[0054] Each damping unit 210 includes a damper. Each damping unit 210 also includes a plate. For example, the first damper can be disposed between the first plate and the second plate. Moreover, the second damper can be disposed between the third plate and the fourth plate. The plate can be made of aluminum. The first damper and the second damper can each include one or more elastomers (e.g., rubber bodies). In some embodiments, the first damper and the second damper can each include three smaller elastomers. In some embodiments, the first damper and the second damper can each include a single larger elastomer. In some embodiments, each damper can include 1, 2, 3 or more elastomers. The dampers are specifically tuned (e.g., based on the number and material of the elastomers) to absorb the impact caused by the C-arm frame 110 in a single or combined direction (e.g., in the circumferential direction 184 around the rotation axis 182 and / or in the orbital direction 174 (see Figure 2 )) during the rotational movement of the C-arm frame 110 to decelerate to a stop.

[0055] Each damping unit 210 also includes an interface with a ball joint. The interface connects the damping unit 210 to the chassis 141. For example, the first interface can be arranged on the side of the first plate opposite to the first damper. Moreover, the second interface can be arranged on the side of the third plate opposite to the second damper. The first group of free wheels 208 can be arranged on the side of the second plate opposite to the first damper. The second group of free wheels 208 can be arranged on the side of the fourth plate opposite to the second damper. Each ball joint is configured to rotate independently of a group of free wheels 208 associated with it. Each damper, its associated plate and associated interface (and ball joint) form a corresponding damping unit 210. In addition, each ball joint is configured so that each damping unit 210 can be tilted laterally relative to a vertical axis (e.g., the rotation axis of the ball joint). This provides additional degrees of freedom for the movement of each damping unit 210. Each ball joint enables each associated damping unit 210 to adapt to the floor 200. Each damping unit 210 may be located on a respective end of the two arms of the Y-shaped arm away from the central arm.

[0056] Figure 7 yes Figure 6Schematic diagram of a top view of the chassis 141 of the mobile base of the X-ray imaging system 100. Figure 7 As depicted, the chassis 141 includes a Y-shaped arm 212 having a central arm 214 and two arms 216, 218 that are angled (greater than 0 degrees) relative to a longitudinal axis 221 of the central arm 214. The central arm 214 and the two arms 216, 218 form a Y shape. Distal ends 222, 224 of the two arms 216, 218 (i.e., ends 222, 224 of the two arms 216, 218 that are located away from a bifurcation (indicated by reference numeral 226) of the central arm 214) are located toward the front side 202 of the mobile X-ray imaging system 100 (i.e., on the side of the mobile X-ray imaging system 100 having the C-arm frame 110, see FIG. 1 ). Figure 6 ).

[0057] like Figure 7 As depicted, the damping system 146 includes a plurality of damping units 210. In particular, the damping system 146 includes a first damping unit 228 located below the end 222 of the arm 216 of the Y-shaped arm 212. The damping system 146 also includes a second damping unit 230 located below the end 224 of the arm 218 of the Y-shaped arm 212. As described above, each damping unit 210 includes a plate, a damper disposed between the plates, and an interface having a ball joint. The first damping unit 228 is disposed between the end 222 of the arm 216 of the Y-shaped arm 212 and the first set of freewheels. The second damping unit 230 is disposed between the end 224 of the arm 218 of the Y-shaped arm 212 and the second set of freewheels. The position of the damping unit 210 between each set of front wheels and the respective ends 222, 224 of the arms 216, 218 of the Y-shaped arm 212 enables the damping system 146 to absorb the impact caused by the C-arm frame in a single or combined direction (for example, in the circumferential direction 184 around the rotation axis 182 and / or in the track direction 174 (see Figure 2 )) caused by decelerating the C-arm frame to a stop during rotational movement.

[0058] Figure 8 is connected to Figure 6 1 is a perspective view of a damping unit 210 of a chassis 141 of a mobile base 140 of a mobile X-ray imaging system 100 in FIG. In particular, a damping unit 210 coupled to a chassis 141 of a mobile base 140 of a mobile X-ray imaging system 100 is depicted. Figure 7 The damping unit 230 is provided at the end 224 of the arm 218 of the Y-shaped arm 212. The description of the damping unit 230 is applicable to Figure 7 The damping unit 228 in FIG. Figure 8As depicted, the damping unit 210 is located below the end 224 of the arm 218 of the Y-shaped arm 212. In particular, the damping unit 210 is located (e.g., vertically) between the end 224 of the arm 218 of the Y-shaped arm 212 and a set 232 of free wheels 208 (e.g., a set of front wheels). The set 232 of free wheels 208 may include three wheels 208 (although in Figure 8 Only two wheels are visible in the group 232). The number of wheels 208 in the group 232 may vary. As described above, the damping unit 230 (and the damping unit 228) are positioned so that the damping system 146 can absorb the impact caused by the C-arm frame in a single or combined direction (for example, in the circumferential direction 184 around the rotation axis 182 and / or in the orbital direction 174 (see FIG. Figure 2 )) caused by decelerating the C-arm frame to a stop during rotational movement.

[0059] like Figure 8 As depicted, the damping unit 230 includes a first plate 234 and a second plate 236. The plates 234 and 236 may be made of aluminum. The damper 147 is disposed between the first plate 234 (e.g., a top plate) and the second plate 236 (e.g., a bottom plate). As depicted, the damper 147 includes three elastic bodies (e.g., rubber bodies) 238 (although in Figure 8 In some embodiments, the diameter of each elastomer 238 can increase in the direction from the first plate 234 to the second plate 236. In some embodiments, the damper 147 can include a single larger elastomer 238. The damper 147 is specifically tuned (e.g., based on the number and material of the elastomers) to absorb the C-arm frame in a single or combined direction (e.g., in the circumferential direction 184 about the rotation axis 182 and / or in the orbital direction 174 (see FIG. Figure 2 ))'s rotational movement causing the C-arm frame to decelerate to a stop.

[0060] Each elastomer 238 is coupled to the first plate 234 via a corresponding fastener 240 (e.g., a nut and bolt) extending through a corresponding opening in the first plate 234. Each wheel 208 in the set 232 of freewheels 208 is coupled to a side 242 of the second plate 236 opposite the damper 147 via a corresponding fastener 244 (e.g., a nut and bolt) extending through a corresponding opening in the second plate 236.

[0061] The damping unit 230 also includes an interface 149 having a ball joint. As depicted, the interface 149 is connected to a side 246 of the first plate 234 opposite to the damper 147. The interface 149 is connected to the end 224 of the arm 218 of the Y-shaped arm 212 via a plurality of fasteners 248 extending through the opening in the end 224 of the arm 218. The ball joint connects the interface 149 to the first plate 234. The ball joint is configured to rotate independently of the group 232 of free wheels 208. In addition, the ball joint is configured so that the damping unit 230 can be tilted laterally relative to the vertical axis (e.g., the axis of rotation of the ball joint). This provides additional degrees of freedom for the movement of the damping unit 230. Each ball joint enables the damping unit 230 to adapt to the floor 220.

[0062] Fig. 9 2 is a schematic diagram of one side of a damping unit 210 (e.g., having a damper 147 including a single elastic body 238). As depicted, the single elastic body 238 (having a ratio of Figure 8 Each of the three elastic bodies 238 in the first plate 234 and the second plate 236 has a larger area. The interface 149 is connected to the first plate 234. As depicted, the diameter 250 of the single elastic body 238 increases in the direction 252 from the first plate 234 to the second plate 236. The function of the single elastic body 238 is similar to Figure 8 The three elastomers 238 in it.

[0063] Figures 10 to 14 2 are different views of the damping unit 210. Figures 10 to 14 As depicted, the damping unit 210 is coupled to the set 232 of freewheels 208 (e.g., multiple pairs 254 of freewheels 208). The damping unit 210 includes a first plate 234 and a second plate 236. The plates 234, 236 can be made of aluminum. The damper 147 is disposed between the first plate 234 (e.g., a top plate) and the second plate 236 (e.g., a bottom plate). As depicted, the damper 147 includes three elastomers (e.g., rubber bodies) 238. In some embodiments, the diameter 250 of each elastomer 238 can increase in a direction 252 from the first plate 234 to the second plate 236 (e.g., a ... Fig.11 In some embodiments, the damper 147 may include a single larger elastic body 238, such as Fig. 9 The damper 147 is specifically tuned (e.g., based on the amount and material of the elastomer) to absorb the vibrations caused by the C-arm frame in a single or combined direction (e.g., in a circumferential direction 184 about the rotation axis 182 and / or in an orbital direction 174 (see Figure 2 ))'s rotational movement causing the C-arm frame to decelerate to a stop.

[0064] Each elastomer 238 is coupled to the first plate 234 via a corresponding fastener 240 (e.g., a nut and bolt) extending through a corresponding opening in the first plate 234. Each pair 254 of the set 232 of freewheels 208 is coupled to a side 242 of the second plate 236 opposite the damper 147 via a corresponding fastener 244 (e.g., a nut and bolt) extending through a corresponding opening in the second plate 236.

[0065] The damping unit 210 also includes an interface 149 having a ball joint 256. As depicted, the interface 149 is coupled to a side 246 of the first plate 234 opposite the damper 147. The interface 149 is coupled to the end of the arm of the Y-shaped arm via a plurality of fasteners 248 extending through openings in the ends of the arms. The ball joint 256 couples the interface 149 to the first plate 234. The ball joint 256 is configured to rotate independently of the set 232 of freewheels 208. In addition, the ball joint 256 is configured to enable the damping unit 210 to rotate relative to a vertical axis 261 (e.g., an axis of rotation of the ball joint 256) (see Fig.14 ) is tilted laterally, as indicated by arrow 263. This provides an additional degree of freedom of movement of the damping unit 210. The ball joint 256 enables the damping unit 210 to adapt to the floor. The ball joint 256 includes a stud 258 extending from a side 260 of the first plate 234 to the side 246. On the side 246 of the first plate 234, the stud 258 extends through a socket 262 and a washer 264 and is secured to the first plate 234 via a fastener 266 (e.g., a nut).

[0066] The technical effects of the disclosed embodiments include providing a damping system located between (e.g., vertically located) a Y-arm of a chassis and a front wheel coupled to the Y-arm, the damping system enabling absorption of oscillations (e.g., vertical oscillations) or vibrations when the C-arm approaches a stop during a deceleration phase of the C-arm's motion. In particular, the damping system enables utilization of a C-arm made of carbon fiber (which has a very low damping coefficient relative to aluminum) as part of an interventional C-arm medical imaging system configured to rapidly perform CBCT and decelerate with similar timing compared to a C-arm medical imaging system constructed with a C-arm made of aluminum. Damping of vibrations when the C-arm decelerates to a stop during movement of the C-arm in a single or combined direction enables high quality images (e.g., without blurriness).

[0067] Reference is made to the technology presented and claimed herein and applied to physical and specific examples of a practical nature that clearly improves upon the present state of the art and, therefore, is not abstract, intangible, or purely theoretical. In addition, if any claim appended to the end of this specification contains one or more elements designated as "means for [performing] the function of ..." or "steps for [performing] the function of ...," it is intended that such elements be interpreted under 35 U.S.C. § 112(f). However, for any claim containing elements designated in any other manner, it is not intended that such elements be interpreted under 35 U.S.C. § 112(f).

[0068] This written description uses examples to disclose the subject matter, including the best mode, and also to enable those skilled in the art to practice the subject matter, including making and using any devices or systems and performing any included methods. The patentable scope of the subject matter is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insignificant differences from the literal language of the claims.

Claims

1. A mobile X-ray imaging system (100), the mobile X-ray imaging system comprising: X-ray radiation source (105); X-ray detector (107); A C-shaped arm (110) having the X-ray radiation source (105) arranged at a first end and the X-ray radiation source (105) arranged at a second end opposite to the first end. X-ray detector (107); A C-arm rotating device (111) coupled to the C-arm (110) and configured to rotate the C-arm (110) in an orbital direction (174) relative to the C-arm rotating device (111); and A mobile base (140) is connected to the C-arm rotating device (111) via a pivot point (178), the pivot point being configured to rotate both the C-arm rotating device (111) and the C-arm (110) relative to the mobile base (140), wherein the mobile base (140) is configured to move the mobile X-ray imaging system (100), and wherein the mobile base (140) includes a damping system (146) configured to dampen vibrations that occur when the C-arm (110) slows down to a stop during rotational movement of the C-arm (110) in a single or combined direction.

2. The mobile X-ray imaging system (100) according to claim 1, wherein the mobile base (140) includes a chassis (141) and at least one set of wheels (208) connected to the chassis (141), and the damping system (146) includes a damper (147) disposed between the at least one set of wheels (208) and the chassis (141).

3. The mobile X-ray imaging system (100) according to claim 2, wherein the chassis (141) includes a Y-shaped arm (212), the Y-shaped arm having a central arm (214) and two arms (216, 218) angled relative to a longitudinal axis (221) of the central arm (214), wherein the mobile base (140) includes both a first set of wheels (208) and a second set of wheels (208) coupled to the chassis (141) at respective ends of the two arms (216, 218) away from the central arm (214), and the damping system (146) includes both a first damper (147) disposed between the first set of wheels (208) and the chassis (141) and a second damper (147) disposed between the second set of wheels (208) and the chassis (141).

4. The mobile X-ray imaging system (100) according to claim 2, wherein the damper (147) includes at least one elastic body (238).

5. The mobile X-ray imaging system (100) according to claim 4, wherein the damper (147) comprises more than one elastic body (238).

6. The mobile X-ray imaging system (100) according to claim 4, wherein the damping system (146) includes a first plate (234), a second plate (236) and the at least one elastomer (238), and the at least one elastomer is arranged between the first plate (234) and the second plate (236).

7. The mobile X-ray imaging system (100) according to claim 6, wherein the damping system (146) includes an interface (149) having a ball joint (256), which is connected to the first plate (234) on a first side of the first plate (234) opposite to the at least one elastomer (38), the interface (149) connecting the damping system (146) to the chassis (141), the ball joint (256) being configured to rotate independently of the at least one set of wheels (208), and the ball joint (256) being configured to enable the damping system (146) to be tilted laterally relative to the vertical axis (261) to offset the lack of flatness of the surface on which the mobile X-ray imaging system (100) is disposed.

8. The mobile X-ray imaging system (100) of claim 7, wherein the at least one set of wheels (208) is coupled to a second side of the second plate (236) opposite to the at least one elastic body (238).

9. The mobile X-ray imaging system (100) according to claim 1, wherein the C-arm (110) is made of carbon fiber.

10. The mobile X-ray imaging system (100) of claim 1, wherein the damping system (146) is configured to attenuate vibrations at a frequency of approximately 3 Hertz.

11. A damping system (146) for a mobile X-ray imaging system (100), the damping system comprising: first plate (234); a second plate (236); and A first damper (147), the first damper comprising at least one elastic body (238) arranged between the first plate (234) and the second plate (236), wherein the mobile X-ray imaging system (100) comprises: a C-arm (110), the C-arm being made of carbon fiber and having an X-ray radiation source (105) arranged on a first end and an X-ray detector (107) arranged on a second end opposite to the first end; a C-arm rotating device (111), the C-arm rotating device being coupled to the C-arm (110) and being configured to move the C-arm (110) relative to the C-arm rotating device (111). 11) rotates in an orbital direction (174); and a mobile base (140), the mobile base being connected to the C-arm rotating device (111) via a pivot point (178), the pivot point being configured to rotate both the C-arm rotating device (111) and the C-arm (110) relative to the mobile base (140), wherein the mobile base (140) is configured to move the mobile X-ray imaging system (100), and wherein the damping system (146) is configured to attenuate vibrations that occur when the C-arm (110) decelerates to a stop during rotational movement of the C-arm (110) in a single or combined direction.

12. The damping system (146) of claim 11, wherein the first damper (147) comprises three elastic bodies (238).

13. The damping system (146) according to claim 12, wherein the damping system (146) further includes a third plate (234), a fourth plate (236) and the second damper (147), the second damper including three additional elastic bodies (238) arranged between the third plate (234) and the fourth plate (236).

14. The damping system (146) of claim 13, wherein the second plate (236) is configured to couple to a first set of wheels (208) and the fourth plate (236) is configured to couple to a second set of wheels (208).

15. A damping system (146) according to claim 14, wherein the damping system (146) further includes a first interface (149) having a first ball joint (256) and a second interface (149) having a second ball joint, the first interface being connected to the first plate (234) on a first side of the first plate (234) opposite to the three elastomers (238), and the second interface being connected to the third plate (234) on a second side of the third plate (234) opposite to the additional three elastomers (238), wherein the first interface (149) and the second interface (149) are both configured to connect the damping system (146) to a chassis (141) of the mobile base (140).

Images