Medical vehicle and method for operating a medical vehicle
By introducing a reverse rotation device into a medical vehicle to compensate for the angular momentum of the medical imaging system, the non-constant force problem encountered by the medical imaging system during movement is solved, and safe medical imaging during movement is achieved.
Patent Information
- Application Number
- CN202380065513.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-09-12
- Filing Date
- 2023-08-29
- Publication Date
- 2025-04-25
AI Technical Summary
In medical transportation, non-constant forces experienced by the medical imaging system during movement, especially the slewing torque and related forces, may lead to strain and unforeseen movement on the support, and even cause the CT system to detach from its support.
By introducing a reverse rotation device, including at least one rotor, in a medical vehicle, to compensate for the angular momentum of the rotating member such that the total angular momentum of the rotating member and the reverse rotation device is almost equal to zero, thereby reducing the rotational force and torque.
The safety and stability of medical imaging during the movement of medical vehicles is achieved, reducing the impact of slewing force on the vehicle, and avoiding the risk of CT system disengaging from the support.
Smart Images
Figure CN119894474A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a medical vehicle comprising a base vehicle and a compartment having a compartment and a medical imaging system, wherein the medical imaging system comprises at least one rotating component. The invention also relates to a method for operating the medical vehicle. Background Art
[0002] Mobile computed tomography (CT) systems can be used in mobile stroke units to diagnose stroke in a timely manner and differentiate between ischemic and hemorrhagic types. This enables the correct form of treatment to be planned before arriving at the hospital, and treatment to be started immediately after arriving at the hospital. Such mobile stroke units can be installed in stroke ambulances and trucks, on ships and helicopters, and even in spacecraft.
[0003] During transport, the imaging system can be used for some at least low-quality imaging in order to optimize time and accessibility. But at the same time, the imaging system will be subjected to forces caused by the movement of the vehicle. During operation in a stationary setting, the associated forces are constant, and as such are taken into account in the construction of the system. However, if a large part of the system is rotating (for example, when a CT or X-ray system is scanning while the vehicle is traveling), additional non-constant forces are caused on the rotating part: acceleration forces, and especially slewing torques and related forces. This is especially true for CT systems with large and rapidly rotating racks (herein referred to as CT racks) and rapidly rotating anodes in X-ray tubes. A typical CT rack weighs about 1 ton and rotates at up to 4 Hz. The slewing torque caused by a CT in a mobile vehicle may cause excessive forces on the support of the CT system. The magnitude and direction of the slewing torque are related to the mass, mass distribution and rotation speed of the rotating component and the rate and direction of change of the axis of the rotating component, which is related to the travel speed and the radius of curvature of the road in the vehicle.
[0004] The gyroscopic torque will therefore cause strains on the supports and actually change the driving behavior of the vehicle. A rotating component that is forced to change the direction of its axis of rotation will break perpendicular to the force. If the axis of rotation of the rotating component is in the longitudinal direction of the vehicle and the vehicle makes a turn, the nose of the vehicle will be raised or lowered by the gyroscopic torque, which is proportional to the angular velocity of the rotating component, the moment of inertia of the rotating component and the angular velocity of the vehicle traveling around the curve.
[0005] In the event of an accident or a sudden change of direction of travel into a sharp turn of a road vehicle, the rate at which the rotating parts are forced to change direction may be particularly high, and thus the torques and associated forces may lead to unforeseen movements of the entire vehicle. Furthermore, the forces may exceed the mechanical limits of the supports and cause the CT system to detach from its supports. Summary of the invention
[0006] It is therefore an object of the present invention to provide a medical vehicle having an improved and safer capability to perform medical scans during operation of the medical vehicle.A further aspect of the present invention is to provide a corresponding method for operating a medical vehicle.
[0007] The objects of the invention are solved by the subjects of the independent claims, wherein further embodiments are incorporated in the dependent claims.
[0008] In one aspect of the invention, a medical vehicle is provided comprising a base vehicle and a compartment, wherein the compartment comprises a compartment chamber and a medical imaging system. The primary purpose of the medical vehicle may be medical imaging, i.e., performing medical scans using the medical imaging system. Here, the medical vehicle may be optimized to perform medical scans during the movement of the medical vehicle, and / or the medical vehicle may be optimized to perform medical scans when the medical vehicle is stopped while being configured to perform medical scans during the movement of the medical vehicle. Alternatively or additionally, the primary purpose of the medical vehicle may be a non-medical vehicle, such as a cruise ship having a medical imaging system as part of its medical equipment.
[0009] The base vehicle is a vehicle that transports a compartment with a compartment and a medical imaging system, i.e., the base vehicle is a medical vehicle without a compartment. As described above, the base vehicle may be specifically configured for use with a medical imaging system, such as a truck with a medical imaging system, and / or the base vehicle may have a non-medical primary purpose, such as a cruise ship.
[0010] The compartment is part of or attached to the base vehicle. In other words, the compartment can be a virtual compartment defined by the volume of an existing compartment of the base vehicle, or can include physical walls. In the latter case, the compartment can be permanently attached to the base vehicle, or can be removable so that it can be placed separately from the base vehicle and / or different compartments can be attached to the base vehicle. The compartment can be just large enough to fit a medical imaging system, making the compartment very small. The compartment can also provide a larger compartment, for example, to provide additional space next to a medical imaging system, such as for medical staff.
[0011] The medical imaging system includes at least one rotating component. The rotating component(s) may be configured to rotate around an axis of rotation. The medical imaging system may also include a bearing that supports the rotating component(s) and many other components depending on the exact type of the medical imaging system.
[0012] The medical vehicle also includes a counter-rotating device having at least one rotor. The (one or more) rotors may be configured to rotate around an axis of rotation. The counter-rotating device is configured to be operated so that the sum of the angular momentum of the (one or more) rotating parts and the angular momentum of the counter-rotating device is almost equal to or exactly equal to zero. The operation of the counter-rotating device may be performed by controlling the angular velocity of the (one or more) rotors of the counter-rotating device. As an example, the moment of inertia of the (one or more) rotating parts and the (one or more) rotors and the angular velocity of the (one or more) rotating parts may be known, and then the angular velocity of the (one or more) rotors required may be easily calculated so that the angular momentum of the (one or more) rotors compensates the angular momentum of the (one or more) rotating parts. In this context, "almost equal to zero" refers to a significant reduction in total angular momentum, for example, the sum of the angular momentum of the (one or more) rotating parts and the counter-rotating device can be less than 10% of the angular momentum of the (one or more) rotating parts, preferably less than 5% of the angular momentum of the (one or more) rotating parts, and most preferably less than 1% of the angular momentum of the (one or more) rotating parts.
[0013] Thus, the angular momentum of the rotating component(s) is compensated and the net angular momentum is reduced (or neutralized) to enable and provide safe medical imaging during transport. Specifically, gyroscopic forces that may occur when the medical imaging system is rotated (e.g., when driving around a curve) are minimized.
[0014] According to an embodiment, the base vehicle is a truck, a train, an airplane, a helicopter, a spacecraft, an autonomous flying object and / or a ship. In all of the vehicles described, the medical imaging system can be installed, transported and used during operation of the medical vehicle. Rotation of the medical imaging system may result from, for example, curves on the route, potholes, hills, turbulence, waves or uncontrolled motion during an accident.
[0015] According to an embodiment, the medical imaging system is a computed tomography CT system, a positron emission tomography-computed tomography PET-CT system, or an X-ray system. However, the medical imaging system may be any medical imaging system including a rotating component. In the case of a CT system or a PET-CT system, one rotating component is a CT gantry, and the other rotating component may be an X-ray anode. In the case of an X-ray system, one rotating component is an X-ray anode. In the case of a CT system or a PET-CT system, the angular momentum of the CT gantry may be greater than the angular momentum of the X-ray anode, that is, the total angular momentum of the rotating components may be dominated by the CT gantry. In this case, the (one or more) rotors of the counter-rotating device may rotate in a direction opposite to the CT gantry. In addition, since the angular momentum of the X-ray anode may be less than the angular momentum of the CT gantry, the turning force and torque caused by the X-ray anode may be less than the turning force and torque of the CT gantry, and one or more rotors that compensate for the combined angular momentum of the CT gantry and the X-ray anode may be sufficient. In particular, if the rotation axis of the X-ray anode is parallel to the rotation axis of the CT gantry, the rotation axis of the rotor(s) may also be parallel to the rotation axis of the CT gantry. The rotation speed of the rotor(s) may then be controlled based on the known moments of inertia of the CT gantry and the X-ray anode and their respective angular velocities.
[0016] According to an embodiment, the moment of inertia of at least one of the rotors is adjustable. In particular, the adjustment can be performed by changing the distance of the mass of the rotor from the axis of rotation. Operating the counter-rotating device so that the sum of the angular momentum of the (one or more) rotating parts and the angular momentum of the counter-rotating device is almost equal to or exactly equal to zero can then be performed by adjusting the moment of inertia of at least one of the (one or more) rotors while rotating them at a predetermined angular velocity, or adjusting the moment of inertia of at least one of the rotors and controlling the angular velocity of the (one or more) rotors.
[0017] According to an embodiment, at least one of the rotors is assigned to the base vehicle and / or the compartment. That is, the rotor is not part of the medical imaging system. The rotor assigned to the base vehicle is particularly useful when the base vehicle is suitable for use with different medical imaging systems. The rotor can then be used to compensate for the angular momentum of any of the medical imaging systems in the medical imaging system. When it is too difficult and / or too expensive to equip a medical imaging system with such a rotor, a rotor assigned to the compartment but not to the medical imaging system can be used.
[0018] According to an embodiment, the rotation axis of at least one of the rotors is adjustable. The rotation axis can then be adjusted to match different rotation axes (or effective rotation axes) of different medical imaging systems, in particular when the base vehicle is configured for use with different medical imaging systems. Alternatively or additionally, the rotation axis can be adjusted when the (effective) rotation axis of (one or more) rotating components changes, for example when the CT gantry is tilted.
[0019] Alternatively or additionally, there may be two or more rotors whose axes of rotation are not parallel to each other, in particular perpendicular to each other. Both the direction and the amplitude of the angular momentum of the counter-rotating device may then be adjusted by controlling the angular velocity of these rotors.
[0020] According to an embodiment, at least one of the rotors is assigned to a medical imaging system. Thus, compensation of angular momentum may be performed within the medical imaging system and components of the medical vehicle external to the medical imaging system may not be subjected to gyroscopic forces or torques when the medical vehicle performs a rotational movement.
[0021] According to an embodiment, at least one of the rotors is an active imaging rotor. As an example, two identical CT gantries may be configured adjacent to each other and driven to rotate in opposite directions. In this case, one of the CT gantries is considered a rotating component and the other is considered a rotor. If the two CT gantries rotate at the same angular velocity, the net angular momentum is zero. As another example, a first CT gantry may be sandwiched by two smaller CT gantries, wherein the smaller CT gantries rotate in the opposite direction to the first CT gantry. For example, when the smaller CT gantries each have half the mass of the first CT gantry and rotate at the same angular velocity, a net angular momentum of zero may be achieved.
[0022] According to an embodiment, at least one of the rotors is an annular layer and is arranged outside, adjacent to and coaxially with one of the rotating parts. Since the rotor has a larger radius than the rotating part surrounded by the rotor, a comparably lower mass of the rotor may be sufficient to achieve a sufficiently large moment of inertia so that the angular momentum of the rotating part can be compensated at a reasonable angular velocity. Moreover, in particular when a material with a high density is used for the rotor, this may result in a thin rotor. As an example, the rotor may be a thin ring surrounding a CT gantry.
[0023] According to an embodiment, at least one of the rotors is arranged on an axial side of one of the rotating parts. The (one or more) rotors may be arranged on the same rotation axis as the rotating part. In particular, two of the rotors are arranged symmetrically, one on each axial side of one of the rotating parts. Thus, the rotating part is sandwiched by the rotors. As an example, two rotors may be arranged on each side of a CT gantry.
[0024] When the rotating component(s) and the rotor(s) share a rotation axis, acceleration and / or deceleration of the rotating component(s) and the rotor(s) may be performed relative to each other, i.e., the torque that accelerates or decelerates the rotating component(s) is applied to the rotor(s) and vice versa. Thus, only little or even no torque is applied to the vehicle.
[0025] In another aspect of the present invention, a basic vehicle for a medical vehicle is provided. The medical vehicle includes a compartment for a medical imaging system, or the basic vehicle is suitable for connection with a compartment having a medical imaging system. The medical imaging system includes at least one rotating component, and the basic vehicle includes a counter-rotating device having at least one rotor. The counter-rotating device is configured to be operated so that the sum of the angular momentum of (one or more) rotating components and the angular momentum of the counter-rotating device is almost equal to or exactly equal to zero. Therefore, the basic vehicle can be used with different medical imaging systems, and the counter-rotating device compensates for the angular momentum of the medical imaging system so that the angular momentum of the medical imaging system does not adversely affect the movement of the basic vehicle. The basic vehicle can be connected to the medical imaging system, for example, by a wired or wireless connection, to receive data related to the angular momentum of the medical imaging system (e.g., the angular velocity of the rotating component), so that the angular velocity of the rotor can be controlled to compensate for the angular momentum. Further details and advantages are given in the above description of the medical vehicle.
[0026] In another aspect of the present invention, a medical imaging system for a medical vehicle is provided. The medical imaging system includes at least one rotating component and a counter-rotating device having at least one rotor. The counter-rotating device is configured to be operated so that the sum of the angular momentum of (one or more) rotating components and the angular momentum of the counter-rotating device is almost equal to or exactly equal to zero. Therefore, the medical imaging system can be used in a medical vehicle without adversely affecting the movement of the medical vehicle due to the gyroscopic force. Moreover, due to the cancellation of angular momentum, the safety of the medical imaging system is improved. Further details and advantages are given in the above description of the medical vehicle.
[0027] In another aspect of the invention, a method for operating a medical vehicle according to the above description is provided. According to the method, the angular momentum of (one or more) rotating parts is determined, and the angular velocity of (one or more) rotors is controlled so that the sum of the angular momentum of (one or more) rotating parts and the angular momentum of the counter-rotating device is almost equal to or exactly equal to zero. The determination of the angular momentum of (one or more) rotating parts can be performed by providing the moment of inertia of (one or more) rotating parts (for example, by user input) and by determining (for example, measuring) the angular velocity of (one or more) rotating parts. In addition, the moment of inertia of (one or more) rotors can be provided, for example, by user input. With this information, the angular velocity of (one or more) rotors required to compensate for the angular momentum of (one or more) rotating parts can be easily calculated. Further details and advantages are given in the above description of the medical vehicle.
[0028] According to an embodiment, the angular velocity of the rotor(s) is dynamically controlled. In particular, the angular velocity of the rotating component(s) may be periodically determined and the angular velocity of the rotor(s) adjusted accordingly.
[0029] According to an embodiment, the control of the angular velocity of the (one or more) rotors is synchronized with the control of the angular velocity of the (one or more) rotating parts. As an example, for example, when scanning starts or stops, the control information provided to change the angular velocity of the (one or more) rotating parts can be directly provided to the counter-rotating device, so that the control of the angular velocity of the (one or more) rotors can be synchronized with the control of the angular velocity of the (one or more) rotating parts. As another example, the control information provided by the base vehicle that causes the change of the angular velocity of the (one or more) rotating parts (for example, the reduction of the angular velocity due to the upcoming curved road) can be directly provided to the counter-rotating device. As another example, the control information indicating the accident can be provided by the base vehicle, so that the (one or more) rotating parts and the (one or more) rotors should be stopped synchronously with each other and as quickly as possible. This is particularly effective when the deceleration of the rotating parts is performed against the (one or more) rotors, and vice versa. Therefore, it is possible to prevent the (one or more) rotating parts (for example, CT gantry) from being separated from their bearings.
[0030] It shall be understood that a preferred embodiment of the invention can also be any combination of the dependent claims with the respective independent claim.
[0031] These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] In the following, preferred embodiments of the present invention will be described by way of example only and with reference to the accompanying drawings, in which:
[0033] Figure 1a shows a longitudinal cross section through an embodiment of a medical vehicle;
[0034] Figure 1b Shown through Figure 1a A transverse cross-section of a medical imaging system of a medical vehicle;
[0035] Figure 2 shows a longitudinal cross section through another embodiment of a medical vehicle;
[0036] Figure 3 shows a longitudinal cross section through yet another embodiment of a medical vehicle;
[0037] Figure 4 shows a longitudinal cross section through yet another embodiment of a medical vehicle;
[0038] Figure 5 shows a longitudinal cross section through yet another embodiment of a medical vehicle;
[0039] Figure 6 shows a longitudinal cross-section through an embodiment of a base vehicle; and
[0040] Figure 7 A longitudinal cross section through a medical imaging system is shown.
[0041] In the figures, elements corresponding to elements already described may have the same reference numerals.Examples, embodiments or optional features, whether or not indicated as non-limiting, should not be construed as limiting the invention as claimed.
[0042] List of reference numerals:
[0043] 1 Medical transportation
[0044] 2 Basic transportation
[0045] 3 compartments
[0046] 4 Medical Imaging Systems
[0047] 5 compartments
[0048] 6 Rotating parts
[0049] 7. Counter-rotation device
[0050] 8 Rotor DETAILED DESCRIPTION
[0051] Figure 1aA schematic longitudinal cross section through a medical vehicle 1 is shown. The medical vehicle 1 comprises a base vehicle 2. Although the base vehicle 2 is shown as a truck, the base vehicle 2 may also be a train, an airplane, a helicopter, a spacecraft, an autonomous flying object and / or a ship.
[0052] The medical vehicle 1 also includes a compartment 3 having a medical imaging system 4 and a compartment 5. The compartment 3 can be part of the base vehicle 2, or can be attached to the base vehicle 2. In other words, the compartment 3 can be a virtual compartment defined by the volume of an existing compartment of the base vehicle 2, or can include physical walls. In the latter case, the compartment 3 can be permanently attached to the base vehicle 2, or can be detachable so that it can be placed separately from the base vehicle 2 and / or different compartments 3 can be attached to the base vehicle 2. The compartment 3 can be just large enough to fit the medical imaging system 4, making the compartment 5 very small. The compartment 3 can also provide a larger compartment 5, for example, to provide additional space next to the medical imaging system 4, such as for medical staff.
[0053] The primary purpose of the medical vehicle 1 may be medical imaging, i.e., performing medical scans using the medical imaging system 4. Here, the medical vehicle 1 may be optimized to perform medical scans during operation of the medical vehicle 1, and / or the medical vehicle 1 may be optimized to perform medical scans when the medical vehicle 1 is stopped while being configured to perform medical scans during operation of the medical vehicle 1. Alternatively or additionally, the primary purpose of the medical vehicle 1 may be a non-medical vehicle, such as a cruise ship having a medical imaging system 4 as part of its medical equipment.
[0054] The medical imaging system 4 comprises at least one rotating part 6. The medical imaging system 4 may be a computed tomography CT system, a positron emission tomography-computed tomography PET-CT system or an X-ray system. However, the medical imaging system 4 may be any medical imaging system comprising a rotating part 6. In the case of a CT system or a PET-CT system, one rotating part 6 is a CT gantry and another rotating part may be an X-ray anode. In the case of an X-ray system, one rotating part is an X-ray anode. Figure 1b A transverse cross section through the medical imaging system 4 is shown in FIG.
[0055] The medical vehicle 1 further comprises a counter-rotating device 7 comprising at least one rotor 8. In the present embodiment, the rotor 8 is a thin annular layer arranged outside the rotating part 6, adjacent thereto and coaxial thereto.
[0056] The counter-rotation device 7 is configured to operate specifically by controlling the angular velocity of the rotor 8 so that the sum of the angular momentum of the rotating part 6 and the angular momentum of the counter-rotation device 7 (i.e., the angular momentum of the rotor 8) is almost equal to or exactly equal to zero. In this context, "almost equal to zero" means a significant reduction in the total angular momentum, for example, the sum of the angular momentum of the rotating part 6 and the counter-rotation device 7 may be less than 10% of the angular momentum of the rotating part 6, preferably less than 5% of the angular momentum of the rotating part 6, and most preferably less than 1% of the angular momentum of the rotating part 6. In order to achieve the described compensation of the angular momentum, the rotor 8 must rotate in the direction opposite to the rotation of the rotating part 6, as indicated by the dashed arrow.
[0057] Therefore, the angular momentum of the rotating component 6 is compensated, and the net angular momentum is reduced (or neutralized) to enable medical imaging during transportation and provide safe medical imaging during transportation. Specifically, the gyroscopic force that may occur when the medical imaging system rotates (for example, when driving around a curve) is minimized.
[0058] Figure 2 A cross section of another embodiment of a medical vehicle 1 is shown. In this embodiment, the two rotors 8 of the counter-rotating device 7 are arranged symmetrically, one on each axial side of the rotating part 6. In order to provide clearance for the patient and to achieve the highest moment of inertia ratio per mass, the rotor 8 can be a ring-type rotor. In another embodiment (not shown here), only one rotor 8 can be arranged on one axial side of the rotating part (6).
[0059] Figure 3 A cross section of a further embodiment of a medical vehicle 1 is shown. In this embodiment, the rotor 8 is an active imaging rotor arranged at one axial side of the rotating part 6. As an example, the rotor 8 can also be a CT gantry, and the rotating part 6 and the rotor 8 take images alternately so as not to interfere with each other.
[0060] Figure 4 A cross section of a further embodiment of a medical vehicle 1 is shown. In this embodiment, a counter-rotating device 7 is arranged inside the compartment 5. Information about the angular velocity of the rotating part 6 can be transmitted to the counter-rotating device 7 via a wired or wireless connection. Such a placement of the counter-rotating device 7 can be made when the medical imaging system 4 does not provide enough space to install the rotor 8, or when the counter-rotating device 7 is retrofitted to the medical imaging system 1. If the rotation axis of the rotating part 6 can be adjusted, for example tilted, the rotation axis of the rotor 8 should also be adjustable.
[0061] Figure 5A cross section of a further embodiment of a medical vehicle 1 is shown. In this embodiment, a counter-rotation device 7 is assigned to the base vehicle 2. This is particularly useful when different medical imaging systems 4 can be installed on the base vehicle 2 and a compensation of the angular momentum should be performed for each of said medical imaging systems 4. Similar to the previous embodiments, the adjustable rotation axis of the rotor 8 allows adaptation to different rotation axes of the rotating part 6.
[0062] Figure 6 A cross section of a base vehicle 2 is shown. The base vehicle 2 is adapted to be connected to different medical imaging systems and comprises a counter-rotation device 7 adapted to compensate for the angular momentum of the medical imaging system. As mentioned above, the adjustable rotation axis of the rotor 8 allows adaptation to different rotation axes of the rotating part 6.
[0063] Figure 7 A cross section of a medical imaging system 4 having a rotating component 6 and a counter-rotating device 7 is shown. Here, the rotors 8 of the counter-rotating device 7 are arranged symmetrically, one on each axial side of the rotating component 6, but other arrangements are possible. When the rotor 8 shares the rotation axis with the rotating component 6, the gyroscopic forces exerted on the bearings supporting the rotation axis when the medical imaging system 4 is rotated can be reduced.
[0064] While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive; the invention is not limited to the disclosed embodiments.
[0065] By studying the drawings, the disclosure and the claims, those skilled in the art will be able to understand and implement other variations to the disclosed embodiments when practicing the claimed invention. In the claims, the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude a plurality. Although specific measures are recited in mutually different dependent claims, this does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be interpreted as limiting the scope.
Claims
1. A medical vehicle (1) comprising a base vehicle (2) and a compartment (3), the compartment having a compartment chamber (5) and a medical imaging system (4), wherein: The spacer (3) is part of the base vehicle (2), or the spacer (3) is attached to the base vehicle (2), and the medical imaging system (4) includes at least one rotating component (6), and wherein the medical vehicle (1) also includes a counter-rotating device (7) having at least one rotor (8), wherein the counter-rotating device (7) is configured to be operated so that the sum of the angular momentum of the (one or more) rotating components (6) and the angular momentum of the counter-rotating device (7) is almost equal to or exactly equal to zero.
2. The medical vehicle (1) according to claim 1, wherein: The base vehicle (2) is a truck, a train, an airplane, a helicopter, a spacecraft, an autonomous flying object and / or a ship.
3. The medical vehicle (1) according to claim 1 or 2, wherein: The medical imaging system (4) is a computed tomography (CT) system, a positron emission tomography-computed tomography (PET-CT) system or an X-ray system, and the rotating component (6) is a CT gantry and / or an X-ray anode.
4. The medical vehicle (1) according to any one of claims 1 to 3, wherein: The moment of inertia of at least one of the rotors (8) is adjustable.
5. The medical vehicle (1) according to any one of claims 1 to 4, wherein: At least one of the rotors (8) is assigned to the base vehicle (2) and / or the compartment (5).
6. The medical vehicle (1) according to claim 5, wherein: The rotation axis of at least one of the rotors (8) is adjustable.
7. The medical vehicle (1) according to any one of claims 1 to 6, wherein: At least one of the rotors (8) is assigned to the medical imaging system (4).
8. The medical vehicle (1) according to claim 7, wherein: At least one of the rotors (8) is an active imaging rotor.
9. The medical vehicle (1) according to claim 7 or 8, wherein: At least one of the rotors (8) is an annular layer and is arranged outside, adjacent to and coaxially with one of the rotating components (6).
10. The medical vehicle (1) according to any one of claims 7 to 9, wherein: At least one of the rotors (8) is arranged on an axial side of one of the rotating components (6), and specifically, two of the rotors (8) are symmetrically arranged, one rotor on each axial side of one of the rotating components (6).
11. A basic transport vehicle (2) for a medical transport vehicle (1), wherein: The medical vehicle (1) comprises a compartment (3) for a medical imaging system (4), or the base vehicle (2) is suitable for being connected to a compartment (3) having a medical imaging system (4), wherein the medical imaging system (4) comprises at least one rotating component (6), and the base vehicle (2) comprises a counter-rotating device (7) having at least one rotor (8), wherein the counter-rotating device (7) is configured to be operated so that the sum of the angular momentum of the (one or more) rotating components (6) and the angular momentum of the counter-rotating device (7) is almost equal to or exactly equal to zero.
12. A medical imaging system (4) for a medical vehicle (1), wherein: The medical imaging system (4) comprises at least one rotating component (6) and a counter-rotating device (7) having at least one rotor (8), wherein the counter-rotating device (7) is configured to be operated so that the sum of the angular momentum of the (one or more) rotating components (6) and the angular momentum of the counter-rotating device (7) is almost equal to or exactly equal to zero.
13. A method for operating a medical vehicle (1) according to any one of claims 1 to 10, wherein: The angular momentum of the rotating component(s) (6) is determined and the angular velocity of the rotor(s) (8) is controlled so that the sum of the angular momentum of the rotating component(s) (6) and the angular momentum of the counter-rotating device (7) is almost equal to or exactly equal to zero.
14. The method according to claim 13, wherein: The angular velocity of the rotor(s) (8) is dynamically controlled.
15. The method according to claim 14, wherein: Control of the angular velocity of the rotor(s) (8) is synchronized with control of the angular velocity of the rotating component(s) (6).