Balanced image forming apparatus

Abstract

A balanced imaging device is provided and includes an imaging source and an imaging detector. The balanced imaging device also includes a gantry ring physically supporting the imaging source and the imaging detector. The gantry ring also enables the imaging source and the imaging detector to simultaneously rotate about a center of rotation. The gantry ring may also include a removable section containing one or more counterweights therein to align the center of gravity of the gantry ring with the center of rotation when the removable section is mounted to the gantry ring.

Description

[0001] This application claims the benefit of U.S. non-provisional patent application serial number 18 / 156,967, filed on January 19, 2023, the entire contents of which are incorporated herein by reference. Background Art

[0002] The present disclosure generally relates to an imaging device, and more particularly to a balanced imaging device.

[0003] Surgical robots can assist surgeons or other medical providers in performing surgical procedures, or can autonomously perform one or more surgical procedures. Imaging can be used by medical providers for diagnostic and / or therapeutic purposes. Patient anatomy can change over time, particularly after a medical implant has been placed in the patient's anatomy. Summary of the Invention

[0004] Example aspects of the present disclosure include:

[0005] A balanced imaging device according to at least one embodiment of the present disclosure includes: a gantry ring having a central axis and an opening providing access to the central axis, the gantry ring containing an internal cavity; a C-shaped rotor housed in the internal cavity and capable of rotating about the central axis, wherein the C-shaped rotor offsets the center of gravity of the imaging device from the central axis of the gantry ring; a removable section of the gantry that selectively covers the opening, wherein a portion of the removable section includes one or more counterweights to balance the C-shaped rotor so that the center of gravity of the C-shaped rotor and the removable section moves toward the central axis of the gantry ring; a drive mechanism secured to the rotor and adapted to rotate the rotor about the interior of the gantry ring; an imaging source secured to the rotor at a first position; and an imaging detector secured to the rotor at a second position opposite the source on the gantry ring.

[0006] In any aspect herein, wherein the removable segment comprises a door and a sector gear, wherein the sector gear is configured to attach to the rotor when the removable segment is attached to the gantry ring and is configured to attach to the door when the removable segment is not attached to the gantry ring.

[0007] In any aspect herein, wherein a portion of the detachable section comprises a sector gear.

[0008] In any aspect herein, wherein the sector gear comprises a first sector gear and a second sector gear.

[0009] In any aspect herein, wherein the imaging source is configured to project radiation as the source rotates about a central axis, and wherein the imaging detector is positioned to detect the projected radiation.

[0010] In any of the aspects herein, wherein the gantry ring is configured to be positioned around an object to be imaged.

[0011] In any of the aspects herein, wherein an object to be imaged can enter and exit the gantry ring through the opening.

[0012] In any aspect herein, wherein the imaging source is an X-ray source.

[0013] In any aspect herein, wherein the counterweight is attached to a portion of the detachable section.

[0014] In any aspect herein, wherein the counterweight is integrated with a portion of the detachable section.

[0015] A balanced imaging apparatus according to at least one embodiment of the present disclosure includes a gantry ring having a central axis and an opening providing access to the central axis, the gantry ring containing an internal cavity; a removable section of the gantry that selectively covers the opening; a C-shaped rotor housed in the internal cavity and capable of rotating about the central axis, wherein the C-shaped rotor extends from a first end to a second end, and wherein each of the first end and the second end contains one or more balancing provisions to align the center of gravity of the C-shaped rotor with the center of rotation; a drive mechanism secured to the rotor and adapted to rotate the rotor about the interior of the gantry ring; an imaging source secured to the rotor at a first position; and an imaging detector secured to the rotor at a second position opposite the source on the gantry ring.

[0016] In any aspect herein, wherein the balancing provision comprises a weight attached to each of the first end and the second end.

[0017] In any aspect herein, wherein the balancing provision comprises a weight integrated into each of the first end and the second end.

[0018] In any aspect herein, wherein the imaging source is an X-ray source.

[0019] An imaging device according to at least one embodiment of the present disclosure includes: an imaging source; an imaging detector; and a gantry ring that physically supports the imaging source and the imaging detector and enables the imaging source and the imaging detector to rotate simultaneously around a rotation center, wherein the gantry ring includes a detachable section that contains one or more balancing provisions to align the center of gravity of the gantry ring with the rotation center when the detachable section is mounted on the gantry ring.

[0020] In any aspect herein, wherein the removable section comprises a door and a sector gear.

[0021] In any aspect herein, wherein the balancing ration comprises a sector gear.

[0022] In any aspect herein, wherein the sector gear comprises a first sector gear and a second sector gear.

[0023] In any aspect herein, wherein each of the first sector gear and the second sector gear comprises steel.

[0024] In any aspect herein, wherein the imaging source is configured to project radiation as the source rotates about a central axis, and wherein the imaging detector is positioned to detect the projected radiation.

[0025] Any aspect may be combined with any one or more other aspects.

[0026] Any one or more of the features disclosed herein.

[0027] Any one or more of the features generally disclosed herein.

[0028] Any one or more of the features generally disclosed herein may be combined with any one or more other features generally disclosed herein.

[0029] Any aspect / feature / embodiment may be combined with any one or more other aspects / features / embodiments.

[0030] Use any one or more of the aspects or features disclosed herein.

[0031] It should be understood that any feature described herein may be claimed in combination with any other feature as described herein, regardless of whether the features are from the same described embodiment.

[0032] The details of one or more aspects of the present disclosure are set forth in the following drawings and the description. Other features, objects, and advantages of the technology described in this disclosure will be apparent from the description and drawings, and from the claims.

[0033] The phrases "at least one," "one or more," and "and / or" are open-ended expressions that are both connective and disjunctive in operation. For example, the expressions "at least one of A, B, and C," "at least one of A, B, or C," "one or more of A, B, and C," "one or more of A, B, or C," and "A, B, and / or C" each mean only A, only B, only C, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C in the above expressions refers to an element such as X, Y, and Z or a class of elements such as X1-Xn, Y1-Ym, and Z1-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., X1 and X2), and a combination of elements selected from two or more classes (e.g., Y1 and Zo).

[0034] The term "a" or "an" entity refers to one or more of that entity. Thus, the terms "a," "one," "one or more," and "at least one" can be used interchangeably herein. It should also be noted that the terms "including," "comprising," and "having" can be used interchangeably.

[0035] The foregoing is a simplified overview of the present disclosure to provide an understanding of some aspects of the present disclosure. This disclosure is neither a broad overview nor an exhaustive overview of the present disclosure and its various aspects, embodiments, and configurations. It is neither intended to identify the key or important elements of the present disclosure nor to delimit the scope of the present disclosure, but rather to present the selected concepts of the present disclosure in a simplified form as an introduction to the more detailed description presented below. As should be understood, other aspects, embodiments, and configurations of the present disclosure may utilize one or more of the features set forth above or described in detail below, alone or in combination.

[0036] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art after considering the description of the embodiments provided below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are incorporated into and form a part of this specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the present disclosure. The accompanying drawings illustrate only preferred and alternative examples of how to implement and use the present disclosure, and these examples should not be construed as limiting the present disclosure to only the examples illustrated and described. Additional features and advantages will become apparent from the following more detailed description of various aspects, embodiments, and configurations of the present disclosure, as illustrated by the accompanying drawings referenced below.

[0038] Figure 1 is a schematic diagram of an imaging device according to at least one embodiment of the present disclosure;

[0039] Figure 2is a schematic diagram of an imaging device according to at least one embodiment of the present disclosure;

[0040] Figure 3 is an oblique view of a rotor according to at least one embodiment of the present disclosure;

[0041] Figure 4 is an isometric view of a tracking device according to at least one embodiment of the present disclosure;

[0042] Figure 5 is a detailed view of a spring-loaded lever according to at least one embodiment of the present disclosure;

[0043] Figure 6 is a detailed view of a winch drive according to at least one embodiment of the present disclosure;

[0044] Figure 7 is a detailed view of a linear bearing mechanism according to at least one embodiment of the present disclosure;

[0045] Figure 8 is a detailed view of a tracking device according to at least one embodiment of the present disclosure;

[0046] Figure 9 is a detailed view of a tracking device according to at least one embodiment of the present disclosure;

[0047] Figure 10 is a front view of a rotor and a sector gear in a first position according to at least one embodiment of the present disclosure;

[0048] Figure 11 is a front view of the rotor and sector gear in a second position according to at least one embodiment of the present disclosure; and

[0049] Figure 12 is a front view of a rotor and sector gear in a second position, according to at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] It should be understood that the various aspects disclosed herein may be combined in combinations different from those specifically presented in the specification and drawings. It should also be understood that, depending on the example or implementation, certain actions or events of any process or method described herein may be performed in a different order and / or may be added, combined, or omitted entirely (e.g., not all described actions or events may be required to practice the disclosed techniques, according to different implementations of the present disclosure). In addition, although certain aspects of the present disclosure are described as being performed by a single module or unit for clarity, it should be understood that the techniques of the present disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0051] Before explaining any embodiment of the present disclosure in detail, it should be understood that the present disclosure is not limited in its application to the construction details and component arrangements set forth in the following description or illustrated in the accompanying drawings. The present disclosure can have other embodiments and can be practiced or implemented in various ways. In addition, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered as restrictive. The use of "comprises," "includes," or "having" and their variations herein is intended to cover the items listed thereafter and their equivalents, as well as additional items. In addition, the present disclosure can use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, the use or listing of one or more examples (which may be indicated by "for example," "by way of example," "such as," or similar language) is not intended to and does not limit the scope of the present disclosure.

[0052] The terms proximal and distal are used in this disclosure in their conventional medical sense, with proximal being closer to an operator or user of the system and further away from the area of ​​surgical interest in or on the patient, and distal being closer to the area of ​​surgical interest in or on the patient and further away from the operator or user of the system.

[0053] In conventional CT X-ray scanning systems, the object being imaged (typically a patient) enters the imaging region longitudinally from the front or rear side of the gantry (i.e., along the central axis of the gantry opening). This makes it difficult to use CT X-ray scanning in many medical procedures where CT X-ray scanning applications are required and helpful, such as during surgical procedures. In addition, conventional CT X-ray scanners are relatively large, fixed devices with a fixed bore and are typically located in a dedicated X-ray room, such as a radiology department. Due to the size and difficulty of using CT scanning equipment, CT scanning equipment is not typically used in many environments, such as emergency rooms, operating rooms, intensive care units, consulting rooms, outpatient surgery centers, doctors' offices, and military battlefields.

[0054] Embodiments of the present disclosure include an O-arm scanning system in which the rotor of the O-arm is "C" shaped. The O-arm scanning system also includes a door to allow the O-arm to be placed over the patient and / or operating table once the door is opened and then closed to surround the patient. Thus, the O-arm allows a "breakable" gantry to surround the patient and / or operating table in the operating room. A result of the "C" shape of the rotor is that it is unbalanced about the center of rotation of the O-arm. As the rotor rotates, the center of gravity of the O-arm moves with the rotor, causing the O-arm to deflect in the vertical direction by approximately 0.040 inches. This change in the vertical position of the O-arm causes image degradation.

[0055] In at least one embodiment of the present disclosure, balancing weights can be placed at the top and bottom of the "C" of the rotor using heavy materials. In other embodiments, a portion of the "breakable" section of the gantry can be adjusted. For example, the sector gears of the section can be made of steel (which weighs about three times as much as aluminum). The sector gears are configured to attach to the rotor from the door when the breakable section is attached to the gantry. Alternatively or additionally, a second sector gear can be added opposite the first sector gear as needed. Such a configuration can provide a lighter net rotor weight, can be easily packaged, and balances the rotor.

[0056] Embodiments of the present disclosure provide technical solutions to one or more of the following problems: (1) balancing an O-arm imaging device having a detachable section, (2) aligning the center of gravity of the imaging device with the center of rotation of the imaging device, and (3) improving the image data quality of image data obtained from an O-arm imaging device having a detachable section.

[0057] Figure 1 and Figure 2 1 and 2 are schematic diagrams illustrating an imaging device 100. The imaging device 100 may include an X-ray scanning system, such as the X-ray scanning system described in U.S. Patent No. 6,940,941, filed on February 15, 2002, the entire contents of which are incorporated herein by reference. The described imaging device 100 can be used for two-dimensional and / or three-dimensional scanning. For example, individual two-dimensional projections from set angles along the gantry rotation can be viewed (as described below), or multiple projections collected during part or all of the rotation can be reconstructed using cone or fan beam tomography reconstruction techniques.

[0058] The imaging apparatus 100 includes a gantry 104 secured to a support structure, such as a mobile or fixed cart, a patient table, a wall, a floor, or a ceiling. Figure 1As shown, the gantry 104 is cantilevered to the mobile cart 106 via an annular positioning unit 108. In certain embodiments, the annular positioning unit 108 enables translation and / or rotation of the gantry 104 relative to the support structure, including, for example, translational motion along at least one of the x-axis, y-axis, and z-axis, and / or rotation about at least one of the x-axis and y-axis. Imaging devices with cantilevered, multi-degree-of-freedom mobile gantry are described in U.S. Provisional Application Nos. 60 / 388,063, filed June 11, 2002, and 60 / 405,098, filed August 21, 2002, the entire teachings of which are incorporated herein by reference. The mobile cart 106 may optionally include a power supply, an X-ray power generator, a computer system for controlling the operation of the X-ray scanning device and for performing image processing, tomographic reconstruction, or other data processing functions, and / or a display system, which may include a user interface for controlling the device. It should be understood that one or more fixed units may also perform these functions.

[0059] The gantry 104 is a substantially circular or "O-shaped" housing having a central imaging region 136 in which the object being imaged is positioned. In other words, the gantry 104 can be positioned around the object to be imaged. It should be understood that in some embodiments, the gantry 104 can also be referred to as a gantry ring 104. The gantry 104 includes an imaging source 110 positioned at a first position and an imaging detector 114 positioned at a second position opposite the imaging source 110. In some embodiments, the imaging source 110 includes an X-ray source, such as a rotating anode pulsed X-ray source, which projects a beam of X-ray radiation 112 into the central imaging region 136 of the gantry 104, through the object being imaged, and onto the imaging detector 114 located on the opposite side of the gantry 104. The imaging source 110 is also capable of rotating the imaging source 110 via a rotor 124 (at Figure 4 The gantry 104 is configured to rotate 360 ​​degrees around the interior of the gantry 104 in a continuous or stepwise manner (described in detail in

[0045] ), so that the x-ray beam 112 can be projected through the object at various angles. At each projection angle, the x-ray radiation beam 112 passes through the object and is attenuated by the object. The attenuated radiation is then detected by an imaging detector 114 opposite the imaging source 110. In at least one embodiment, the gantry 104 includes an imaging detector 114 that is configured to rotate around the interior of the gantry 104 in coordination with the rotation of the imaging source 110 via a rotor 124, so that for each projection angle, the imaging detector 114 is positioned opposite the imaging source 110 on the gantry 104. The x-ray radiation detected from each projection angle can then be processed using well-known reconstruction techniques to produce a two-dimensional or three-dimensional reconstructed image of the object.

[0060] In some embodiments, the imaging detector 114 may comprise an array. For example, the imaging detector 114 may comprise three two-dimensional flat panels of solid-state detectors arranged side by side and angled to approximate the curvature of the gantry 104. However, it should be understood that a variety of detectors and detector arrays may be used with the imaging device 100, including any detector configuration used in typical diagnostic fan-beam or cone-beam CT scanners. For example, the imaging detector 114 may comprise a two-dimensional thin-film transistor X-ray detector using scintillator amorphous silicon technology. For large field-of-view imaging, the imaging detector 114 may be translated to two or more positions along a line or arc relative to the imaging source 110, and imaging data may be acquired at these two or more positions, such as via a motorized detector track and bearing system. An example of such an imaging detector 114 is described in commonly owned U.S. Provisional Application No. 60 / 366,062, filed March 19, 2002, the entire teachings of which are incorporated herein by reference.

[0061] The gantry 104 also includes a segment 116 that at least partially detaches from the gantry 104 to provide an opening 134 or "breakout" in the gantry 104 through which an object to be imaged can enter and exit a central imaging region 136 of the gantry 104 in a radial direction. The segment 116 may also be referred to as a detachable segment 116. In the illustrated embodiment, the segment 116 is telescoping, which allows the segment 116 to be detached from the gantry 104 and telescoped over a portion of the gantry 104. In other words, the segment 116 can be moved laterally upward and rotated above the gantry 104. In one embodiment, the segment 116 can be attached to the gantry 104 with alignment pins. A release mechanism releases the pins, and the sidewalls of the segment 116 translate outward relative to the gantry ring, allowing the segment 116 to telescope over a fixed upper portion of the gantry 118. The subject to be imaged (e.g., a patient) can then enter the gantry 104 from the opening 134 formed by the segments 116 detached from and nested onto the gantry 104 (rather than from the front or back of the gantry as in conventional systems). The segments 116 can then be reattached to completely enclose the subject within the gantry 104. Alternatively or additionally, the gantry 104 (when the segments 116 are detached and the opening 134 is accessible) can be moved in a lateral direction toward the subject to position the subject within the central imaging area 136, after which the segments 116 can be closed around the subject and attached to the gantry 104.

[0062] Apart from Figure 1 In addition to the telescoping door embodiment, the platform 104 may also have various other embodiments, such as a hinged section 116. Figure 2As shown, a segment 116 of the gantry 104 is secured to the gantry 104 via a hinge 118 that allows the segment 116 to swing like a door from a fully closed position to a fully open position. In each of these systems, or any system using detachable segments, the segment 116 of the gantry 104 is at least partially detached from the gantry 104 to provide an opening 134 or "breakout" in the gantry 104 through which an object to be imaged can enter and exit a central imaging region 136 of the gantry 104 in a radial direction. The segment 116 can then be reattached to the gantry 104 to perform 2D X-ray or 3D tomographic X-ray imaging. In any embodiment of the segment 116, the segment 116 also includes a mechanism for securing the segment 116 in place in the closed gantry configuration, while also allowing the segment 116 to be easily detached to open or "breakout" the gantry 104.

[0063] Go to Figure 3 , showing an oblique view of the rotor 124. The rotor 124 can support the imaging source 110 and the imaging detector 114 within a rigid frame 126 that is designed to maintain a constant spacing between the imaging source 110 and the imaging detector 114 as the rotor 124 rotates within the gantry 104. The rotor 124 also includes a motor 126 and gears 128 for driving the rotor 124 around the interior of the gantry 104. Figure 1 and Figure 2 As shown, the interior sidewalls of the gantry 104 may include one or more tracks 130 that extend in a continuous loop around the interior of the gantry 104 when the segments 116 of the gantry 104 are attached to the gantry 104. The gears 128 of the rotor assembly 124 contact the tracks 130 of the gantry 104 and use the tracks 130 to drive the rotor 124 to rotate around the interior of the gantry 104. The rotor 124 also includes corresponding track carriages 132 that cooperate with the tracks 130 of the gantry 104 to help guide the rotor 124 as it rotates within the gantry 104.

[0064] In some embodiments, the rotor 124 is C-shaped and extends from a first end 138 to a second end 140, with an open area 142 at least as large as the opening 134 formed when the segment 116 is separated from the gantry 104. In such embodiments, due to the shape and weight of the rotor 124, the rotor 124 can move the center of gravity 144 of the imaging device 100 (described below and in detail) when the segment 116 is attached to the gantry 104. Figure 4The center of gravity 144 of the imaging device 100 may be displaced from the central axis 146 of the gantry 104 (as shown). In other words, the center of gravity 144 of the imaging device 100 may be offset from the central axis 146 (and therefore, the center of rotation) of the imaging device 100. Consequently, in some cases, as the rotor 124 rotates, the center of gravity 144 may shift along with the rotor 124 and may deflect the center of gravity 144 vertically by approximately 0.040 inches, which may result in image degradation. As will be described in detail below, a balancing agent may be added to the imaging device 100 to balance the rotor 124, thereby improving image quality.

[0065] Go to Figures 4 to 12 , shows an exemplary embodiment of a telescoping door. It should be understood that in some embodiments, the section 116 includes the door 160 and the sector gear 148 (e.g., Figures 9 to 12 104 to provide an opening 134 to the central imaging area 136 of the gantry 104. During use of the imaging device 100, the sector gear 148 is attached to the rotor 124 when the segment 116 is attached to the gantry 104, and is attached to the door when the segment 116 is not attached to the gantry 104. In other words, the sector gear 148 is attached to the rotor 124 when the opening 134 to the gantry 104 is closed, and is attached to the door when the opening 134 to the gantry 104 is open.

[0066] In the embodiment shown, the door 160 is telescoped and rotated about the gantry 104 using a sector gear 148 and a servo-driven capstan drive 162. The servo-driven capstan drive 162 includes a pair of linear bearing mechanisms 166 (e.g., Figure 7 104 ). The pair of linear bearing mechanisms 166 control the movement of the door 160 in a first direction and a second direction. The first direction may be, for example, lateral movement away from the stage 104, and the second direction may be, for example, telescopic movement above and on top of the stage 104. Figure 5 As shown, the first direction or lateral movement of the sector gear 148 also engages the spring-loaded lever 154, which radially locks or holds the sector gear 148 to the door 160 when the door 160 is opened. More specifically, the spring-loaded lever 154 engages the sector gear teeth 156 of the sector gear 148. This engagement enables the sector gear 148 to travel with the door 160.

[0067] Go to Figure 8, the door 160 includes a first side wall 168 and a second side wall 170, wherein the first side wall 168 is integral with a rotor track 172 mounted to the gantry 104. A plurality of pins 174 are configured to align at least one of the first side wall 168 and the second side wall 170 with the rotor track 172. More specifically, when the door 160 is closed, the plurality of pins 174 at each end of the first side wall 168 or the second side wall 170 engages the rotor track 172. The winch drive 162 then holds or locks the first side wall 168 or the second side wall 170 in place by providing a brake on the winch drive 162.

[0068] Go to Figure 9 , shows the sector gear 148 mounted to the rotor 124. Additional pins in the plurality of pins 174 can be configured to align the sector gear 148 with the rotor gear 178. More specifically, two pins 174A, 174B disposed at the top and bottom of the sector gear 148 radially align the sector gear 148 with the rotor gear 178.

[0069] Go to Figure 10 and Figure 11 , showing the rotor 124 and the sector gear 148 of the segment 116 in a first position and a second position, respectively. As previously described, the rotor 124 can displace the center of gravity 144 of the imaging device 100 and offset it from the central axis 146 of the gantry ring. In some embodiments, one or more balancing provisions 150 can be integrated with or attached to one or more components of the imaging device 100 to balance the rotor 124 so that the center of gravity 144 is aligned with the central axis 146 and the center of rotation.

[0070] Go to Figure 12 , shows the rotor 124 and the sector gear 148, wherein the sector gear 148 is in a second position. As shown, the center of gravity 144 of the imaging device 100 can be shifted toward or aligned with the central axis 146 using one or more balancing provisions 150.

[0071] In some embodiments, one or more balancing rations 150 can be integrated with or attached to a portion 152 of the segment 116. In such embodiments, one or more sections or all of the portion 152 can be formed from a heavier material (e.g., steel, tungsten, etc.) to act as a balancing weight for the rotor 124, one or more weights can be attached to or integrated with the portion 152 to increase the weight of the portion, or a combination of the portion 152 being formed from a heavier material and one or more weights being attached to the portion 152. It should be understood that any material can be used to form the balancing ration 150. In some embodiments, the portion 152 can include a gear segment 148. In such embodiments, the gear segment 148 can be formed from a heavier material, one or more weights can be attached to or integrated with the gear segment 148, a portion of the gear segment 148 can be formed from a heavier material, or at least a portion of the gear segment 148 can be formed from a heavier material and one or more weights can be attached to the gear segment 148. The gear segment 148, portions of the gear segment 148, and / or one or more counterweights may comprise steel and / or tungsten. In such embodiments, when the gear segment 148 is attached to the gantry 104, with the gear segment 148 (and the door) closing the opening 134 to the gantry 104, the gear segment 148 acts as a counterweight for the rotor 124, thereby shifting or aligning the center of gravity 144 with the central axis 146.

[0072] In some embodiments, the gear sector 148 may include a first gear sector and a second gear sector. In such embodiments, the first gear sector and / or the second gear sector may include one or more balancing provisions 150. In embodiments where each of the first gear sector and the second gear sector includes one or more balancing provisions 150, the first gear sector and the second gear sector may have the same balancing provisions 150, may have different balancing provisions 150, and / or may have any combination of balancing provisions 150. For example, the first gear sector may be formed from a first material (e.g., steel), the second gear sector may be formed from a second material (e.g., aluminum), and one or more counterweights may be attached to the second gear sector.

[0073] In other embodiments, the one or more balancing provisions 150 may include attaching or integrating one or more counterweights to the first end 138 and / or second end 140 of the rotor 124 to balance the rotor 124. Alternatively or additionally, the one or more counterweights may be integrated with or attached to any portion of the rotor 124. It should be understood that the balancing provisions 150 may be added to or integrated with any component or combination of components of the imaging device 100. For example, the sector gear 148 may include one or more counterweights, and each of the first end 138 and the second end 140 may be formed from a material such as steel. In another example, a door may include one or more counterweights attached to the door. It should also be understood that the one or more balancing provisions 150 may be used with any type of segment 116, such as a telescoping segment, a hinged segment, a vertical lift segment, and the like.

[0074] The foregoing is not intended to limit the present disclosure to the form or forms disclosed herein. In the foregoing detailed description, for example, for the purpose of simplifying the present disclosure, various features of the present disclosure are grouped together in one or more aspects, embodiments and / or configurations. Features of the aspects, embodiments and / or configurations of the present disclosure may be combined in alternative aspects, embodiments and / or configurations in addition to those discussed above. The method of the present disclosure should not be interpreted as reflecting the following intention: the claims require more features than the features expressly recited in each claim. On the contrary, as reflected in the following claims, aspects of the present invention lie in less than all the features of a single aforementioned disclosed aspect, embodiment and / or configuration. Therefore, the following claims are hereby incorporated into this detailed description, with each claim existing independently as a separate preferred embodiment of the present disclosure.

[0075] In addition, although the foregoing has included descriptions of one or more aspects, embodiments and / or configurations and certain variations and modifications, other variations, combinations and modifications are within the scope of the present disclosure, for example, within the skill and knowledge of those skilled in the art after understanding the present disclosure. It is intended to obtain rights to include alternative aspects, embodiments and / or configurations, including alternative, interchangeable and / or equivalent structures, functions, ranges or steps of those claimed, to the extent permitted, regardless of whether such alternative, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and are not intended to be disclosed for any patentable subject matter.

Claims

1. A balanced imaging device, comprising: a gantry ring having a central axis and an opening providing access to the central axis, the gantry ring containing an internal cavity; a C-shaped rotor housed within the interior cavity and rotatable about the central axis, wherein the C-shaped rotor offsets the center of gravity of the imaging device from the central axis of the gantry ring; a removable section of a gantry, the removable section selectively covering the opening, wherein a portion of the removable section includes one or more counterweights to balance the C-shaped rotor such that a center of gravity of the C-shaped rotor and the removable section moves toward the central axis of the gantry ring; a drive mechanism secured to the rotor and adapted to rotate the rotor about an interior of the gantry ring; an imaging source secured to the rotor at a first location; and An imaging detector is secured to the rotor at a second position opposite the source on the gantry ring.

2. The balanced imaging device of claim 1 , wherein the detachable section comprises a door and a sector gear, wherein the sector gear is configured to attach to the rotor when the detachable section is attached to the gantry ring, and is configured to attach to the door when the detachable section is not attached to the gantry ring.

3. The balanced imaging device of claim 2, wherein the portion of the detachable section comprises the sector gear. 4 . The balanced imaging device according to claim 3 , wherein the sector gear comprises a first sector gear and a second sector gear.

5. The balanced imaging device of claim 1, wherein the imaging source is configured to project radiation as the source rotates about the central axis, and wherein the imaging detector is positioned to detect the projected radiation.

6. The balanced imaging apparatus of claim 1, wherein the gantry ring is configured to be positioned around an object to be imaged.

7. The balanced imaging apparatus of claim 1, wherein an object to be imaged can enter and exit the gantry ring through the opening.

8. The balanced imaging apparatus of claim 1, wherein the imaging source is an X-ray source.

9. The balanced imaging device of claim 1, wherein the counterweight is attached to the portion of the detachable section.

10. The balanced imaging device of claim 1, wherein the counterweight is integral with the portion of the detachable section.

11. A balanced imaging device, comprising: a gantry ring having a central axis and an opening providing access to the central axis, the gantry ring containing an internal cavity; a removable section of the stand, the removable section selectively covering the opening; a C-shaped rotor housed within the interior cavity and rotatable about the central axis, wherein the C-shaped rotor extends from a first end to a second end, and wherein one or more balancing provisions are included in each of the first end and the second end to align a center of gravity of the C-shaped rotor with a center of rotation; a drive mechanism secured to the rotor and adapted to rotate the rotor about an interior of the gantry ring; an imaging source secured to the rotor at a first location; and An imaging detector is secured to the rotor at a second position opposite the source on the gantry ring.

12. The balanced imaging apparatus of claim 11, wherein the balancing provision comprises a weight attached to each of the first end and the second end.

13. The balanced imaging apparatus of claim 11, wherein the balancing provision comprises a weight integrated into each of the first end and the second end.

14. The balanced imaging apparatus of claim 11, wherein the imaging source is an X-ray source.

15. An imaging device, comprising: Imaging source; imaging detectors; and a gantry ring that physically supports the imaging source and the imaging detector and enables the imaging source and the imaging detector to rotate simultaneously about a rotation center, wherein the gantry ring includes a detachable section containing one or more balancing provisions to align the center of gravity of the gantry ring with the rotation center when the detachable section is mounted to the gantry ring.

16. The imaging device of claim 15, wherein the detachable section comprises a door and a sector gear.

17. The imaging apparatus of claim 16, wherein the balancing provision comprises the sector gear.

18. The image forming apparatus according to claim 17, wherein the sector gear comprises a first sector gear and a second sector gear.

19. The image forming apparatus of claim 18, wherein each of the first sector gear and the second sector gear comprises steel.

20. The imaging device of claim 15, wherein the imaging source is configured to project radiation as the source rotates about the central axis, and wherein the imaging detector is positioned to detect the projected radiation.

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