Compact removal solution for gantry

Abstract

An X-ray imaging system (100, 200) includes an X-ray radiation source (105, 205) and an X-ray detector (107, 207) disposed on a gantry structure (109, 220). An X-ray imaging system (100, 200) includes a controller (150, 250) configured to perform an action. The actions include defining a virtual wall (602) within a room (606) within which the X-ray imaging system (100, 200) is disposed and receiving a selected set of predefined positions to move the gantry structure (109, 220) from a starting position at which the gantry structure (109, 220) is disposed adjacent to or around the patient table (604) to the predefined position, where the gantry structure (109, 220) is disposed adjacent to or around the patient table (604). The virtual wall (602) has a predefined position to image the subject with the X-ray imaging system (100, 200), and wherein the predefined position is parallel to the virtual wall (602). The actions include receiving an actuation signal that moves the gantry structure (109, 220) from a starting position to a predefined position in a compact motion and moving the gantry structure (109, 220) from the starting position to the predefined position in the compact motion.

Description

BACKGROUND

[0001] The subject matter disclosed herein relates to X-ray imaging systems, and more particularly, to a compact move-away solution for a gantry of an X-ray imaging system.

[0002] Medical diagnostic imaging systems generate images of a subject, such as a patient, for example, by exposure to an energy source, such as X-rays that pass through, for example, a patient. The generated images can be used for many purposes. Often, when a physician takes an X-ray of a patient, it is desirable to take several X-rays of one or more portions of the patient's body from a number of different positions and angles, and preferably without having to frequently reposition the patient. 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 articulated structural member with an X-ray source and an image detector assembly each located at opposite ends of the structural member, such that the X-ray source and image detector face one another. The structural member is generally "C" shaped, hence the term C-arm. In this way, X-rays emitted from the X-ray source can be projected on the image detector and provide an X-ray image of one or more objects placed between the X-ray source and the image detector.

[0003] Sometimes, an X-ray imaging system is set up in a small examination room. In some cases, it can be desirable to move the X-ray imaging system out of the area where the patient is located (e.g., on a patient table) in order to perform a particular task. However, the small size of the examination room can limit the movement of the X-ray imaging system, thus making it difficult to complete the task. SUMMARY

[0004] The following summary of certain embodiments is provided to acquaint the reader with the nature of the subject matter disclosed herein. The embodiments are not intended to limit the scope of the claimed subject matter in any way; rather, the embodiments are intended to provide a brief overview of possible forms of the subject matter.

[0005] According to one embodiment, an X-ray imaging system is provided. The X-ray imaging system includes an X-ray radiation source. The X-ray imaging system also includes an X-ray detector. The X-ray imaging system further includes a gantry structure. The gantry structure includes a C-arm having the X-ray radiation source disposed on a first end portion and the X-ray detector disposed on a second end portion opposite the first end portion. The C-arm is configured to rotate about a plurality of different axes. The X-ray imaging system also includes a controller. The controller includes a memory encoding processor-executable routines. The controller further includes a processing system including one or more processors and configured to access the memory and execute the processor-executable routines, wherein the processor-executable routines, when executed by the processing system, cause the processing system to perform actions. The actions include defining a virtual wall within a room in which the X-ray imaging system is disposed. The actions also include receiving, via a user interface, a selection of a predefined position for the gantry structure to move from a starting position in which the gantry structure is disposed adjacent to or around a portion of a patient table to image a subject with the X-ray imaging system to the predefined position, wherein the predefined position is parallel to the virtual wall. The actions further include receiving, via the user interface, an actuation signal to move the gantry structure in a compact motion from the starting position to the predefined position, wherein the compact motion is a motion as straight as possible while moving the gantry structure without the gantry structure touching or passing through the virtual wall. The actions still further include moving the gantry structure in the compact motion from the starting position to the predefined position.

[0006] According to another embodiment, a computer-implemented method is provided for moving an X-ray imaging system within a smaller room. The computer-implemented method includes defining a virtual wall within the room in which the X-ray imaging system is located via a processing system including one or more processors. The X-ray imaging system includes an X-ray radiation source. The X-ray imaging system also includes an X-ray detector. The X-ray imaging system also includes a gantry structure. The gantry structure includes a C-arm having an X-ray radiation source disposed at a first end and an X-ray detector disposed at a second end opposite the first end. The C-arm is configured to rotate about multiple different axes. The computer-implemented method further includes receiving a selection of predefined positions at the processing system from a user interface to move the gantry structure from an initial position where the gantry structure is positioned adjacent to or around a portion of a patient table for imaging a subject using the X-ray imaging system, and wherein the predefined position is parallel to the virtual wall. The computer-implemented method also includes receiving, at the processing system, an actuation signal from the user interface to move the rack structure from a starting position to a predefined position in a compact motion, wherein the compact motion is a motion as straight as possible while moving the rack structure without causing it to touch or pass through a virtual wall. The computer-implemented method even includes moving the rack structure from the starting position to the predefined position in a compact motion via the processing system.

[0007] According to another embodiment, a non-transitory computer-readable medium is provided. The computer-readable medium includes processor-executable code that, when executed by a processing system including one or more processors, causes the processing system to perform actions. The actions include defining a virtual wall within a room in which an X-ray imaging system is disposed. The X-ray imaging system includes an X-ray radiation source. The X-ray imaging system also includes an X-ray detector. The X-ray imaging system further includes a gantry structure. The gantry structure includes a C-arm having an X-ray radiation source disposed at a first end and an X-ray detector disposed at a second end opposite the first end. The C-arm is configured to rotate about multiple different axes. The actions also include receiving a selection of predefined positions via a user interface to move the gantry structure from an initial position where the gantry structure is positioned adjacent to or surrounding a portion of a patient table for imaging a subject using the X-ray imaging system, and wherein the predefined position is parallel to the virtual wall. The action also includes receiving, via a user interface, an actuation signal that moves the rack structure from a starting position to a predefined position in a compact motion, wherein the compact motion is a motion that moves the rack structure as straight as possible without causing the rack structure to touch or pass through a virtual wall. The action even includes moving the rack structure from a starting position to a predefined position in a compact motion. Attached Figure Description

[0008] These and other features, aspects, and advantages of the disclosed subject matter of the invention will be better understood when reading the following detailed description with reference to the accompanying drawings, in which like reference numerals denote like parts throughout the drawings, wherein:

[0009] Figure 1 This is a block diagram illustrating the components of an example mobile X-ray imaging system according to various aspects of this disclosure;

[0010] Figure 2 This is a block diagram illustrating components of an example X-ray imaging system (e.g., mounted to a ceiling) according to various aspects of this disclosure;

[0011] Figure 3 This is a schematic diagram of a portion of a mobile X-ray imaging system according to various aspects of this disclosure and its associated movement.

[0012] Figure 4 This is a schematic side view of an X-ray imaging system mounted on a ceiling according to various aspects of this disclosure;

[0013] Figure 5 This is a flowchart of a method for moving an X-ray imaging system in a smaller room according to various aspects of this disclosure;

[0014] Figure 6 This is a schematic diagram of virtual walls in a room that are confined to both sides of a patient table (e.g., parallel to the patient table) according to various aspects of this disclosure.

[0015] Figure 7 This is a schematic diagram of a virtual wall defined as adjacent to the longitudinal end of the patient table (e.g., perpendicular to the patient table) according to various aspects of this disclosure;

[0016] Figure 8 This is a flowchart of a method for manually moving an X-ray imaging system in a smaller room, according to various aspects of this disclosure;

[0017] Figure 9 It is a schematic diagram of a user interface on a display according to various aspects of this disclosure, which shows multiple predefined locations for selection;

[0018] Figure 10 It is a schematic diagram of a user interface on a display according to various aspects of this disclosure, showing the rack structure moving compactly from an initial position to a predefined position;

[0019] Figure 11 It is a platform that is moved to a predefined intermediate position according to various aspects of this disclosure;

[0020] Figure 12 This is a schematic diagram of the intermediate position of the rack structure according to various aspects of this disclosure; and

[0021] Figure 13 This is a schematic diagram of the user interface on the display during manual movement of the rack structure according to various aspects of this disclosure. Detailed Implementation

[0022] One or more specific implementations will be described below. To provide a concise description of these implementations, not all characteristics of the actual implementation may be described in this specification. It should be understood that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developer's specific objectives, such as complying with system-related and business-related constraints that may differ from implementation to implementation. Furthermore, it should be understood that such development efforts may be complex and time-consuming, but are nonetheless routine tasks of design, fabrication, and manufacturing for those skilled in the art who benefit from this disclosure.

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

[0024] This disclosure provides a compact removable (e.g., driven-away in the case of a mobile X-ray imaging system) solution for a gantry structure of an X-ray imaging system. In some embodiments, the X-ray imaging system is a mobile X-ray imaging system including a movable base (e.g., an automated guided vehicle). In some embodiments, the X-ray imaging system is an X-ray imaging system having a gantry structure mounted on the ceiling or floor of a room. The compact removable solution allows the gantry structure to be moved away from the patient table even if the room is not large enough to allow it to be moved back. For example, a virtual wall is defined as one or more walls along and adjacent to a room whose dimensions (and space in the area) are limited. The gantry structure is moved from an initial position (e.g., adjacent to the patient table) to a predefined position (e.g., a parking position) adjacent to the virtual wall. The gantry structure is moved using a compact movement that does not cross or exceed the virtual wall and does not touch it. The gantry structure can be returned from the predefined position to the initial position using a movement opposite to the compact movement. Even in smaller or cramped examination rooms, the compact removable solution frees up space adjacent to the patient table when needed. The technology disclosed in this invention can also be used in conjunction with X-ray imaging systems fixed to the floor but with a rack structure having multiple axes of movement.

[0025] The embodiments disclosed in this invention include an X-ray imaging system comprising an X-ray radiation source and an X-ray detector. The X-ray imaging system also includes a gantry structure. The gantry structure includes a C-arm having an X-ray radiation source disposed at a first end and an X-ray detector disposed at a second end opposite the first end. The C-arm is configured to rotate about multiple different axes. The X-ray imaging system also includes a controller. The controller includes memory encoding processor-executable routines. The controller also includes a processing system comprising one or more processors and configured to access the memory and execute the processor-executable routines, wherein the processor-executable routines, when executed by the processing system, cause the processing system to perform actions. These actions include defining a virtual wall within a room in which the X-ray imaging system is located. The action also includes receiving a selection of predefined positions via a user interface to move the gantry structure from an initial position to the predefined position, where the gantry structure is positioned adjacent to or surrounding a portion of the patient table for imaging the subject using an X-ray imaging system, and where the predefined position is parallel to a virtual wall. The action also includes receiving an actuation signal via the user interface to move the gantry structure from the initial position to the predefined position with a compact motion, wherein the compact motion is a motion as straight as possible while moving the gantry structure without it touching or passing through the virtual wall. The action even includes moving the gantry structure from the initial position to the predefined position with a compact motion.

[0026] In some embodiments, the action includes automatically recording the starting position. In some embodiments, the action includes receiving, via a user interface (e.g., using the recorded starting position), a user command to move the rack structure back to the starting position and to move the rack structure back to the starting position from a predefined position by another compact movement in the opposite direction of the compact movement.

[0027] In some implementations, the action includes displaying compact motion on a display for the user to view in order to predict the motion. In some implementations, the action includes displaying a user-perceptible indication that the movement of the rack structure is blocked by a virtual wall and / or that the rack structure is approaching a virtual wall when the user manually moves the rack structure via a user interface.

[0028] In some implementations, the rack structure is mounted to the room's ceiling. In some implementations, both the virtual wall and the predefined location are perpendicular to the longitudinal axis of the patient table.

[0029] In some embodiments, the compact movement includes a translational motion combined with rotation about a point, wherein the point is defined such that the gantry structure does not pass through or touch the virtual wall during the compact movement. In some embodiments, the X-ray imaging system includes a movable base (e.g., an automated guided vehicle) coupled to the gantry structure, wherein the movable base is configured to move the gantry structure. In some embodiments, the compact movement is performed in multiple steps. In some embodiments, the compact movement includes first moving the gantry structure to an intermediate position, and then performing a movement including a translational motion combined with rotation about a point to move the gantry structure to a predefined position. In some embodiments, the action includes selecting an intermediate position from a plurality of predefined intermediate positions based on both the distance between the patient table and the virtual wall and the angle between a first longitudinal axis of the patient table and a second longitudinal axis of the gantry structure at the starting position. In some embodiments, the starting position is defined as a projection onto a horizontal plane of the isocenter and angle of the gantry structure. In some embodiments, when the room is confined to spaces adjacent to both sides of the longitudinal axis of the patient table, both the virtual wall and the predefined position are parallel to the patient table. In some implementations, when the room is confined to the space at the longitudinal end adjacent to the patient table, both the virtual wall and the predefined position are perpendicular to the patient table.

[0030] The embodiments disclosed in this invention include a computer-implemented method for moving an X-ray imaging system within a smaller room. The method includes defining a virtual wall within the room in which the X-ray imaging system is located via a processing system including one or more processors. The X-ray imaging system includes an X-ray radiation source. The X-ray imaging system also includes an X-ray detector. The X-ray imaging system further includes a gantry structure. The gantry structure includes a C-arm having an X-ray radiation source disposed at a first end and an X-ray detector disposed at a second end opposite the first end. The C-arm is configured to rotate about multiple different axes. The method also includes receiving a selection of predefined positions from a user interface at the processing system to move the gantry structure from an initial position where the gantry structure is positioned adjacent to or around a portion of a patient table for imaging a subject using the X-ray imaging system, and wherein the predefined position is parallel to the virtual wall. The method also includes receiving, at the processing system, an actuation signal from the user interface to move the rack structure from a starting position to a predefined position in a compact motion, wherein the compact motion is a motion that moves the rack structure as straight as possible without causing the rack structure to touch or pass through a virtual wall. The method even includes moving the rack structure from the starting position to the predefined position in a compact motion via the processing system.

[0031] In some embodiments, the method includes automatically recording the starting position via a processing system. In some embodiments, the method includes receiving a user command at the processing system from a user interface to move the rack structure back to the starting position. In some embodiments, the method includes moving the rack structure from a predefined position back to the starting position via the processing system in the opposite compact movement to the compact movement.

[0032] The embodiments disclosed in this invention include a non-transitory computer-readable medium. The computer-readable medium includes processor-executable code that, when executed by a processing system including one or more processors, causes the processing system to perform actions. These actions include defining a virtual wall within a room in which an X-ray imaging system is disposed. The X-ray imaging system includes an X-ray radiation source. The X-ray imaging system also includes an X-ray detector. The X-ray imaging system further includes a gantry structure. The gantry structure includes a C-arm having an X-ray radiation source disposed at a first end and an X-ray detector disposed at a second end opposite the first end. The C-arm is configured to rotate about multiple different axes. The actions also include receiving a selection of predefined positions via a user interface to move the gantry structure from an initial position where the gantry structure is positioned adjacent to or surrounding a portion of a patient table for imaging a subject using the X-ray imaging system, and wherein the predefined position is parallel to the virtual wall. The action also includes receiving, via a user interface, an actuation signal that moves the rack structure from a starting position to a predefined position in a compact motion, wherein the compact motion is a motion that moves the rack structure as straight as possible without causing the rack structure to touch or pass through a virtual wall. The action even includes moving the rack structure from a starting position to a predefined position in a compact motion.

[0033] In some embodiments, the action includes automatically recording the starting position via a processing system. In some embodiments, the action includes receiving a user command from a user interface at the processing system to move the rack structure back to the starting position. In some embodiments, the action includes moving the rack structure from a predefined position back to the starting position via a compact movement opposite to the compact movement, via the processing system.

[0034] Figure 1 This is a block diagram illustrating the components of an example mobile X-ray imaging system 100. In some embodiments, the mobile X-ray imaging system 100 is configured to perform interventional imaging (e.g., vascular imaging). The mobile X-ray imaging system 100 includes an X-ray radiation source 105 and an X-ray detector 107 mounted on a gantry structure 109, specifically on a C-arm gantry 110 (e.g., a C-arm).

[0035] The frame structure 109 includes a C-arm motor 112 for adjusting the position of the C-arm frame 110. More specifically, the C-arm frame 110 is mechanically coupled to a C-arm bracket 111 (e.g., a C-arm rotating device) including the C-arm motor 112, and the C-arm motor 112 can be driven to adjust the position of the C-arm frame 110 relative to the C-arm bracket 111. For example, the C-arm bracket 111 coupled with the C-arm motor 112 is configured to rotate the C-arm frame 110 relative to the C-arm bracket 111 in a track direction. In some embodiments, the C-arm bracket 111 (via a motor system) is configured 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 automated guided vehicle) or the end of an L-arm coupled to the mobile base 140. The C-arm bracket 111 rotates about a rotation axis (e.g., a horizontal axis) of the pivot. In some embodiments with an L-shaped arm, the L-shaped arm can rotate about the other end of the L-shaped arm (i.e., the end of the L-shaped arm not connected to the pivot) connected to the position of the movable base 140.

[0036] The mobile X-ray imaging system 100 also includes a mobile base 140. A C-arm bracket 111 is coupled 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 location on the floor to another. The mobile base 140 includes a chassis 141. The mobile base 140 includes one or more motors 142 for driving one or more wheels 144 (e.g., drive wheels) to adjust the position of the mobile base 140. Furthermore, the one or more wheels 144 may be free-wheeling or non-motorized.

[0037] The mobile X-ray imaging system 100 also includes a controller 150, which includes a processor 152 and a non-transitory memory 154. Methods for controlling the mobile X-ray imaging system 100 can be stored as executable instructions 155 in the non-transitory memory 154 and executed by the processor 152.

[0038] 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 may be communicatively coupled to a controller 150 to provide commands input by the user via the user interface 160 to the controller 150. The user interface 160 may include one or more of the following: a keyboard, mouse, trackball, one or more knobs, one or more joysticks, touchpad, touchscreen, one or more hard buttons and / or soft buttons, smartphone, microphone, virtual reality device, etc. Therefore, the user interface 160 can enable voice control and information display, such as interactive display devices (e.g., touchscreens). In some embodiments, the user can manually move the mobile X-ray imaging system 100 via the user interface 160. In some examples, the user interface 160 may be remotely positioned relative to the mobile X-ray imaging system 100. For example, the user interface 160 may be communicatively coupled to the controller 150 and / or the mobile X-ray imaging system 100 via a wired or wireless connection and may be positioned remotely from the mobile base 140.

[0039] As an example, memory 154 may store processor-executable software code or instructions (e.g., firmware or software) tangibly stored on a non-transitory computer-readable medium. Additionally or alternatively, memory 154 may store data. As an example, 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 disk drive, or any other suitable optical, magnetic, or solid-state storage medium or combinations thereof. Furthermore, processor 152 may include multiple microprocessors, one or more "general-purpose" microprocessors, one or more application-specific microprocessors, and / or one or more application-specific integrated circuits (ASICs) or some combination thereof. For example, processor 152 may include one or more Reduced Instruction Set Computing (RISC) or Complex Instruction Set Computing (CISC) processors. Processor 152 may include multiple processors and / or memory 154 may include multiple memory devices.

[0040] For example, a user of the mobile X-ray imaging system 100 can input a desired isocenter position via user interface 160. Controller 150 can then determine positional adjustments 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 can 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 user interface 160. For example, a user can directly input positional adjustments 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 components of the mobile X-ray imaging system 100 can be pre-programmed so that the user does not directly control any movement but initiates the pre-programmed movement. This movement can include complex movements with continuous isocenter motion.

[0041] As described in more detail below, controller 150 can be configured to utilize a compact relocation solution for moving the gantry structure 109 of the X-ray imaging system 100. The compact relocation solution allows the gantry structure 109 to be moved away from the patient table even when the room is not large enough to allow it to be moved back. For example, a virtual wall is defined as one or more walls along and adjacent to a room whose dimensions (and space in the area) are limited. The gantry structure 109 is moved from an initial position (e.g., adjacent to the patient table) to a predefined position (e.g., a parking position) adjacent to the virtual wall. The gantry structure 109 is moved using a compact movement that does not pass through or over the virtual wall and does not touch it. The gantry structure 109 can be returned from the predefined position to the initial position using a movement in the opposite direction of the compact movement. Even in smaller or narrow examination rooms, the compact relocation solution frees up space adjacent to the patient table when needed.

[0042] The controller 150 is further communicatively coupled to the display device 165 for displaying one or more X-ray images acquired via the X-ray detector 107. Furthermore, in some examples, one or more of the controller 150, user interface 160, and display device 165 may be positioned remotely from the rest of the mobile X-ray imaging system 100 (e.g., in its remote location).

[0043] Figure 2This is a block diagram illustrating components of an example X-ray imaging system 200 (e.g., mounted to a ceiling). In some embodiments, the X-ray imaging system 200 is configured to perform interventional imaging (e.g., vascular imaging). The X-ray imaging system 200 is configured to be mounted to a ceiling. In some embodiments, the X-ray imaging system 200 is mounted to a ceiling. In some embodiments, the X-ray imaging system 200 is mounted to a ceiling but can be moved along the ceiling (e.g., via a chassis that moves along a rail system or other type of mobility system). The X-ray imaging system 200 includes an X-ray radiation source 205 and an X-ray detector 207 mounted on a C-arm gantry 210 (e.g., a C-arm).

[0044] C-arm frame 210 is part of frame structure 220. Frame structure 220 includes a C-arm motor 212 for adjusting the position of C-arm frame 210. More specifically, C-arm frame 210 is mechanically coupled to a C-arm bracket 211 (e.g., a C-arm swivel device) including C-arm motor 212, and the C-arm motor 212 can be driven to adjust the position of C-arm frame 210 relative to C-arm bracket 211. For example, the C-arm bracket 211 coupled with C-arm motor 212 is configured to rotate C-arm frame 210 relative to C-arm bracket 211 in a track direction. In some embodiments, C-arm bracket 211 (via a motor system) is configured to rotate a pivot (e.g., a pivot point), wherein C-arm bracket 211 is coupled to the end of an arm (e.g., an L-arm) coupled to the ceiling. The C-arm bracket 211 rotates about a pivot axis (e.g., a horizontal axis). In some embodiments, the C-arm bracket 211 is attached to or mounted to the ceiling.

[0045] In some embodiments, the X-ray imaging system 200 also includes a movable base 240. The movable base 240 is coupled to the ceiling. In some embodiments, a C-arm bracket 211 is coupled to the movable base 240 via an L-arm (e.g., via the unpivoted end of the L-arm). In some embodiments, the C-arm bracket 211 is coupled to the movable base 240. The movable base 240 is configured to move (e.g., shift) the X-ray imaging system 200 from one position on the ceiling to another position (e.g., in a linear direction). The movable base 240 includes a chassis 241. The movable base 240 also includes a motor 242 and a guide rail system 244 (e.g., with rails). The guide rail system 244 is directly coupled to the ceiling. The motor 242 is configured to drive the chassis 241 to move and thus drive the X-ray imaging system 200 to move along the guide rail system 244 (e.g., to adjust the position of the X-ray imaging system 200). In some implementations, the X-ray imaging system 200 may include a system different from the rails and chassis for moving the X-ray imaging system 200.

[0046] The X-ray imaging system 200 also includes a controller 250, which includes a processor 252 and a non-transitory memory 254. Methods for controlling the X-ray imaging system 200 can be stored as executable instructions 155 in the non-transitory memory 254 and executed by the processor 252.

[0047] The X-ray imaging system 200 also includes a user interface 260 for receiving input from a user or operator of the X-ray imaging system 200. The user interface 260 is communicatively coupled to a controller 250 to provide commands input by the user via the user interface 260 to the controller 250. The user interface 260 may include one or more of the following: a keyboard, mouse, trackball, one or more knobs, one or more joysticks, touchpad, touchscreen, one or more hard and / or soft buttons, smartphone, microphone, virtual reality device, etc. Therefore, the user interface 260 can enable voice control and information display, such as interactive display devices (e.g., touchscreens). In some examples, the user interface 260 may be remotely positioned relative to the X-ray imaging system 200. For example, the user interface 260 may be communicatively coupled to the controller 250 and / or the X-ray imaging system 200 via a wired or wireless connection and may be positioned remotely from the mobile base 240.

[0048] As an example, memory 254 may store processor-executable software code or instructions (e.g., firmware or software) tangibly stored on a non-transitory computer-readable medium. Additionally or alternatively, memory 254 may store data. As an example, memory 254 may include volatile memory such as random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM), flash memory, hard disk drive, or any other suitable optical, magnetic, or solid-state storage medium or combinations thereof. Furthermore, processor 252 may include multiple microprocessors, one or more "general-purpose" microprocessors, one or more application-specific microprocessors, and / or one or more application-specific integrated circuits (ASICs), or some combination thereof. For example, processor 252 may include one or more Reduced Instruction Set Computing (RISC) or Complex Instruction Set Computing (CISC) processors. Processor 252 may include multiple processors and / or memory 254 may include multiple memory devices.

[0049] For example, a user of the X-ray imaging system 200 can input a desired isocenter position via user interface 260. Controller 250 can then determine positional adjustments to one or more of the C-arm gantry 210 and / or the movable base 240 to align the isocenter of the X-ray imaging system 200 with the desired isocenter position. Alternatively, a user of the X-ray imaging system 200 can directly control the position of one or more components of the X-ray imaging system 200 relative to other components of the X-ray imaging system 200 via user interface 260. For example, the user can directly input positional adjustments to one or more components of the X-ray imaging system 200 via, for example, a joystick or knob. Alternatively, the movement of components of the X-ray imaging system 200 can be pre-programmed so that the user does not directly control any movement but initiates the pre-programmed movement. This movement can include complex movements with continuous isocenter motion.

[0050] As described in more detail below, controller 250 can be configured to utilize a compact retraction solution for a rack structure 220 of an X-ray imaging system 200 (e.g., ceiling-mounted). The compact retraction solution allows rack structure 220 to be moved away from the patient table even when the room is not large enough to allow it to be moved back. For example, a virtual wall is defined as one or more walls along and adjacent to a room whose dimensions (and space in the area) are limited. Rack structure 220 is moved from an initial position (e.g., adjacent to the patient table) to a predefined position (e.g., a parking position) adjacent to the virtual wall. Rack structure 220 is moved using a compact movement that does not pass through or over the virtual wall and does not touch it. Rack structure 220 can be returned from the predefined position to the initial position using a movement in the opposite direction of the compact movement. Even in smaller or narrow examination rooms, the compact retraction solution frees up space adjacent to the patient table when needed.

[0051] The controller 250 is further communicatively coupled to a display device 265 for displaying one or more X-ray images acquired via the X-ray detector 207. Furthermore, in some examples, one or more of the controller 250, user interface 260, and display device 265 may be located remotely from the rest of the X-ray imaging system 200 (e.g., in their remote location).

[0052] The X-ray imaging system 200 may also include a cooling system 268 for cooling the X-ray radiation source 205 and / or the X-ray detector 207. As an illustrative and non-limiting example, the cooling system 268 may include one or more flexible tubes and pumps for supplying cooling fluid to the X-ray radiation source 205 to transfer heat away from the X-ray radiation source 205. The cooling system 268 may independently and actively cool the X-ray radiation source 205 and the X-ray detector 207, or in some examples, the X-ray detector 207 may be cooled by any suitable type of derivative of the cooling loop for the X-ray radiation source 205.

[0053] Figure 3 This is a schematic 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 mobile X-ray imaging system 100 also includes an X-ray radiation source 105 coupled to a first end 370 of the C-arm gantry 110 and an X-ray detector 107 coupled to a second end 372 of the C-arm gantry 110 opposite to the first end 370. A collimator 371 is coupled to the X-ray radiation source 105 and configured to collimate the X-ray beam.

[0054] C-arm frame 110 is coupled to C-arm bracket 111 (e.g., C-arm rotation device), which is configured to allow C-arm frame 110 to rotate relative to C-arm bracket 111 in a track direction 374 about an isocenter 376 (of X-ray source 105 and X-ray detector 107). C-arm bracket 111 includes rollers 377 (e.g., guide rollers) to guide movement of C-arm frame 110 relative to C-arm bracket 111.

[0055] The C-arm bracket 111 is connected to a pivot 378 (e.g., a pivot point or axis). The pivot 378 is connected to a structure 380. The pivot 378 (in conjunction with the motor system) is configured to allow both the C-arm bracket 111 and the C-arm frame 110 to rotate about a rotation axis 382 (e.g., a horizontal axis) of the pivot 378, as indicated by arrow 384. As depicted, the structure 380 is a movable base 140, such as... Figure 3 As depicted, the movable base 140 includes wheels 144 to allow the mobile X-ray imaging system 100 to move along the floor. In some embodiments, structure 380 is an L-shaped arm coupled to the movable base 140. In some embodiments, the mobile X-ray imaging system 100 does not have a movable base 140 and is fixed to the floor.

[0056] Figure 4This is a schematic side view of an X-ray imaging system 200 (e.g., with an L-arm) mounted to a ceiling 480 (e.g., in room 482). The X-ray imaging system 200 includes a C-arm gantry 210. The X-ray imaging system 200 also includes an X-ray detector 207 coupled to a first end 484 of the C-arm gantry 210 and an X-ray radiation source 205 (e.g., to form an image chain 485) coupled to a second end 486 of the C-arm gantry 210 opposite to the first end 484.

[0057] C-arm frame 210 is coupled to C-arm bracket 211 (e.g., C-arm rotation device), which is configured to allow C-arm frame 210 to rotate relative to C-arm bracket 211 in a track direction 488 about an isocenter (of X-ray source 205 and X-ray detector 207). C-arm bracket 211 includes rollers (e.g., guide rollers) to guide movement of C-arm frame 210 relative to C-arm bracket 211.

[0058] C-arm bracket 211 is coupled to pivot 490 (e.g., pivot point or axis). Pivot 490 is coupled to structure 492. Pivot 490 (in conjunction with the motor system) is configured to allow both C-arm bracket 211 and C-arm frame 210 to rotate about a rotation axis 494 (e.g., a horizontal axis) of pivot 490, as indicated by arrow 496. In some embodiments, structure 492 is an L-arm coupled to a movable base 240. Pivot 490 is coupled to a first end 497 of the L-arm and movable base 240 is coupled to a second end 498 of the L-arm. As depicted, frame structure 220 is coupled to movable base 240 (thus mounting X-ray imaging system 200 to ceiling 480). In some embodiments, the L-arm is rotatable about the end of the L-arm coupled to movable base 240. Specifically, the L-arm (and frame structure 220) rotates about a rotation axis 493 in direction 499. The (motor-driven) chassis 241 is configured to move the X-ray imaging system 200 along the guide rail system 244.

[0059] Figure 5 It is used to move X-ray imaging systems in smaller rooms (e.g., Figure 1 Mobile X-ray imaging system 100 or Figure 2 A flowchart of method 500 (using an X-ray imaging system 200). One or more steps of method 500 may be performed by a medical imaging system (e.g., Figure 1 Controller 150 or Figure 2 One or more components of the controller 250 in the system may execute the commands. Simultaneous execution and / or pressing with... Figure 5 One or more steps of the different sequential execution methods 500 are described.

[0060] Method 500 includes defining a virtual wall within a room in which an X-ray imaging system is located (box 502). In some embodiments, two virtual walls may be defined. The virtual walls are defined based on the dimensions of the room. Specifically, the virtual walls are positioned within the room, adjacent to and extending parallel to the wall (or walls) that defines the smallest dimension (e.g., width or length) of the room.

[0061] In some embodiments, when the room is confined to a space adjacent to the two sides 608, 610 of the longitudinal axis 612 of the patient table 604, a virtual wall (e.g., virtual wall 602) is parallel to the patient table 604 in the room 606, such as... Figure 6 As depicted. Patient table 604 includes longitudinal ends 614, 616. Patient table 604 includes a table surface 618 (e.g., a support) configured to support a subject (e.g., a patient to be imaged). Figure 6 The depicted features two virtual walls 602, 622 (e.g., on the left and right sides of the patient table 604 relative to the longitudinal axis 612). The imaging system (specifically, the gantry structure) consists of... Figure 6 The rectangle 624 in the diagram represents this.

[0062] In some embodiments, when room 706 is confined to a space adjacent to the longitudinal ends 708, 710 of patient table 704 (e.g., relative to the longitudinal axis 712 of patient table 704), a virtual wall (e.g., virtual wall 702) is perpendicular to patient table 704 in room 706, such as... Figure 7 The patient table 704, as depicted, includes a table surface 714 (e.g., a support) configured to support a subject (e.g., a patient to be imaged). The imaging system (specifically, the gantry structure) comprises... Figure 7 Rectangle 718 is represented in the diagram. In some embodiments, when the X-ray imaging system is mounted to the ceiling, the virtual wall 702 (e.g., depicted as adjacent to the longitudinal end 708 of the patient table 704) may be perpendicular only to the longitudinal axis 712 of the patient table 704. In some embodiments, the virtual wall may also be formed adjacent to the longitudinal end 710 of the patient table 704. In some embodiments, the virtual wall may be parallel to the patient table 704. In some embodiments, more than two virtual walls may be used.

[0063] Return to Figure 5Method 500 includes determining one or more predefined locations (e.g., parking positions) for moving the gantry structure from an initial location where the gantry structure is situated (box 504). Each predefined location is parallel to and adjacent to a virtual wall. At the initial location, the gantry structure is positioned adjacent to or around a portion of a patient table for imaging the subject using an X-ray imaging system. The initial location is defined as being at the isocenter of the gantry structure (i.e., the center of rotation of its axis) (e.g., Figure 3 The angle (e.g., rotation angle) between the longitudinal axis of the isocenter 376 and the longitudinal axis of the patient table and the longitudinal axis of the gantry structure at the starting position (see...) Figure 10 The projection of ) onto the horizontal plane.

[0064] Method 500 also includes displaying one or more predefined positions relative to one or more virtual walls (box 506). The predefined positions and virtual walls can be displayed on a monitor (e.g., Figure 1 The display device 165 or Figure 2 The user interface on the display device 265 (e.g., Figure 1 User interface 160 or Figure 2 On the user interface (260) in the middle.

[0065] Method 500 also includes receiving a selection of predefined locations (e.g., selecting from one or more predefined locations) from a user interface to move the rack structure from an initial location where the rack structure is located to that predefined location (box 508). Method 500 further includes displaying the compact movement of the rack structure from the initial location to the selected predefined location on a display (e.g., a user interface) for the user to view in order to predict the movement (box 510).

[0066] Method 500 further includes receiving from the user interface an actuation signal (block 512) that moves the gantry structure in a compact motion from a starting position to a selected predefined position. The compact motion is a motion that is as straight as possible while moving the gantry structure without it touching or passing through the virtual wall. In some embodiments, the compact motion includes a translation combined with rotation about a point defined such that the gantry structure does not pass through or touch the virtual wall during the compact motion. In some embodiments (e.g., for a mobile X-ray imaging system), the compact motion is performed in multiple steps. In this scenario, the compact motion first includes moving the gantry structure to an intermediate position, and then performing a motion including a translation combined with rotation about a point to move the gantry structure to the selected predefined position. In some embodiments, the controller selects an intermediate position from a plurality of predefined intermediate positions based on both the distance between the patient table and the virtual wall and the angle (e.g., rotation angle) between the longitudinal axis of the patient table and the longitudinal axis of the gantry structure at the starting position. In some implementations (e.g., where the X-ray imaging system is mounted to the ceiling), a predefined retraction position is proposed at the head (e.g., longitudinal end) of the patient table.

[0067] Method 500 includes automatically recording the starting position (box 514). Method 500 also includes moving the rack structure from the starting position to a predefined position with a compact movement (box 516). Method 500 also includes receiving a user command via a user interface to move the rack structure back to the starting position (e.g., selecting a starting position from other positions) (box 518). Method 500 even includes moving the rack structure from the predefined position back to the starting position with another compact movement opposite to the original compact movement (to move the rack structure from the starting position to the selected predefined position) (box 520).

[0068] Figure 8 It is used to manually move the X-ray imaging system in a smaller room (e.g., Figure 1 Mobile X-ray imaging system 100 or Figure 2 A flowchart of method 800 (using an X-ray imaging system 200). One or more steps of method 800 may be performed by a medical imaging system (e.g., Figure 1 Controller 150 or Figure 2 One or more components of the controller 250 in the system may execute the commands. Simultaneous execution and / or pressing with... Figure 8 The different sequences of execution of method 800 are described. Method 800 may occur in... Figure 5 Any point after box 502 in method 500.

[0069] Method 800 includes defining virtual walls within a room in which an X-ray imaging system is housed (box 802). In some embodiments, two virtual walls may be defined. The virtual walls are defined based on the dimensions of the room. Specifically, virtual walls are positioned within the room, adjacent to and extending parallel to the wall (or walls) that defines the smallest dimension (e.g., width or length) of the room. One or more virtual walls may be as follows: Figure 6 and Figure 7 As described.

[0070] Method 800 also includes a user manually moving the rack structure from a starting position to another position using a user interface (box 804). Method 800 also includes using virtual walls to restrict (and / or block) the movement of the rack structure when the user directly (i.e., manually) translates or rotates the rack via the user interface (box 806). Method 800 even includes displaying a user-perceptible indication on a display (e.g., a user interface) that the movement of the rack structure is restricted and / or blocked by virtual walls and / or that the rack structure is approaching a virtual wall (box 808).

[0071] Figure 9 This is a schematic diagram of a user interface 900 (e.g., for user viewing) on ​​a display 902, showing a plurality of predefined locations to be selected. The user interface 900 for presenting the possible predefined locations to be selected can be... Figure 9 The user interfaces shown are different.

[0072] As depicted, a patient table 904 and its position within a room 906 are shown in the user interface 900. The patient table 904 includes a longitudinal axis 910 and longitudinal ends 912, 914. The patient table 904 includes a table surface 916 (e.g., a support) configured to support a subject (e.g., a patient to be imaged). Rectangle 920 represents the gantry structure 922 of the X-ray imaging system 924 (e.g., a mobile X-ray imaging system) in its initial position 925 (the current position of the gantry structure).

[0073] A virtual wall 926 extending parallel to the longitudinal axis 910 on the side 928 of the patient table 904 is also shown. In some embodiments, the virtual wall 926 may be shown on the opposite side 930 of the patient table 904, or an additional virtual wall may be shown on the opposite side of the patient table 904. In some embodiments, the virtual wall 926 may be shown as perpendicular to the longitudinal axis 910 of the patient table 904 adjacent to one of the longitudinal ends 912, 914.

[0074] Predefined positions for moving the rack structure 922 are indicated by dashed rectangles 932 and 934 as adjacent to and parallel to the virtual wall 926. A user can select from a plurality of predefined positions 932 and 934. For example, a user can select one of the predefined positions 932 and 934 via a user input device (e.g., via a touch user interface 900, e.g., a display 902, or using another input device). In some embodiments, the predefined positions 932 and 934 may be individually labeled, and a list of labels may be presented to the user on the user interface 900 for the user to select a specific predefined position 932 or 934.

[0075] Figure 10 This is a schematic diagram of a user interface 1000 on a display 1002, showing (e.g., of a mobile X-ray imaging system 1006) a gantry structure 1004 moving compactly from an initial position 1008 to a predefined position 1009 (e.g., when the predefined position 1009 is selected). The user interface 1000 for displaying this compact movement can be... Figure 10 The user interfaces shown are different.

[0076] As depicted, a patient table 1010 and its location within a room 1012 are shown in a user interface 1000. The patient table 1010 includes a longitudinal axis 1014 and longitudinal ends 1016, 1018. The patient table 1010 includes a tabletop 1020 (e.g., a support) configured to support a subject (e.g., a patient to be imaged), which can extend to and from a base 1022 of the patient table 1010 via a guide rail system 1024.

[0077] As depicted, in the initial position 1008, the gantry structure 1004 is configured to form an angle 1026 (e.g., a rotation angle) around a portion of the patient table 1010. The angle 1026 is defined between the longitudinal axis 1028 of the gantry structure 1004 and the longitudinal axis 1014 of the patient table 1010.

[0078] A virtual wall 1030 extending parallel to the longitudinal axis 1014 on the side 1032 of the patient table 1010 is also shown. In some embodiments, the virtual wall 1030 may be shown on the opposite side 1034 of the patient table 1010, or an additional virtual wall may be shown on the opposite side of the patient table 1010 (see [link to documentation]). Figure 6 In some embodiments, the virtual wall 1030 may be shown as a longitudinal axis 1014 perpendicular to the patient table 1010 and adjacent to one of the longitudinal ends 1016, 1018.

[0079] In some embodiments (e.g., utilizing a mobile X-ray imaging system 1006), the gantry structure 1004 is moved from a starting position 1008 to a predefined position 1009 in multiple steps (e.g., two steps). In the first step, the gantry structure 1004 is moved to an intermediate position within region 1036 (e.g., adjacent to the patient table 1010 and the starting position 1008). The user can control or modify the movement of the gantry structure 1004 within this region 1036 (e.g., by releasing an actuation signal). Outside region 1036, the user cannot manually control or modify the movement of the gantry structure 1004. Outside region 1036, movement to the predefined position or movement back to the intermediate position is only possible. In some embodiments, the user may choose a different return position instead of returning the gantry structure 1004 from the predefined position to the starting position 1008, but the gantry structure will still first move to the intermediate position.

[0080] During the movement from the starting position 1008 to the intermediate position (i.e., the first step), a compact motion combining rotation and translation (indicated by arrow 1038) is performed to move the rack structure 1004 from the intermediate position to the predefined position 1009 (i.e., step 2). These two steps are interrelated and are performed without requiring additional action from the user. By reversing the steps (e.g., using a reverse motion), the rack structure 1004 can be returned from the predefined position 1009 to the starting position 1008.

[0081] In some embodiments (e.g., utilizing a mobile X-ray imaging system 1006 with an automated guided vehicle), two symmetrical predefined retraction positions may be proposed, one predefined retraction position on the left side (i.e., side 1032) of the patient table 1010 when facing the longitudinal end 1016, and the other predefined retraction position on the right side (i.e., side 1034) of the patient table 1010. The system adapts the motion trajectory to the starting position 1008 of the gantry structure 1004 and to the size of the room 1012. The starting position 1008 is defined at the isocenter of the gantry structure 1004 (i.e., the center of rotation of its axis) (e.g., Figure 3 The projection onto the horizontal plane (e.g., parallel to the room floor) at the isocenter 376 and angle 1026. Based on the value of angle 1026 (e.g., rotation value) at the starting position 1008 and the distance in the x-direction between the virtual wall 1030 and the patient table 1010 (e.g., the longitudinal axis 1014 of the patient table 1010), an intermediate position is selected from a predefined list of intermediate positions (e.g., via a controller).

[0082] Figure 11 It is used to move it to the patient table (e.g., Figure 10 The left side of the patient in table 1010 (e.g., Figure 10The predefined position of side 1032 in the middle (e.g., Figure 10 Table 1100 shows the middle position of the predefined position 1009 in the table. Based on angle (e.g., ... Figure 10 (angle 1026) and Figure 10 The virtual wall (e.g., virtual wall 1030) and the longitudinal axis of the patient table are positioned in the x-direction (see [reference]). Figure 10 The distance on the wall (e.g., referred to as the X-wall in Table 1100) is listed in the table as a number of predefined intermediate positions for moving to the left. The listed intermediate positions are examples, and there may be more intermediate positions. The intermediate position for moving away to the right side of the patient table may be symmetrical to the intermediate position for moving away to the left side. As depicted in Table 1100, intermediate positions for moving away to the left side are shown for rotation angles of 0 degrees, 30 degrees, and 90 degrees. As described above, when moving between the intermediate position and the final position (i.e., the predefined position), a movement combining gantry rotation and translation is performed. The combined movement is based on the translation of a point relative to the gantry structure when the gantry structure rotates about a point. In some embodiments, other types of combined movements utilizing translation and rotation may be utilized. The point is defined such that the gantry does not exceed or touch the virtual wall during the movement. For the intermediate position with a rotation angle of 0 degrees, only translation is performed in this step because the gantry structure is well oriented. In some implementations, movement from a starting position to a predefined position (or vice versa) can occur directly without using intermediate positions.

[0083] Figure 12 This is a schematic diagram of the gantry structure 1202 (e.g., of a mobile X-ray imaging system 1204) at a midpoint 1200 relative to region 1205. (See diagram below.) Figure 12 As depicted, the rack structure 1202 is configured as part of the tabletop 1206 (e.g., patient support) surrounding the patient table 1208. The current rotation angle of the intermediate position 1200 of the rack structure 1202 is greater than 60 degrees, and the virtual wall 1210 is positioned in the x-direction at a distance of less than 2300 mm from the patient table 1208. Specifically, the rotation angle of the intermediate position 1200 of the rack structure 1202 is 90 degrees, and the isocenter is positioned in the x-direction at a distance of 0 mm from the longitudinal axis of the table 1208 and in the z-direction at a distance of 1508 mm from the table reference center (e.g., the center point of the table 1208).

[0084] Figure 13 This is a schematic diagram of the user interface 1300 on the display 1302 during manual movement of the rack structure 1304. The representation of the user interface 1300 can be compared with... Figure 13The depicted representations vary. User interface 1300 depicts the location of patient station 1305 within room 1306. User interface 1300 also depicts the current location of rack structure 1304 relative to virtual wall 1308. User-perceptible indicators 1310, 1312 are depicted on user interface 1300 indicating that rack structure 1304 is approaching virtual wall 1308 and that movement of rack structure 1304 is obstructed. As depicted, indicators 1310, 1312 are text indicators. In some embodiments, the representation of rack structure 1304 and / or virtual wall 1308 may flash or change color (e.g., from a first color (e.g., yellow) to a second color different from the first color (e.g., red)) to provide a warning of possible touch or passage through virtual wall 1308. In some embodiments, sound (e.g., beeping) or alarms may be provided via speakers on the imaging system as indications or warnings.

[0085] The technical advantages of the embodiments disclosed in this invention include providing a compact retraction (e.g., driven-away if it is a mobile X-ray imaging system) solution for the gantry structure of an X-ray imaging system. The technical advantages of the embodiments disclosed in this invention also include enabling the gantry structure to be moved away from the patient table even when the room is not large enough to allow it to be moved back. For example, a virtual wall is defined as one or more walls along and adjacent to a room whose dimensions (and space in the area) are limited. The gantry structure is moved from an initial position (e.g., adjacent to the patient table) to a predefined position (e.g., a parking position) adjacent to the virtual wall. The gantry structure is moved using a compact movement that does not pass through or over the virtual wall and does not touch it. The gantry structure can be returned from the predefined position to the initial position using a movement in the opposite direction of the compact movement. Even in smaller or narrow examination rooms, the compact retraction solution frees up space adjacent to the patient table when needed.

[0086] Referring to the technology presented herein and protected by the claims, and applying it to physical objects and concrete examples of practical nature, which explicitly improves the present art, and therefore is not abstract, intangible, or purely theoretical. Furthermore, if any claim appended to the end of this specification contains one or more elements designated as “means for [performing]…” or “steps for [performing]…”, such elements are intended to be interpreted according to 35U.SC112(f). However, for any claim containing elements designated in any other manner, such elements are not intended to be interpreted according to 35U.SC112(f).

[0087] This written description uses examples to disclose the subject matter, including best practices, and also enables those skilled in the art to practice the subject matter, including making and using any apparatus or system and performing any included methods. The patent scope of this subject matter is defined by the claims and may include other examples that would occur to those skilled in the art. Such other examples are intended to fall within the scope of the claims if they have structural elements that are not indistinguishable from the literal language of the claims, or if they include equivalent structural elements that differ only slightly from the literal language of the claims.

[0088] 1. An X-ray imaging system (100, 200), the X-ray imaging system comprising:

[0089] X-ray radiation source (105, 205);

[0090] X-ray detectors (107, 207);

[0091] Rack structure (109, 220), the rack structure comprising:

[0092] A C-arm (110, 210) having an X-ray radiation source (105, 205) disposed at a first end and an X-ray detector (107, 207) disposed at a second end opposite to the first end, wherein the C-arm (110, 210) is configured to rotate about multiple different axes; and a controller (150, 250) comprising:

[0093] Memory (154, 254), the memory encoding processor-executable routines; and

[0094] A processing system (152, 252) includes one or more processors and is configured to access the memory (154, 254) and execute processor-executable routines, wherein the processor-executable routines, when executed by the processing system (152, 252), cause the processing system (152, 252) to:

[0095] The virtual wall (602) is confined within the room (606) in which the X-ray imaging system (100, 200) is located;

[0096] A selection of predefined positions is received via a user interface (160, 260) to move the gantry structure (109, 220) from its initial position to the predefined position, wherein, at the initial position, the gantry structure (109, 220) is positioned adjacent to or surrounding a portion of the patient table (604) to image the subject using the X-ray imaging system (100, 200), and wherein...

[0097] The predefined position is parallel to the virtual wall (602);

[0098] The rack structure is received via the user interface (160, 260).

[0099] (109, 220) An actuation signal for moving from the starting position to the predefined position in a compact motion, wherein the compact motion is a motion as straight as possible while moving the rack structure (109, 220) without causing the rack structure (109, 220) to touch or pass through the virtual wall (602); and

[0100] The frame structure (109, 220) is moved from the starting position to the predefined position by the compact movement.

Claims

1. An X-ray imaging system (100, 200), the X-ray imaging system comprising: X-ray radiation source (105, 205); X-ray detectors (107, 207); Rack structure (109, 220), the rack structure comprising: A C-arm (110, 210) having an X-ray radiation source (105, 205) disposed at a first end and an X-ray detector (107, 207) disposed at a second end opposite to the first end, wherein the C-arm (110, 210) is configured to rotate about multiple different axes; and Controller (150, 250), the controller includes: Memory (154, 254), the memory encoding processor-executable routines; and A processing system (152, 252) includes one or more processors and is configured to access the memory (154, 254) and execute processor-executable routines, wherein the processor-executable routines, when executed by the processing system (152, 252), cause the processing system (152, 252) to: The virtual wall (602) is confined within the room (606) in which the X-ray imaging system (100, 200) is located; A selection of predefined positions is received via a user interface (160, 260) to move the gantry structure (109, 220) from its initial position to the predefined position, wherein, at the initial position, the gantry structure (109, 220) is positioned adjacent to or around a portion of the patient table (604) to image the subject using the X-ray imaging system (100, 200), and wherein the predefined position is parallel to the virtual wall (602). The user interface (160, 260) receives an actuation signal to move the rack structure (109, 220) from the starting position to the predefined position in a compact motion, wherein the compact motion is a motion as straight as possible while moving the rack structure (109, 220) without causing the rack structure (109, 220) to touch or pass through the virtual wall (602); and The frame structure (109, 220) is moved from the starting position to the predefined position by the compact movement.

2. The X-ray imaging system (100, 200) according to claim 1, wherein, When the processor executable routine is executed by the processing system (152, 252), the processing system (152, 252) automatically records the starting position.

3. The X-ray imaging system (100, 200) according to claim 2, wherein, When the processor-executable routine is executed by the processing system (152, 252), the processing system (152, 252) causes the processing system (152, 252) to: Receive user commands via the user interface (160, 260) to move the rack structure (109, 220) back to the starting position; as well as The frame structure (152, 252) is moved from the predefined position back to the starting position by another compact movement that is opposite to the compact movement.

4. The X-ray imaging system (100, 200) according to claim 1, wherein, When executed by the processing system (152, 252), the processor-executable routine causes the processing system (152, 252) to display the compact motion on a display for the user to view.

5. The X-ray imaging system (100, 200) according to claim 1, wherein, When executed by the processing system (152, 252), the processor executable routine causes the processing system (152, 252) to use the virtual wall to restrict or block the movement of the rack structure (109, 220) when the user manually moves the rack structure (109, 220) via the user interface (160, 260), and to display a user-perceptible indication that the movement of the rack structure (109, 220) is restricted or blocked by the virtual wall (602) and / or that the rack structure (109, 220) is approaching the virtual wall (602).

6. The X-ray imaging system (100, 200) according to claim 1, wherein, The rack structure (109, 220) is mounted to the ceiling of the room (606) or to the floor of the room (606).

7. The X-ray imaging system (100, 200) according to claim 6, wherein, Both the virtual wall (602) and the predefined position are perpendicular to the longitudinal axis (612) of the patient table (604).

8. The X-ray imaging system (100, 200) according to claim 6, wherein, Both the virtual wall (602) and the predefined position are perpendicular to the longitudinal axis (612) of the patient table (604).

9. The X-ray imaging system (100, 200) according to claim 1, wherein, The X-ray imaging system (100, 200) includes a movable base (140) connected to the gantry structure (109, 220), wherein the movable base (140) is configured to move the gantry structure (109, 220).

10. The X-ray imaging system (100, 200) according to claim 1, wherein, The compact motion includes a translation in combination with rotation about a point, wherein the point is defined such that during the compact motion, the rack structure (109, 220) does not pass through or touch the virtual wall (602).

11. The X-ray imaging system (100, 200) according to claim 10, wherein, The compact motion is performed in multiple steps.

12. The X-ray imaging system (100, 200) according to claim 11, wherein, The compact movement includes first moving the rack structure (109, 200) to an intermediate position, and then performing the movement, which includes the translation combined with the rotation about the point, to move the rack structure (109, 220) to the predefined position.

13. The X-ray imaging system (100, 200) according to claim 12, wherein, When executed by the processing system (152, 252), the processor executable routine causes the processing system (152, 252) to select the intermediate position from a plurality of predefined intermediate positions based on both the distance between the patient table (604) and the virtual wall (602) and the angle (1026) between the first longitudinal axis (612) of the patient table (604) and the second longitudinal axis (1028) of the rack structure (109, 220) at the starting position.

14. The X-ray imaging system (100, 200) according to claim 13, wherein, The starting position is defined as the projection onto the horizontal plane of the isocenter (376) of the frame structure (109, 220) and the angle (1026).

15. The X-ray imaging system (100, 200) according to claim 10, wherein, When the room (606) is confined to a space adjacent to both sides of the longitudinal axis (612) of the patient table (604), both the virtual wall (602) and the predefined position are parallel to the patient table (604).

Images