Multi-axis medical imaging

Abstract

Techniques relating to radiology and radiotherapy are provided, particularly, but not exclusively, to devices, methods, and systems for multi-axis medical imaging of a patient in vertical and horizontal positions.SOLUTION: A multi-axis computed tomography (CT) scanner includes a column assembly, a gantry coupled to the column assembly, and a scanner ring coupled to the gantry.SELECTED DRAWING: Figure 1B

Description

[Technical Field]

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 121,304, filed December 4, 2020, which is incorporated herein by reference in its entirety.

[0002] SUMMARY Provided herein is technology relating to devices, methods, and systems for radiology and radiotherapy, particularly, but not exclusively, medical imaging. [Background technology]

[0003] Medical imaging is used to diagnose, stage, plan, guide, and evaluate the response of patients to treatment for various types of illnesses, injuries, and other conditions. In particular, computed tomography (CT) is a form of medical imaging that uses multiple two-dimensional x-ray measurements taken from different angles to create a three-dimensional model of an object (e.g., a patient or part of a patient). CT imaging produces tomographic (cross-sectional) images of a target area or part of a patient, allowing users to image the inside of a patient without cutting into the patient. In traditional CT, the patient is positioned horizontally on a table or gurney, and the patient and table are rolled into the CT scanning device. Alternatively, a fixed gurney with wheels can be used, allowing the CT scanner to move horizontally. New techniques are needed to enable safe imaging of patients in multiple positions, for example, horizontal and / or substantially horizontal positions (e.g., lying positions (e.g., prone or supine)), vertical and / or essentially vertical positions (e.g., standing, sitting, kneeling, etc.), and other patient positions such as tilted forward or tilted backward and other orthopedic positions. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 056055 [Patent Document 2] US Patent Application Publication No. 2020 / 0268327 [Patent Document 3] U.S. Patent No. 5,923,417 [Patent Document 4] U.S. Patent No. 6,061,644 [Patent Document 5] U.S. Patent No. 7,974,443 [Patent Document 6] U.S. Patent No. 8,009,022 Summary of the Invention [Means for solving the problem]

[0005] Accordingly, the technology described herein relates to medical imaging, such as computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography (PET), single-photon emission computed tomography (SPECT), photon-counting computed tomography, portal imaging (e.g., pre-treatment), or scanned projection radiography ("scout view") (e.g., pre-imaging scan and / or pre-treatment). Conventional imaging equipment (e.g., gantries and gantry systems) has associated risks, including potential injury to the patient and / or damage to the equipment due to movement of the patient, patient positioner, couch, and / or gurney into position for imaging (e.g., by the scanner). Furthermore, patients often experience anxiety due to their claustrophobia while within the scanning equipment, which can result in reduced image quality (e.g., due to patient movement) or images that do not accurately represent the patient's biological state (e.g., due to biological responses to anxiety altering the patient's biological state). Furthermore, conventional scanning devices are often limited to acquiring images of the patient in a horizontal position (eg, prone, supine, lateral, etc.).

[0006] Acquiring medical images of a patient in a vertical position can be more medically beneficial than medical scanning of a patient in a horizontal position. For example, imaging the lungs of a patient in a vertical position (e.g., using CT) provides more information useful for treating the patient than imaging the lungs of a horizontal patient. In particular, the lungs expand better in an upright position, and contrast is higher in a vertical patient, making it easier to diagnose lung pathologies (such as cancer or fibrosis). Furthermore, in some embodiments, the radiation dose to the lungs of a vertical patient is reduced compared to the radiation dose to the lungs of a horizontal patient, with comparable image clarity. Other advantages of scanning a patient in a vertical position include diagnosing and imaging the spine, knees, hips, feet, and other biological systems (e.g., for orthopedics) as they withstand gravitational loads, which more accurately illustrates the function of these systems and corresponding medical problems to identify and treat. In some embodiments, imaging the head and neck, lungs, breasts, liver, pancreas, stomach, and / or esophagus of a vertical patient provides more diagnostic and therapeutically beneficial imaging than imaging the head and neck, lungs, breasts, liver, pancreas, stomach, and / or esophagus of a horizontal patient.

[0007] Additionally, treating a patient in a vertical position has advantages over treating a patient in a horizontal position. For example, in some cases, the patient can be positioned more quickly in a standing or sitting position. Furthermore, in some cases, a patient in a vertical position can be treated at more body locations and from more treatment angles, which not only expands the types of diseases and body areas that can be treated, but also reduces the total treatment dose delivered for adequate treatment. Thus, in some embodiments, the technology described herein relates to apparatus for imaging a patient in a vertical position prior to treating the patient in a vertical position.

[0008] Furthermore, conventional radiation therapy techniques for treating patients with radiation involve moving a radiation therapy device (e.g., using a gantry) around a fixed patient. Because radiation therapy devices are large, conventional gantries for moving the radiation therapy device are often large, heavy, and expensive. Some previous solutions to this problem include rotating a horizontal patient and maintaining the radiation therapy device in a fixed position, thereby avoiding the need for a large, heavy, and expensive gantry for moving the radiation therapy device. However, while moving (e.g., rotating) the patient and using a fixed radiation therapy device has the advantage of reducing the size, complexity, and cost of the gantry and radiation therapy device, rotating a patient in a horizontal (e.g., supine) position is impractical, uncomfortable for the patient, and / or difficult in most situations. Thus, as a further improvement to patient radiation treatment, rotating a patient in a vertical position for radiation treatment using a fixed radiation therapy device would address both the problems associated with moving the radiation therapy device (e.g., the use of large, heavy, and expensive gantries) and the problems associated with rotating a horizontal patient (e.g., patient comfort and difficulty). However, treating a patient in a vertical position requires imaging the patient in a vertical position to properly plan the treatment. Accordingly, provided herein are embodiments of techniques for treating a patient with radiation therapy, such as methods that include imaging a patient in a vertical position (e.g., using a medical imaging device described herein) and treating the patient in a vertical position. In some embodiments, the method includes imaging the patient in a vertical position (e.g., a fixed vertical position) using a moving (e.g., translating and / or rotating) scanner (e.g., using a medical imaging device described herein) and treating the patient in the vertical position by rotating the patient (e.g., slowly rotating the patient) and exposing the patient to radiation from the fixed radiation therapy device.

[0009] In some embodiments, imaging a seated patient is superior to imaging a standing patient, for example, due to patient stability (e.g., to minimize patient movement), hi some embodiments, imaging the patient includes providing the patient in an upright position where the patient is seated and leaning forward or where the patient is seated and leaning back.

[0010] In particular, the present technology relates to a multi-axis medical imaging device that can produce medical images of a patient in a vertical position. The technology can also produce medical images of a patient in a horizontal position and other positions (e.g., a variety of postures including sitting upright, sitting or standing tilted forward or backward, perched, lying supine or prone, or other orthopedic positions). The technology is safer than conventional medical imaging devices due to the mechanical design of the technology. The technology has the advantage of being able to image a patient in horizontal and vertical positions, thus avoiding the need for separate devices for horizontal and vertical imaging, reducing the overall capital cost of the imaging device.

[0011] Additionally, the technology is easier for users to operate than conventional medical imaging devices due to the mechanical design of the technology. For example, in some embodiments, the device comprises a counterbalanced design that allows the user to manually manipulate and / or position (e.g., tilt, rotate, and / or translate) the scanner (e.g., with less force than provided by the average human pushing and / or pulling with their arm and hand). For example, in some embodiments, the device may be configured such that the user exerts force of about 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5 , 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N). In some embodiments, the device comprises a counterbalanced design that allows a user to manually manipulate and position the scanner with minimal assistance from the motor. In some embodiments, the device comprises a counterbalanced design that allows the user to manually manipulate and position the scanner without motor assistance (e.g., in the event of a power outage). In some embodiments, the device comprises two counterbalanced components with a mass ratio of approximately 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3. Thus, the devices described herein move with minimal force, thereby avoiding injury to the patient and / or damage to objects with which they may collide.

[0012] In some embodiments, the force used to move the device and / or portions of the device is supplied in whole or in part by a motor or other non-human source. Some embodiments in which the force used to move the device and / or portions of the device is supplied in whole or in part by a motor or other non-human source include counterbalancing, and some embodiments in which the force used to move the device and / or portions of the device is supplied in whole or in part by a motor or other non-human source do not include counterbalancing (e.g., they are counterweight-free and / or counterbalance-free). Thus, in some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0 , 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor.

[0013] Accordingly, techniques are provided herein relating to a multi-axis medical imaging device (e.g., for acquiring medical images of a patient positioned in a vertical position, an essentially vertical position, and / or a substantially vertical position). In some embodiments, the multi-axis medical imaging device is a CT scanning device, an MRI device, a PET scanning device, a SPECT scanning device, a photon-counting computed tomography device, and / or a device for portal imaging or scanning projection radiography (SPR), such as a device for acquiring (e.g., recording, acquiring, providing) a CT scan (e.g., a CT image), an MRI scan (e.g., an MRI image), a PET scan (e.g., a PET image), a SPECT scan (e.g., a SPECT image), a photon-counting computed tomography scan (e.g., a photon-counting computed tomography image), and / or a portal image or scanogram.

[0014] In some embodiments, a multi-axis medical imaging device comprises a column assembly (e.g., including one column or several columns (e.g., including one column or several columns and a base (e.g., including one column or several columns coupled to a base))); a gantry coupled to the column assembly; and a scanner ring coupled to the gantry. In some embodiments, the scanner ring includes a medical imaging source (e.g., an electromagnetic radiation source, an X-ray source, a gamma ray source, a radio wave source, a photon source, a proton source, a positron source, a gamma ray source (e.g., gamma rays from a positron source)) and a medical imaging detector (e.g., an electromagnetic radiation detector, an X-ray detector, a photon detector, a gamma ray detector).

[0015] In some embodiments, the gantry is rotatably coupled to the column assembly, hi some embodiments, the gantry is structured to rotate 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees) relative to the column assembly. In some embodiments, the gantry is angled at approximately 90 degrees (e.g., 80.0, 80.1, 80.2, 80.3, 80.4, 80.5, 80.6, 80.7, 80.8, 80.9, 81.0, 81.1, 81.2, 81.3, 81.4, 81.5, 81.6, 81.7, 81.8, 81.9, 82.0, 82.1, 82.2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83. 0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86. 8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9, 89.0, 89.1, 89.2, 89.3, 89.4, 89.5, 89.6, 89.7, 89.8, 89.9, 90.0, 90.1, 90.2, 90.3, 90.4, 90.5, 90. 6, 90.7, 90.8, 90.9, 91.0, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91.8, 91.9, 92.0, 92.1, 92.2, 92.3, 92.4, 92.5, 92.6, 92.7, 92.8, 92.9, 93.0, 93.1, 93.2, 93.3, 93.4, 93.5, 93.6, 93.7, 93.8, 93.9, 94.0, 94.1, 94.2, 94.3, 94.4, 94.5, 94.6, 94.7, 94.8, 94.9, 95.0, 95.1, 95.2, 95.3, 95.4, 95.5, 95.6, 95.7, 95.8, 95.9, 96.0, 96.1, 96.2, 96.3, 96.4, 96.5, 96.6, 96.7, 96.8, 96.9, 97.0, 97.1, 97.2, 97.3, 97.4 , 97.5, 97.6, 97.7, 97.8, 97.9, 98.0, 98.1, 98.2, 98.3, 98.4, 98.5, 98.6, 98.7, 98.8, 98.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, or 100.0 degrees).

[0016] In some embodiments, the gantry comprises a gantry arm rotatable relative to the column. In some embodiments, the gantry comprises a first gantry arm rotatably coupled to a first column of the column assembly, and the gantry comprises a second gantry arm rotatably coupled to a second column of the column assembly. In some embodiments, the column assembly is translatably coupled to a horizontal, planar base (e.g., a base on and / or within the floor). In some embodiments, the column assembly is fixedly coupled to the horizontal, planar base (e.g., a base on and / or within the floor). In some embodiments, the scanner ring is translatably coupled to the gantry. In some embodiments, the scanner ring is translatably coupled to the gantry arm. In some embodiments, the scanner ring is translatably coupled to the first gantry arm of the gantry, and the scanner ring is translatably coupled to the second gantry arm of the gantry. In some embodiments, the scanner ring is structured to translate along a longitudinal axis of the gantry arm. In some embodiments, the scanner ring is structured to translate along the long axis of the first gantry arm and along the long axis of the second gantry arm. In some embodiments, the scanner ring is structured to translate 0.20-2.00 m (e.g., 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1.00, 1.05, 1.10, 1.15, 1.20, 1.25, 1.30, 1.35, 1.40, 1.45, 1.50, 1.55, 1.60, 1.65, 1.70, 1.75, 1.80, 1.85, 1.90, 1.95, or 2.00 m) relative to the gantry. In some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0017] In some embodiments, the counterbalanced assembly includes a gantry and a scanner ring. In some embodiments, the counterbalanced assembly includes a load of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5 , 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N) rotates the counterbalanced assembly including the gantry and scanner ring relative to the column assembly. In some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29 Translate the scanner ring relative to the gantry with a force of less than 0.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N).In some embodiments, the force is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28 A force of less than 0.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor. In some embodiments, the device comprises two balanced components having a mass ratio of about 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3. In some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms) and is balanced by a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0018] In some embodiments, the column assembly comprises a motor operably engaged with the gantry. In some embodiments, the motor operably engaged with the gantry is structured to rotate the gantry relative to the column assembly. In some embodiments, the motor operably engaged with the gantry is structured to rotate the gantry relative to the column assembly through 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees). In some embodiments, a motor operably engaged with the gantry rotates the gantry about 90 degrees (e.g., 80.0, 80.1, 80.2, 80.3, 80.4, 80.5, 80.6, 80.7, 80.8, 80.9, 81.0, 81.1, 81.2, 81.3, 81.4, 81.5, 81.6, 81.7, 81.8, 81.9, 82.0, 82.1, 82.2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82 ...1, 82.2, 82.3, 82.4, 82.5 .2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9, 89.0, 90.1, 90.2, 90.3, 90.4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91 5.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9 , 89.0, 89.1, 89.2, 89.3, 89.4, 89.5, 89.6, 89.7, 89.8, 89.9, 90.0, 90.1, 90.2, 90.3, 90.4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.0, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91.8, 91.9, 92.0, 92.1, 92.2, 92.3, 92.4, 92.5, 92.6, 92.7, 92.8, 92.9, 93.0, 93.1, 93.2, 93.3, 93.4, 93.5, 93.6, 93.7, 93.8, 93.9, 94.0, 94.1, 94.2, 94.3, 94.4, 94.5, 94.6, 94.7, 94.8, 94.9, 95.0, 95.1, 95.2, 95.3, 95.4, 95.5, 95.6, 95.7, 95.8, 95.9, 96.0, 96.1, 96.2, 96.3, 96.4, 96.5, 96.6, 96.7, 96.8, 96.9, 97.0, 97.1, 97.2, 97.3, 97.4, 97.5, 97.6, 97.7, 97.8, 97.9, 98.0, 98.1, 98.2, 98.3, 98.4, 98.5, 98.6, 98.7, 98.8, 98.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, 100.0, 100.1, 100.2, 100.3, 100.4, 100.5, 100.6, 10 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, or 100.0 degrees). In some embodiments, the gantry comprises a motor operably engaged with the column assembly. In some embodiments, the motor operably engaged with the column assembly is structured to rotate the gantry relative to the column assembly.

[0019] In some embodiments, the motor operably engaged with the support assembly is structured to rotate the gantry 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees) relative to the support assembly. In some embodiments, a motor operably engaged with the column assembly may rotate the gantry to about 90 degrees (e.g., 80.0, 80.1, 80.2, 80.3, 80.4, 80.5, 80.6, 80.7, 80.8, 80.9, 81.0, 81.1, 81.2, 81.3, 81.4, 81.5, 81.6, 81.7, 81.8, 81.9, 82.0, 82.1, 82.2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9 6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86. 5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9, 89.0, 89.1, 89.2, 89.3, 89.4, 89.5, 89.6, 89.7, 89.8, 89.9, 90.0, 90.1, 90.2, 90.3, 90. 4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.0, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91.8, 91.9, 92.0, 92.1, 92.2, 92.3, 92.4, 92.5, 92.6, 92.7, 92.8, 92.9, 93.0, 93.1, 93.2, 93.3, 93.4, 93.5, 93.6, 93.7, 93.8, 93.9, 94.0, 94.1, 94.2, 94.3, 94.4, 94.5, 94.6, 94.7, 94.8, 94.9, 95.0, 95.1, 95.2, 95.3, 95.4, 95.5, 95.6, 95.7, 95.8, 95.9, 96.0, 96.1, 96.2, 96.3, 96.4, 96.5, 96.6, 96.7, 96.8, 96.9, 97.0, 97.1, 97.2, 97.3, 97.4, 97.5, 97.6, 97.7, 97.8, 97.9, 98.0, 98.1, 98.2, 98.3, 98.4, 98.5, 98.6, 98.7, 98.8, 98.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, 100.0, 100.1, 100.2, 100.3, 100.4, 100.5, 100.6, 100.7, 100.8, 100.9, 100.10, 100.11, 100.12, 100.13, 100.14, 100.15, 100.16, 100.17, 100.18, 100.19, 100.19, 100.19, 100.1 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, or 100.0 degrees).

[0020] In some embodiments, the gantry includes a motor operatively engaged with the scanner ring. In some embodiments, the motor is coupled to a ball screw, a chain, or a belt. In some embodiments, the motor is structured to translate the scanner ring relative to the gantry. In some embodiments, the motor is configured to translate the scanner ring relative to the gantry by 0.20-2.00 m (e.g., 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1.00, 1.05, 1.10, 1.15, 1.20, 1.25, 1.30, 1.35, 1.40, 1.45, 1.50, 1.55, 1.60, 1.65, 1.70, 1.75, 1.80, 1.85, 1.90, 1.95, or 2.00 m). In some embodiments, the ball screw is 15-100 mm (e.g., 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm).In some embodiments, the motor rotates the scanner ring 5-100 mm (e.g., 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm).

[0021] In some embodiments, the gantry includes an auxiliary mass component that provides a counterweight to the scanner ring. In some embodiments, the gantry includes a first gantry arm including a first portion of the auxiliary mass component and a second gantry arm including a second portion of the auxiliary mass component. In some embodiments, the multi-axis medical imaging device includes a motor configured to move the auxiliary mass component and the scanner ring, e.g., in a coordinated and balanced manner. In some embodiments, the device includes two balanced components having a mass ratio of about 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3. In some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms) and is balanced by a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0022] In some embodiments, the multi-axis medical imaging device is configured to record medical images of the subject in a vertical position, an essentially vertical position, or a substantially vertical position. In some embodiments, the subject is in a sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perched, kneeling, kneeling leaning forward, or kneeling leaning back position. In some embodiments, the scanner ring is configured to move from a first position above the subject to a second position around the subject. In some embodiments, the scanner ring has an inner diameter of 20 cm or more (e.g., 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 cm).

[0023] In some embodiments, the technology provides a method for obtaining a medical image of a subject. For example, in some embodiments, the method includes providing a multi-axis medical imaging device; positioning the subject; and recording a medical image of the subject. In some embodiments, recording the medical image of the subject includes generating electromagnetic radiation (e.g., photons, gamma rays, X-rays, radio waves) and detecting the electromagnetic radiation (e.g., photons, gamma rays, X-rays, radio waves). In some embodiments, recording the medical image of the subject includes generating a magnetic field (e.g., for MRI).

[0024] In some embodiments, a multi-axis medical imaging device (e.g., used in the methods described herein) comprises a column assembly; a gantry coupled to the column assembly; and a scanner ring coupled to the gantry. In some embodiments, positioning the subject comprises positioning the subject in a vertical position. In some embodiments, the vertical position is sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perched, kneeling, kneeling leaning forward, or kneeling leaning back. In some embodiments, positioning the subject comprises positioning the subject using a patient positioning system and / or a patient support. In some embodiments, the patient positioning system comprises a patient support. In some embodiments, the patient positioning system and patient support are as described in International Patent Application Publication No. WO2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference.

[0025] In some embodiments, the method further includes positioning a scanner ring around the object, hi some embodiments, positioning the scanner ring includes rotating the gantry relative to the column assembly and / or translating the scanner ring relative to the gantry. In some embodiments, rotating the gantry relative to the column assembly applies a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32 ... 0.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N). In some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.The force (less than 0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) may be provided by a human, a motor, or a combination of a human and a motor. In some embodiments, translating the scanner ring relative to the gantry applies a force of 50 N or less to the scanner ring (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0 , 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N). In some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.The force (less than 0, 10.5, or 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor. In some embodiments, rotating the gantry relative to the column assembly includes rotating the gantry 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees) relative to the column assembly. In some embodiments, rotating the gantry relative to the column assembly means rotating the gantry relative to the column assembly by approximately 90 degrees (e.g., 80.0, 80.1, 80.2, 80.3, 80.4, 80.5, 80.6, 80.7, 80.8, 80.9, 81.0, 81.1, 81.2, 81.3, 81.4, 81.5, 81.6, 81.7, 81.8, 81.9, 82.0, 82.1, 82.2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 2.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9, 89.0, 89.1, 89.2, 89.3, 89.4 , 89.5, 89.6, 89.7, 89.8, 89.9, 90.0, 90.1, 90.2, 90.3, 90.4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.0, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91.8, 91.9, 92.0, 92.1, 92.2, 92.3, 92.4, 92.5, 92.6, 92.7, 92.8, 92.9, 93.0, 93.1, 93.2, 93.3, 93.4, 93.5, 93.6, 93.7, 93.8, 93.9, 94.0, 94.1, 94.2, 94.3, 94.4, 94.5, 94.6, 94.7, 94.8, 94.9, 95.0, 95.1, 95.2, 95.3, 95.4, 95.5, 95.6, 95.7, 95.8, 95.9, 96.0, 96.1, 96.2, 96.3, 96.4, 96.5, 96.6, 96 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, 98.0, 98.1, 98.2, 98.3, 98.4, 98.5, 98.6, 98.7, 98.8, 98.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, or 100.0 degrees). In some embodiments, translating the scanner ring relative to the gantry includes translating the scanner ring relative to the gantry by 0.2-2.0 m (e.g., 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1.00, 1.05, 1.10, 1.15, 1.20, 1.25, 1.30, 1.35, 1.40, 1.45, 1.50, 1.55, 1.60, 1.65, 1.70, 1.75, 1.80, 1.85, 1.90, 1.95, or 2.00 m). In some embodiments, the device comprises two balanced components having a mass ratio of about 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3. In some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms) and is balanced by a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0026] In some embodiments, the method further includes verifying the configuration of the patient positioning system or patient support, e.g., as described in International Patent Application Publication No. WO 2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference. In some embodiments, the method further includes verifying the position of the subject on the patient positioning system and / or patient support. In some embodiments, verifying the configuration of the patient positioning system and / or patient support includes imaging the patient positioning system and / or patient support to provide an image and / or model of the patient positioning system and / or patient support, and comparing the image and / or model of the patient positioning system and / or patient support to stored preset patient positioning system configurations and / or patient support configurations. In some embodiments, verifying the position of the subject includes imaging the subject to provide an image and / or model of the subject, and comparing the image and / or model of the subject to stored preset subject patient positions. In some embodiments, the method further includes imaging the subject to monitor the subject's position and / or subject movement. In some embodiments, imaging the subject to monitor the subject's position and / or subject movement is used to assess the quality of recorded images of said subject (e.g., a moving subject may exhibit reduced image quality). In some embodiments, imaging the subject to monitor the subject's position and / or subject movement is used to assess the subject's safety (e.g., a moving subject may come into contact with moving components of the imaging device and / or fall off the patient positioning system and / or patient support).

[0027] In some embodiments, the method further includes imaging the object to identify the object and / or verify the object's identity. In some embodiments, the method further includes translating the multi-axis medical imaging device within a plane of a base (e.g., a floor) movably coupled to the multi-axis medical imaging device. In some embodiments, the method further includes rotating the gantry relative to the column assembly and / or translating the scanner ring relative to the gantry to provide an exit for the object.

[0028] This technology provides embodiments of a system for recording medical images of a subject. In some embodiments, the system includes a multi-axis medical imaging device. In some embodiments, the system further includes a vertically positioned subject. In some embodiments, the multi-axis medical imaging device includes a column assembly (e.g., including one column; or multiple columns); a gantry (e.g., including a gantry arm; or including a first gantry arm and a second gantry arm) coupled to the column assembly; and a scanner ring coupled to the gantry. In some embodiments, the system further includes a patient positioning system and / or a patient support. In some embodiments, the patient positioning system and / or patient support are as described in International Patent Application Publication No. WO2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference. In some embodiments, the system further includes a vertically positioned subject, wherein the patient positioning system and / or patient support maintains the vertically positioned subject. In some embodiments, the system further comprises an imaging subsystem (e.g., comprising one or more cameras). In some embodiments, the scanner ring comprises one or more cameras. In some embodiments, the imaging subsystem is configured to monitor patient position and / or patient movement. In some embodiments, the imaging subsystem is configured to identify the patient and / or verify the patient's identity. In some embodiments, the imaging subsystem is configured to configure the patient positioning system and / or patient support and / or verify the configuration of the patient positioning system and / or patient support. In some embodiments, the imaging subsystem is configured to assist in controlling movement of the multi-axis medical imaging device or components thereof. In some embodiments, the system further comprises a light curtain subsystem. In some embodiments, the light curtain subsystem comprises a laser source. In some embodiments, the light curtain subsystem comprises a mirror.In some embodiments, the light curtain subsystem comprises a light detector. In some embodiments, the light curtain subsystem is configured to communicate an alert when the light curtain is breached. In some embodiments, the alert stops movement of the multi-axis medical imaging device or a component thereof; and / or produces an audible and / or visual alert signal. In some embodiments, the system further comprises a controller configured to control movement of the multi-axis medical imaging device or a component thereof; and / or start and / or stop recording of medical images.

[0029] In some embodiments, the present technology relates to the use of a multi-axis medical imaging device for recording medical images of a vertical object. In some embodiments, the present technology relates to the use of a multi-axis medical imaging device as described herein, for example, for recording medical images of an object. In some embodiments, the present technology relates to the use of a system including a multi-axis medical imaging device for recording medical images of a vertical object. In some embodiments, the present technology relates to the use of a system as described herein, for example, for recording medical images of an object.

[0030] In some embodiments, the technology relates to a method of treating a patient. For example, in some embodiments, the method includes recording a diagnostic image of a patient in a vertical position; and treating the patient in the vertical position. In some embodiments, the diagnostic image is a CT image, an MRI image, a PET image, a SPECT image, a photon-counting computed tomography image, and / or a portal image or scanogram. In some embodiments, the method of treating a patient further includes recording a portal image before treating the patient. In some embodiments, the method includes rotating the patient. In some embodiments, the method includes providing a multi-axis medical imaging device (as described herein) (e.g., for use in recording the diagnostic image and, optionally, for use in recording the portal image). In some embodiments, the method includes obtaining a diagnostic image of a patient in a vertical position (e.g., sitting, sitting and leaning back, sitting and leaning forward, standing, standing and leaning back, standing and leaning forward, perched, kneeling, kneeling and leaning forward, or kneeling and leaning back); and treating the patient in the same vertical position. In some embodiments, a method includes acquiring a diagnostic image of a patient in a vertical position (e.g., sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perched, kneeling, kneeling and leaning forward, or kneeling and leaning back); acquiring a portal image of the patient prior to treatment (e.g., to properly align the patient for treatment); and treating the patient in the same vertical position. In some embodiments, treating the patient includes moving (e.g., rotating) the patient and exposing the patient to treatment at multiple angles and / or positions on the patient's body. In some embodiments, a method includes imaging the patient in a vertical position (e.g., using a medical imaging device described herein) and treating the patient in the vertical position (e.g., using a radiation therapy device).In some embodiments, the method includes imaging a patient in a vertical position (e.g., a fixed vertical position) using a moving (e.g., translating and / or rotating) scanner (e.g., using a medical imaging device described herein) and treating the patient in the vertical position by rotating the patient (e.g., slowly rotating the patient) and exposing the patient to radiation from a fixed radiation therapy device.

[0031] In certain embodiments, the technology relates to a multi-axis computed tomography scanner capable of producing CT scans of patients in a vertical position. The technology can also produce CT scans of patients in a horizontal position or in other positions (e.g., a variety of postures, including sitting, sitting and leaning back, sitting and leaning forward, standing, standing and leaning back, standing and leaning forward, perched, kneeling, kneeling and leaning forward, kneeling and leaning back, lying down or prone, or other orthopedic positions). The mechanical design of the technology makes the technology safer than conventional CT scanning devices. Furthermore, the mechanical design of the technology makes the technology easier for users to operate than conventional CT scanning devices. For example, in some embodiments, the device has a counterbalanced design that allows the user to manually manipulate and / or position (e.g., rotate, tilt, and / or translate) the scanner (e.g., with less force than that provided by an average person pushing and / or pulling with their arms and hands). For example, in some embodiments, the device may be configured such that the user exerts force of about 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29. 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 Newtons (less than 10.0 Newtons).In some embodiments, the device comprises a counterbalanced design that allows a user to manually operate and position the scanner with minimal motor assistance. In some embodiments, the device comprises a counterbalanced design that allows a user to manually operate and position the scanner without motor assistance (e.g., in the event of a power outage). In some embodiments, the force is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28 A force of less than 0.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 Newtons (less than 0.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 Newtons) can be provided by a human, a motor, or a combination of a human and a motor. Thus, the devices described herein move with minimal force, thereby avoiding injury to the patient or damage to objects In some embodiments, the device comprises two balanced components having a mass ratio of about 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3.

[0032] In some embodiments relating to CT scanning, the technology provides a multi-axis computed tomography (CT) scanner (e.g., for obtaining a CT scan of a patient positioned in a vertical position). In some embodiments, the multi-axis CT scanner comprises a column assembly (e.g., including one or several columns (e.g., including one or several columns and a base (e.g., one column; or including multiple columns coupled to a base))); a gantry (e.g., comprising one gantry arm, or a first gantry arm and a second gantry arm) coupled to the column assembly; and a scanner ring coupled to the gantry. In some embodiments, the scanner ring comprises an x-ray generator and an x-ray detector. In some embodiments, the gantry is rotatably coupled to the column assembly. In some embodiments, the gantry is structured to rotate 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees) relative to the column assembly. In some embodiments, the gantry is angled at approximately 90 degrees (e.g., 80.0, 80.1, 80.2, 80.3, 80.4, 80.5, 80.6, 80.7, 80.8, 80.9, 81.0, 81.1, 81.2, 81.3, 81.4, 81.5, 81.6, 81.7, 81.8, 81.9, 82.0, 82.1, 82.2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9, 89.0, 89.1, 89.2, 89.3, 89.4, 89.5, 89.6, 89.7, 89.8, 89.9, 90.0, 90.1, 90.2, 90.3, 90.4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.0, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91.8, 91.9, 92.0, 92.1, 92.2, 92.3, 92.4, 92.5, 92.6, 92.7, 92.8, 92.9, 93.0, 93.1, 93.2, 93.3, 93.4, 93.5, 93.6, 93.7, 93.8, 93.9, 94.0, 94.1, 94 .2, 94.3, 94.4, 94.5, 94.6, 94.7, 94.8, 94.9, 95.0, 95.1, 95.2, 95.3, 95.4, 95.5, 95.6, 95.7, 95.8, 95.9, 96.0, 96.1, 96.2, 96.3, 96.4, 96.5, 96.6, 96.7, 96.8, 96.9, 97.0, 97.1, 97.2, 97.3 , 97.4, 97.5, 97.6, 97.7, 97.8, 97.9, 98.0, 98.1, 98.2, 98.3, 98.4, 98.5, 98.6, 98.7, 98.8, 98.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, or 100.0 degrees).

[0033] In some embodiments, the gantry comprises a gantry arm rotatably coupled to a column of the column assembly. In some embodiments, the gantry comprises a first gantry arm rotatably coupled to a first column of the column assembly, and the gantry comprises a second gantry arm rotatably coupled to a second column of the column assembly. In some embodiments, the column assembly is translatably coupled to a horizontal, planar base (e.g., a base on and / or within the floor). In some embodiments, the column assembly is fixedly coupled to a horizontal, planar base (e.g., a base on and / or within the floor). In some embodiments, the scanner ring is translatably coupled to the gantry. In some embodiments, the scanner ring is translatably coupled to a gantry arm of the gantry. In some embodiments, the scanner ring is translatably coupled to a first gantry arm of the gantry, and the scanner ring is translatably coupled to a second gantry arm of the gantry. In some embodiments, the scanner ring is structured to translate along a longitudinal axis of the gantry arm. In some embodiments, the scanner ring is structured to translate along the long axis of the first gantry arm and along the long axis of the second gantry arm. In some embodiments, the scanner ring is structured to translate 0.20-2.00 m (e.g., 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1.00, 1.05, 1.10, 1.15, 1.20, 1.25, 1.30, 1.35, 1.40, 1.45, 1.50, 1.55, 1.60, 1.65, 1.70, 1.75, 1.80, 1.85, 1.90, 1.95, or 2.00 m) relative to the gantry.

[0034] In some embodiments, the balanced assembly comprises a gantry and a scanner ring. In some embodiments, the balanced assembly comprises a gantry, a scanner ring, and an auxiliary mass that provides a counterweight. In some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5 , 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N) rotates the counterbalanced assembly including the gantry and scanner ring relative to the column assembly.In some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29 A force of less than 0.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) causes the scanner ring to translate relative to the gantry. In some embodiments, the force is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28 A force of less than 0.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor.In some embodiments, the device comprises two balanced components having a mass ratio of about 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3. In some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms) and is balanced by a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0035] In some embodiments, the column assembly comprises a motor operably engaged with the gantry. In some embodiments, the motor operably engaged with the gantry is structured to rotate the gantry relative to the column assembly. In some embodiments, the motor operably engaged with the gantry is structured to rotate the gantry relative to the column assembly through 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees). In some embodiments, a motor operably engaged with the gantry rotates the gantry about 90 degrees (e.g., 80.0, 80.1, 80.2, 80.3, 80.4, 80.5, 80.6, 80.7, 80.8, 80.9, 81.0, 81.1, 81.2, 81.3, 81.4, 81.5, 81.6, 81.7, 81.8, 81.9, 82.0, 82.1, 82.2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82 ...1, 82.2, 82.3, 82.4, 82.5 .2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9, 89.0, 90.1, 90.2, 90.3, 90.4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91 5.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9 , 89.0, 89.1, 89.2, 89.3, 89.4, 89.5, 89.6, 89.7, 89.8, 89.9, 90.0, 90.1, 90.2, 90.3, 90.4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.0, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91.8, 91.9, 92.0, 92.1, 92.2, 92.3, 92.4, 92.5, 92.6, 92.7, 92.8, 92.9, 93.0, 93.1, 93.2, 93.3, 93.4, 93.5, 93.6, 93.7, 93.8, 93.9, 94.0, 94.1, 94.2, 94.3, 94.4, 94.5, 94.6, 94.7, 94.8, 94.9, 95.0, 95.1, 95.2, 95.3, 95.4, 95.5, 95.6, 95.7, 95.8, 95.9, 96.0, 96.1, 96.2, 96.3, 96.4, 96.5, 96.6, 96.7, 96.8, 96.9, 97.0, 97.1, 97.2, 97.3, 97.4, 97.5, 97.6, 97.7, 97.8, 97.9, 98.0, 98.1, 98.2, 98.3, 98.4, 98.5, 98.6, 98.7, 98.8, 98.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, 100.0, 100.1, 100.2, 100.3, 100.4, 100.5, 100.6, 10 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, or 100.0 degrees). In some embodiments, the gantry comprises a motor operably engaged with the column assembly. In some embodiments, the motor operably engaged with the column assembly is structured to rotate the gantry relative to the column assembly.

[0036] In some embodiments, the motor operably engaged with the support assembly is structured to rotate the gantry 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees) relative to the support assembly. In some embodiments, a motor operably engaged with the column assembly may rotate the gantry to about 90 degrees (e.g., 80.0, 80.1, 80.2, 80.3, 80.4, 80.5, 80.6, 80.7, 80.8, 80.9, 81.0, 81.1, 81.2, 81.3, 81.4, 81.5, 81.6, 81.7, 81.8, 81.9, 82.0, 82.1, 82.2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9 6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86. 5, 86.6, 86.7, 86.8, 86.9, 87.0, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9, 89.0, 89.1, 89.2, 89.3, 89.4, 89.5, 89.6, 89.7, 89.8, 89.9, 90.0, 90.1, 90.2, 90.3, 90. 4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.0, 91.1, 91.2, 91.3, 91.4, 91.5, 91.6, 91.7, 91.8, 91.9, 92.0, 92.1, 92.2, 92.3, 92.4, 92.5, 92.6, 92.7, 92.8, 92.9, 93.0, 93.1, 93.2, 93.3, 93.4, 93.5, 93.6, 93.7, 93.8, 93.9, 94.0, 94.1, 94.2, 94.3, 94.4, 94.5, 94.6, 94.7, 94.8, 94.9, 95.0, 95.1, 95.2, 95.3, 95.4, 95.5, 95.6, 95.7, 95.8, 95.9, 96.0, 96.1, 96.2, 96.3, 96.4, 96.5, 96.6, 96.7, 96.8, 96.9, 97.0, 97.1, 97.2, 97.3, 97.4, 97.5, 97.6, 97.7, 97.8, 97.9, 98.0, 98.1, 98.2, 98.3, 98.4, 98.5, 98.6, 98.7, 98.8, 98.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, 100.0, 100.1, 100.2, 100.3, 100.4, 100.5, 100.6, 100.7, 100.8, 100.9, 100.10, 100.11, 100.12, 100.13, 100.14, 100.15, 100.16, 100.17, 100.18, 100.19, 100.19, 100.19, 100.1 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, or 100.0 degrees).

[0037] In some embodiments, the gantry includes a motor operatively engaged with the scanner ring. In some embodiments, the motor is coupled to a ball screw, a chain, or a belt. In some embodiments, the motor is structured to translate the scanner ring relative to the gantry. In some embodiments, the motor is configured to translate the scanner ring relative to the gantry by 0.20-2.00 m (e.g., 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1.00, 1.05, 1.10, 1.15, 1.20, 1.25, 1.30, 1.35, 1.40, 1.45, 1.50, 1.55, 1.60, 1.65, 1.70, 1.75, 1.80, 1.85, 1.90, 1.95, or 2.00 m). In some embodiments, the ball screw is 15-100 mm in diameter (e.g., 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm).In some embodiments, the motor rotates the scanner ring 5-100 mm (e.g., 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm).

[0038] In some embodiments, the gantry includes an auxiliary mass component that provides a counterweight to the scanner ring. In some embodiments, the gantry includes a gantry arm including the auxiliary mass component. In some embodiments, the gantry includes a first gantry arm including a first portion of the auxiliary mass component and a second gantry arm including a second portion of the auxiliary mass component. In some embodiments, the multi-axis CT scanner includes a motor configured to move the auxiliary mass component and the scanner ring. In some embodiments, the two auxiliary mass components are driven by the same motor. In some embodiments including two auxiliary mass components driven by the same motor, the technique further includes mechanical tension adjustments for each of the mechanical systems in the first and second gantry arms. In some embodiments, the first auxiliary mass component is driven by a first motor, and the second auxiliary mass component is driven by a second motor. In some embodiments including a first auxiliary mass component driven by a first motor and a second auxiliary mass component driven by a second motor, the technique further includes a system for calibrating and synchronizing the movement of the first and second auxiliary masses by the first and second motors. In some embodiments, the first gantry arm and the second gantry arm each include an encoder feedback system that provides precise positioning of the first and second auxiliary masses. In some embodiments, the apparatus includes two balanced components having a mass ratio of about 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3.In some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms) and is balanced by a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0039] In some embodiments, the multi-axis CT scanner is configured to record a CT scan of a subject in a vertical, essentially vertical, or substantially vertical position. In some embodiments, the subject is in a sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perched, kneeling, kneeling leaning forward, or kneeling leaning back position. In some embodiments, the scanner ring is configured to move from a first position above the subject to a second position around the subject. In some embodiments, the scanner ring has an inner diameter of 20 cm or more (e.g., 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 cm). In some embodiments, the scanner ring is, for example, about 33.5 cm across from the inner circumference (e.g., inner bore) to the outer circumference (e.g., 25.0, 25.5, 26.0, 26.5, 27.0, 27.5, 28.0, 28.5, 29.0, 29.5, 30.0, 30.5, 31.0, 31.5, 32.0, 32.5, 33.0, 33.5, 34.0, 34.5, 35.0 , 35.5, 36.0, 36.5, 37.0, 37.5, 38.0, 38.5, 39.0, 39.5, 40.0, 40.5, 41.0, 41.5, 42.0, 42.5, 43.0, 43.5, 44.0, 44.5, 45.0, 45.5, 46.0, 46.5, 47.0, 47.5, 48.0, 48.5, 49.0, 49.5, or 50.0 cm).

[0040] In some embodiments, the technology provides a method for obtaining a CT scan of a subject. For example, in some embodiments, the method includes providing a multi-axis computed tomography (CT) scanner; positioning the subject; and recording a CT scan of the subject. In some embodiments, recording the CT scan of the subject includes generating x-rays; and detecting the x-rays. In some embodiments, the multi-axis CT scanner includes a column assembly; a gantry coupled to the column assembly; and a scanner ring coupled to the gantry. In some embodiments, positioning the subject includes positioning the subject in a vertical position. In some embodiments, the vertical position is sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perching, kneeling, kneeling leaning forward, or kneeling leaning back. In some embodiments, positioning the subject includes positioning the subject using a patient positioning system and / or a patient support. In some embodiments, the patient positioning system and / or patient support is as described in International Patent Application Publication No. WO2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference.

[0041] In some embodiments, the method further includes positioning a scanner ring around the object, hi some embodiments, positioning the scanner ring includes rotating the gantry relative to the column assembly and / or translating the scanner ring relative to the gantry. In some embodiments, rotating the gantry relative to the column assembly applies a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32 ... 0.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N). In some embodiments, translating the scanner ring relative to the gantry applies a force of 50 N or less to the scanner ring (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0 , 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N. In some embodiments, the force is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28 A force of less than 0.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor. In some embodiments, rotating the gantry relative to the column assembly comprises rotating the gantry 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees) relative to the column assembly. In some embodiments, rotating the gantry relative to the column assembly means rotating the gantry relative to the column assembly by approximately 90 degrees (e.g., 80.0, 80.1, 80.2, 80.3, 80.4, 80.5, 80.6, 80.7, 80.8, 80.9, 81.0, 81.1, 81.2, 81.3, 81.4, 81.5, 81.6, 81.7, 81.8, 81.9, 82.0, 82.1, 82.2, 82.3, 82.4, 82.5, 82.6, 82.7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.1, 87.1, 87.1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8,7, 82.8, 82.9, 83.0, 83.1, 83.2, 83.3, 83.4, 83.5, 83.6, 83.7, 83.8, 83.9, 84.0, 84.1, 84.2, 84.3, 84.4, 84.5, 84.6, 84.7, 84.8, 84.9, 85.0, 85.1, 85.2, 85.3, 85.4, 85.5, 85.6, 85.7, 85.8, 85.9, 86.0, 86.1, 86.2, 86.3, 86.4, 86.5, 86.6, 86.7, 86.8, 86.9, 87.0, 87. 1, 87.2, 87.3, 87.4, 87.5, 87.6, 87.7, 87.8, 87.9, 88.0, 88.1, 88.2, 88.3, ​​88.4, 88.5, 88.6, 88.7, 88.8, 88.9, 89.0, 89.1, 89.2, 89.3, 89.4, 89.5, 89.6, 89.7, 89.8, 89.9, 90.0, 90.1, 90.2, 90.3, 90.4, 90.5, 90.6, 90.7, 90.8, 90.9, 91.0, 91.1, 91.2, 91.3, 91.4, 91.5 , 91.6, 91.7, 91.8, 91.9, 92.0, 92.1, 92.2, 92.3, 92.4, 92.5, 92.6, 92.7, 92.8, 92.9, 93.0, 93.1, 93.2, 93.3, 93.4, 93.5, 93.6, 93.7, 93.8, 93.9, 94.0, 94.1, 94.2, 94.3, 94.4, 94.5, 94.6, 94.7, 94.8, 94.9, 95.0, 95.1, 95.2, 95.3, 95.4, 95.5, 95.6, 95.7, 95.8, 95.9, 96.0, 96.1, 96.2, 96.3, 96.4, 96.5, 96.6, 96.7, 96.8, 96.9, 97.0, 97.1, 97.2, 97.3, 97.4, 97.5, 97.6, 97.7, 97.8, 97.9, 98.0, 98.1, 98.2, 98.3, 98.4, 98.5, 98.6, 98.7, 98.8, 98.9, 99.0, 99.1, 99.2, 99.3, 99.4, 99.5, 99.6, 99.7, 99.8, 99.9, or 100.0 degrees). In some embodiments, translating the scanner ring relative to the gantry may move the scanner ring relative to the gantry by 0.2-2.0 m (e.g., 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60, 0.65, 0.1.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1.00, 1.05, 1.10, 1.15, 1.20, 1.25, 1.30, 1.35, 1.40, 1.45, 1.50, 1.55, 1.60, 1.65, 1.70, 1.75, 1.80, 1.85, 1.90, 1.95, or 2.00 m). In some embodiments, the device comprises two balanced components having a mass ratio of about 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3. In some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms) and is balanced by a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0042] In some embodiments, the method further includes verifying a configuration of the patient positioning system and / or patient support. In some embodiments, the method further includes verifying a position of the subject on the patient positioning system and / or patient support. In some embodiments, verifying the configuration of the patient positioning system includes imaging the patient positioning system and / or patient support to provide an image and / or a model of the patient positioning system and / or patient support, and comparing the image and / or model of the patient positioning system and / or patient support to stored preset patient positioning system configurations and / or patient support configurations. In some embodiments, verifying the position of the subject includes imaging the subject to provide an image and / or a model of the subject, and comparing the image and / or model of the subject to stored preset subject patient positions. In some embodiments, the method further includes imaging the subject to monitor the subject's position and / or subject movement. In some embodiments, the method further includes imaging the subject to identify the subject and / or to verify the subject's identity. In some embodiments, the method further includes translating the multi-axis CT scanner within a plane of a base movably coupled to the multi-axis CT scanner. In some embodiments, the method further includes rotating the gantry relative to the column assembly and / or translating the scanner ring relative to the gantry to provide an exit for the subject.

[0043] The technology provides embodiments of a system for recording a computed tomography (CT) scan of a subject. In some embodiments, the system comprises a multi-axis CT scanner. In some embodiments, the system further comprises a vertically positioned subject. In some embodiments, the multi-axis CT scanner comprises a column assembly; a gantry coupled to the column assembly; and a scanner ring coupled to the gantry. In some embodiments, the system further comprises a patient positioning system and / or a patient support. In some embodiments, the patient positioning system and / or patient support are as described in International Patent Application Publication No. WO 2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference. In some embodiments, the system further comprises a vertically positioned subject, and the patient positioning system and / or patient support maintain the subject on the vertically positioned subject. In some embodiments, the system further comprises an imaging subsystem (e.g., comprising one or more cameras). In some embodiments, the scanner ring comprises one or more cameras. In some embodiments, the imaging subsystem is configured to monitor patient position and / or patient movement. In some embodiments, the imaging subsystem is configured to identify the patient and / or verify the patient's identity. In some embodiments, the imaging subsystem is configured to configure the patient positioning system and / or the patient support and / or verify the configuration of the patient positioning system and / or the patient support. In some embodiments, the imaging subsystem is configured to assist in controlling movement of the multi-axis CT scanner or components thereof. In some embodiments, the system further comprises a light curtain subsystem. In some embodiments, the light curtain subsystem comprises a laser source. In some embodiments, the light curtain subsystem comprises a mirror. In some embodiments, the light curtain subsystem comprises a photodetector.In some embodiments, the light curtain subsystem is configured to communicate an alert when the light curtain is breached. In some embodiments, the alert stops movement of the multi-axis CT scanner or a component thereof; and / or produces an audible and / or visual alert signal. In some embodiments, the system further comprises a controller configured to control movement of the multi-axis CT scanner or a component thereof; and / or start and / or end a CT scan.

[0044] In some embodiments, the technology relates to the use of a multi-axis CT scanner for recording a CT scan of a vertical object. In some embodiments, the technology relates to the use of a multi-axis CT scanner as described herein, for example, for recording a CT scan of a subject. In some embodiments, the technology relates to the use of a system including a multi-axis computed tomography (CT) scanner for recording a CT scan of a vertical object. In some embodiments, the technology relates to the use of a system as described herein, for example, for recording a CT scan of a subject. In some embodiments, the technology relates to the use of a multi-axis CT scanner for recording a portal image and / or a scanogram of a subject.

[0045] In some embodiments, the technology relates to a method of treating a patient. For example, in some embodiments, the method includes capturing a diagnostic image of a patient in a vertical position (e.g., sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perched, kneeling, kneeling leaning forward, or kneeling leaning back); and treating the patient in the vertical position. In some embodiments, the diagnostic image is a computed tomography (CT) image. In some embodiments, the method of treating a patient further includes capturing a portal image before treating the patient. In some embodiments, the method includes imaging the patient in the vertical position (e.g., using a CT imaging device described herein) (CT imaging); and treating the patient in the vertical position (e.g., with a radiation therapy device). In some embodiments, a method includes acquiring a diagnostic image (e.g., a CT image) of a patient in a vertical position (e.g., sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perched, kneeling, kneeling leaning forward, or kneeling leaning back); acquiring a portal image of the patient prior to treatment (e.g., to properly align the patient for treatment); and treating the patient in the same vertical position. In some embodiments, treating the patient includes moving (e.g., rotating) the patient and exposing the patient to treatment at multiple angles and / or positions on the patient's body. In some embodiments, the method includes rotating the patient. For example, in some embodiments, a method includes imaging (e.g., CT imaging) a patient in a vertical position (e.g., a fixed vertical position) using a moving (e.g., translating and / or rotating) scanner (e.g., using a medical imaging device described herein), and treating the patient in the vertical position by rotating the patient (e.g., slowly rotating the patient) and exposing the patient to radiation from a fixed radiation therapy device.In some embodiments, the method includes providing a multi-axis CT scanner as described herein (e.g., for use in recording diagnostic images, and optionally for use in recording portal images).

[0046] In some embodiments, the present technology provides a multi-axis computed tomography scanner that is a rapid multi-axis computed tomography (RMACT) scanner. For example, in some embodiments, the RMACT comprises a first column, a second column, a first gantry arm, a second gantry arm, and a scanner ring; a bottom bridge and an upper bridge connecting the first gantry arm to the second gantry arm; and a patient support connected to the bottom bridge and the upper bridge. In some embodiments, the RMACT scanner is structured to rotate the patient support between a vertical position and a horizontal position. In some embodiments, the first column comprises a motor operably engaged with the first gantry arm, and / or the second column comprises a motor operably engaged with the second gantry arm. In some embodiments, the first gantry arm comprises a motor operably engaged with the first column, and / or the second gantry arm comprises a motor operably engaged with the second column. In some embodiments, the scanner ring comprises an X-ray source and an X-ray detector. In some embodiments, the scanner ring has an inner diameter of at least 20 cm. In some embodiments, the scanner ring has a mass of about 1000 kg. In some embodiments, the RMACT scanner draws about 300 mA of current, provides about four or more x 40 cm scans per hour, and provides a field of view of about 63 cm.

[0047] In related embodiments, the technology provides a method for acquiring medical images, the method including providing a high-speed multi-axis computed tomography (RMACT) scanner including a first column, a second column, a first gantry arm, a second gantry arm, and a scanner ring; a bottom bridge and an upper bridge connecting the first gantry arm to the second gantry arm; and a patient support connected to the bottom bridge and the upper bridge; imaging the patient in a vertical position to acquire a first image; and imaging the patient in a horizontal position to acquire a second image. In some embodiments, the method includes comparing the first image and the second image. In some embodiments, the method further includes maintaining the patient on the patient support between imaging the patient in the vertical position and imaging the patient in the horizontal position. In some embodiments, the method includes diagnosing the patient using the first image. In some embodiments, the method includes planning surgery or treatment using the second image. In some embodiments, the method includes positioning the patient on the patient support. In some embodiments, the method includes rotating the first gantry arm and the second gantry arm relative to the first column and the second column before imaging the patient in a horizontal position.

[0048] In some embodiments, the present technology provides a system including a rapid multi-axis computed tomography (RMACT) scanner, the rapid multi-axis computed tomography (RMACT) scanner comprising: a first column, a second column, a first gantry arm, a second gantry arm, a scanner ring; a bottom bridge and an upper bridge connecting the first gantry arm to the second gantry arm; a patient support connected to the bottom bridge and the upper bridge; and a microprocessor configured to acquire a first image of the patient in a vertical position and a second image of the patient in a horizontal position. In some embodiments, the microprocessor is configured to rotate the gantry and / or translate the scanner ring. In some embodiments, the system further comprises an X-ray source, and the microprocessor is configured to activate and deactivate the X-ray source. In some embodiments, the system further comprises a software component that compares the first image and the second image.

[0049] Additional embodiments will be apparent to those skilled in the relevant art(s) based on the teachings contained herein.

[0050] These and other features, aspects, and advantages of the present technology will be better understood with reference to the following drawings. The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawing(s) will be provided by the Office upon request and payment of the necessary fee. [Brief explanation of the drawings]

[0051] [Figure 1A] 1 is a diagram of an embodiment of a multi-axis CT scanner, with the patient shown seated in the patient positioning system and the user shown standing near the control unit. [Figure 1B]1 is a diagram of one embodiment of a multi-axis CT scanner. The multi-axis CT scanner 100 includes a gantry 102 including a first column 101A, a second column 101B, a first gantry arm 102A, and a second gantry arm 102B, and a scanner ring 103. The gantry 102 rotates about a rotation axis ρ relative to the first column 101A and the second column 101B (and the gantry arms 102A and 103B also rotate). The scanner ring 103 is structured to move along a translation axis (τ) that is parallel (e.g., substantially and / or essentially parallel) to the length of the gantry arms 102A and 102B. The translation axis τ is also perpendicular (e.g., substantially and / or essentially perpendicular) to the rotation axis ρ. A patient is shown seated in the patient positioning system. [Figure 2] 2 illustrates a patient 201 seated on a patient positioning system 202. In some embodiments, a method includes providing a multi-axis CT scanner and positioning the patient 201 within a scanning volume of the multi-axis CT scanner. In some embodiments, the method includes positioning the patient 201 on a patient positioning system 202 provided within the scanning volume of the multi-axis CT scanner. [Figure 3A] 1 is a diagram showing a side view of a multi-axis CT scanner. The gantry is shown in a horizontal position (e.g., a substantially and / or essentially horizontal position), e.g., aligned with axis α. In some embodiments of the technique, the method includes rotating the gantry and scanner ring about an axis of rotation (e.g., axis ρ) to provide the gantry in a vertical position (e.g., a substantially and / or essentially vertical position), e.g., aligned with axis β. In some embodiments, axis α is parallel (e.g., substantially and / or essentially parallel) to the floor. In some embodiments, axis β is normal (e.g., substantially and / or essentially vertical) to the floor. [Figure 3B]1 is a diagram showing a side view of a multi-axis CT scanner. The gantry is shown in a vertical and / or substantially vertical position, e.g., aligned with axis β. In some embodiments, the method includes rotating the gantry and scanner ring about an axis of rotation (e.g., ρ) to provide the gantry in a vertical and / or substantially vertical position, e.g., aligned with axis β. The axis of rotation ρ is perpendicular to the plane of the page and perpendicular (e.g., substantially and / or essentially perpendicular) to both axes α and β. For example, an embodiment of the method includes rotating the gantry from a horizontal position (e.g., aligned with axis α) about the axis of rotation (e.g., axis ρ) to a vertical position (e.g., aligned with axis β). [Figure 3C] 3A and 3B illustrate a front view of a multi-axis CT scanner. The gantry is shown in a vertical position (e.g., a substantially and / or essentially vertical position). A patient is shown seated in a patient positioning system (see, e.g., FIG. 2). In some embodiments, the method includes translating a scanner ring from a first position (e.g., shown in FIG. 2) to a second position (e.g., shown in FIG. 3C). The scanner ring in the second position provides a CT scanner for acquiring a CT scan of the patient's region of interest. This technique is not limited to a 90° (e.g., substantially and / or essentially 90°) rotation as shown in FIGS. 3A and 3B. Thus, this technique encompasses positioning the scanner ring along any axis perpendicular to the rotation axis ρ. In some embodiments, axis α and / or axis β are or can be provided at any angle within the plane of the page, e.g., rotation about axis ρ relative to the positions of axis α and / or axis β shown in FIGS. 3A and 3B. [Figure 4A] This figure shows a side view of a multi-axis CT scanner with the gantry in a horizontal position. For reference, the Z and Y axes of the three-dimensional coordinate system are shown. [Figure 4B]1 is a diagram showing a top view of a multi-axis CT scanner with the gantry in a horizontal position. For reference, the X and Y axes of a three-dimensional coordinate system are shown. In some embodiments, the method includes translating the multi-axis CT scanner (e.g., by translating one or both columns) in the XY plane (e.g., in the plane of the floor), e.g., to position the scanner ring relative to the patient and / or the patient's region of interest. [Figure 4C] FIG. 1 is a rear view of a multi-axis CT scanner with the gantry in a horizontal position. [Figure 4D] 4A and 4B are front views of a multi-axis CT scanner with the gantry in a vertical position, as shown in FIG. 4D. By placing the gantry in a vertical position, a patient positioned in a vertical position can be scanned. [Figure 4E] FIG. 1 is a side view of a multi-axis CT scanner with the gantry in a vertical position. [Figure 4F] FIG. 1 is a top view of a multi-axis CT scanner with the gantry in a vertical position. [Figure 5A] 1 is a diagram showing a side view of a multi-axis CT scanner with a gantry in a horizontal position (e.g., a substantially and / or essentially horizontal position). The gantry rotates on gantry arms about a rotation axis ρ. The gantry comprises an upper portion 501 separated from a bottom portion 502 by the axis ρ. The upper portion 501 includes portions of both gantry arms connected to the scanner ring. The bottom portion 502 includes portions of both gantry arms. [Figure 5B] FIG. 1 is a diagram showing a front view of a multi-axis CT scanner with the gantry in a vertical position (e.g., a substantially and / or essentially vertical position). The gantry rotates on gantry arms about a rotation axis ρ. The gantry comprises a top portion 501 separated from a bottom portion 502 by the axis ρ. The top portion 501 is the portion of the gantry above the axis ρ of the drawing and includes both gantry arms and a portion of the scanner ring; the bottom portion 502 is the portion of the gantry below the axis ρ and within the gray shaded box and includes a portion of both gantry arms. [Figure 6]The scanner ring is a schematic diagram of an embodiment of a scanner ring counterweight system that includes a belt 601, a motor 602, a pulley 603, a first weight (W1) 604, and a second weight (W2) 605 that represents the scanner ring. [Figure 7] 7 is a schematic diagram of one embodiment of a scanner ring counterweight system including a first belt 701, a motor 702, a first pulley 703, a first weight (W1) 704, a second weight (W2) 705 representing the scanner ring, a second belt 706, a second pulley 707, and a third pulley 708. [Figure 8] FIG. 8 is a schematic diagram of one embodiment of a scanner ring counterweight system including a belt 801, a motor 802, a pulley 803, a first weight (W1) 804, a second weight (W2) 805 representing the scanner ring, and a ball screw 806 rotating on an axis shown in dashed lines. [Figure 9] FIG. 10 illustrates an embodiment of the present technology where the scanner ring moves upward from a position at the floor. [Figure 10] 1 is a diagram of an embodiment of the present technology comprising a pit, a multi-axis CT scanner moving upward from a position in the floor (e.g., from the pit), and a floor insert piece. [Figure 11] FIG. 10 is a diagram of an embodiment of the present technology showing the floor insert piece raised to allow the multi-axis CT scanner to move up off the floor (e.g., out of the pit). [Figure 12] FIG. 10 illustrates an embodiment of the present technology showing the floor insert piece moved to allow the multi-axis CT scanner to move up from the floor (e.g., out of the pit). [Figure 13] FIG. 1 is a diagram of an embodiment of the present technology showing a multi-axis CT scanner being moved upward from the floor (e.g., from a pit) to a vertical position (e.g., to scan a patient in a vertical position or to scan a portion of a patient in a vertical position). [Figure 14]1 is a diagram of an embodiment of the present technology showing a multi-axis CT scanner moving up from the floor and then rotating to a horizontal position (e.g., to scan a patient in a horizontal position or to scan a portion of a patient in a horizontal position); [Figure 15A] FIG. 1 is a diagram of a model of an embodiment of the present technology including one support column, a gantry including one gantry arm (e.g., an A-shaped gantry arm), and a scanner ring. [Figure 15B] 15A and 15B are schematic diagrams of embodiments of the present technology including a column, a gantry including a gantry arm (e.g., an A-shaped gantry arm), and a scanner ring. The embodiment shown in FIG. 15B shows the scanner ring and counterweight driven by a belt and pulley system. [Figure 16A] FIG. 1 is a diagram of a model of an embodiment of the present technology comprising one support column, a gantry including one gantry arm (e.g., an A-shaped gantry arm), and a scanner ring. [Figure 16B] 16A and 16B are schematic diagrams of embodiments of the present technology comprising a gantry including one support column, one gantry arm (e.g., an A-shaped gantry arm), and a scanner ring. The embodiment shown in FIG. 16B shows the scanner ring and counterweight driven by a system comprising a ball screw adjusted by a belt. [Figure 17A] FIG. 1 is a diagram of a model of an embodiment of the present technology including one support column, a gantry including one gantry arm (e.g., an H-shaped gantry arm), and a scanner ring. [Figure 17B] 17A and 17B are schematic diagrams of embodiments of the present technology comprising a gantry including one support column, one gantry arm (e.g., an H-shaped gantry arm), and a scanner ring. The embodiment shown in FIG. 17B shows the scanner ring and counterweight driven by a belt and pulley system. [Figure 18A] FIG. 1 is a diagram of a model of an embodiment of the present technology including one support column, a gantry including one gantry arm (e.g., an A-shaped gantry arm), and a scanner ring. [Figure 18B]18A and 18B are schematic diagrams of embodiments of the present technology comprising a column, a gantry including a gantry arm (e.g., a T-shaped gantry arm), and a scanner ring. The embodiment shown in FIG. 18B shows the scanner ring and counterweight driven by a belt and pulley system. [Figure 19A] 19 shows a front view of a rapid multi-axis CT (RMACT) scanner. The RMACT scanner 1900 includes a first column 1902A, a second column 1902B, a first gantry arm 1901A, a second gantry arm 1901B, and a scanner ring 1903. A bottom bridge 1904 and an upper bridge 1906 connect the first gantry arm 1901A to the second gantry arm 1901B. A patient support 1905 is connected to the bottom bridge 1904 and the upper bridge 1906. The gantry, including the first gantry arm 1901A and the second gantry arm 1901B, rotates about an axis ρ relative to the first column 1902A and the second column 1902B. The scanner ring 1903 translates along an axis τ relative to a gantry including a first gantry arm 1901 A and a second gantry arm 1901 B. The RMACT scanner 1900 in Figure 19A is shown with the patient support 1905 in a vertical position (e.g., a substantially and / or essentially vertical position), for example, to support a patient in a vertical position (e.g., a substantially and / or essentially vertical position), such as a standing or other upright (e.g., sitting, kneeling, perched) position. [Figure 19B] FIG. 19B is a diagram of the RMACT scanner 1900 of FIG. 19A shown in side view. [Figure 19C]19A and 19B is a view of the RMACT scanner 1900 shown in a side view of the gantry (and patient support) rotated 90° relative to the position of the gantry (and patient support) shown in FIG. 19B, providing a patient support 1905 in a horizontal position (e.g., a substantially and / or virtually horizontal position) for supporting a patient in a horizontal position (e.g., a substantially and / or virtually horizontal position), such as a lying position with straight or bent legs (e.g., prone, supine, Trendelenburg, or other horizontal position). [Figure 20A] FIG. 1 illustrates modular patient support components for use with the patient support of the RMACT scanner. [Figure 20B] 10A-10C illustrate configurations of modular patient support components attached to a patient support for supporting a patient in a sitting position. [Figure 20C] 10A-10C illustrate configurations of modular patient support components attached to a patient support to support a patient in a sitting position. DETAILED DESCRIPTION OF THE INVENTION

[0052] It should be understood that the drawings are not necessarily drawn to scale, nor are the objects in the drawings necessarily drawn to scale relative to each other. The drawings are intended to clarify and provide an understanding of various embodiments of the devices, systems, and methods disclosed herein. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Furthermore, it should be understood that the drawings are not intended to limit the scope of the present teachings in any way.

[0053] SUMMARY Provided herein is technology relating to apparatus, methods, and systems for medical imaging, particularly, but not exclusively, radiology (eg, using computed tomography) and radiation therapy.

[0054] In this detailed description of various embodiments, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, those skilled in the art will understand that these various embodiments may be practiced without these specific details. In other instances, structures and devices are shown in block diagram form. Furthermore, those skilled in the art will readily understand that the specific sequence in which methods are presented and performed is exemplary, and that the sequence can be changed and still remain within the spirit and scope of the various embodiments disclosed herein.

[0055] All literature and similar materials cited in this application, including but not limited to patents, patent applications, papers, books, treatises, and internet web pages, are expressly incorporated by reference in their entirety for all purposes. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments described herein belong. When the definition of a term in an incorporated reference appears to differ from the definition provided in the present teachings, the definition provided in the present teachings shall prevail. The section headings used herein are for organizational purposes only and should not be construed as limiting the subject matter described in any way.

[0056] definition To facilitate understanding of the present technology, several terms and phrases are defined below. Additional definitions are set forth throughout the detailed description.

[0057] Throughout this specification and claims, the following terms have the meanings explicitly associated therewith, unless the context clearly dictates otherwise. As used herein, the phrase "in one embodiment" may refer to the same embodiment, but does not necessarily refer to the same embodiment. Furthermore, as used herein, the phrase "in another embodiment" may refer to different embodiments, but does not necessarily refer to different embodiments. Thus, as described below, various embodiments of the invention can be readily combined without departing from the scope or spirit of the invention.

[0058] Additionally, as used herein, the term "or" is an inclusive "or" operator and is equivalent to the term "and / or" unless the context clearly dictates otherwise. The term "based on" is not exclusive and acknowledges that a result may be based on additional unexplained factors unless the context clearly dictates otherwise. Additionally, throughout this specification, the meanings of "a," "an," and "the" include plural references. The meaning of "in" includes "in" and "on."

[0059] As used herein, the terms "about," "approximately," "substantially," and "significantly" will be understood by those of ordinary skill in the art and will vary to some extent depending on the context in which they are used. If there are uses of the terms that are not clear to persons of ordinary skill in the art given the context in which they are used, "about" and "approximately" mean plus or minus 10% or less of the particular term, and "substantially" and "significantly" mean plus or minus more than 10% of the particular term.

[0060] As used herein, the disclosure of a range includes the disclosure of all values ​​and further divided ranges within that entire range, including the endpoints and subranges given in the range.

[0061] As used herein, the suffix "free" refers to an embodiment of a technology that omits a feature of the root of the word to which "free" is added. That is, the term "X-free" as used herein means "without X," where X is the technology feature omitted in the "X-free" technology. For example, a "calcium-free" composition does not contain calcium, a "mixing-free" method does not include a mixing step, etc.

[0062] Terms such as "first," "second," and "third" may be used herein to describe various steps, elements, compositions, components, regions, layers, and / or sections; however, these steps, elements, compositions, components, regions, layers, and / or sections should not be limited by these terms unless otherwise indicated. These terms are used to distinguish one step, element, composition, component, region, layer, and / or section from another step, element, composition, component, region, layer, and / or section. Terms such as "first," "second," and other numerical terms, when used herein, do not imply a sequence or order unless clearly indicated by context. Thus, a first step, element, composition, component, region, layer, or section discussed herein may be referred to as a second step, element, composition, component, region, layer, or section without departing from the art.

[0063] As used herein, the terms "presence" or "absence" (or "present or absent") are used in a relative sense to describe the amount or level of a particular entity (e.g., an analyte). For example, when an entity is said to be "present," it means that the level or amount of the entity is above a predetermined threshold; conversely, when an entity is said to be "absent," it means that the level or amount of the entity is below a predetermined threshold. The predetermined threshold may be a detectability threshold associated with a particular test used to detect the entity, or some other threshold. When an entity is "detected," it is "present." When an entity is "not detected," it is "absent." Furthermore, a sample in which an analyte is "detected," or in which the analyte is "present," is a sample that is "positive" for the analyte. A sample in which the analyte is "not detected," or in which the analyte is "absent," is a sample that is "negative" for the analyte.

[0064] As used herein, "increase" or "decrease" refers to a detectable (e.g., measured) positive or negative change, respectively, in the value of a variable compared to a previously measured value of the variable, compared to a pre-established value, and / or compared to a standard control value. An increase is preferably at least a 10%, more preferably a 50%, even more preferably a 2-fold, even more preferably at least a 5-fold, and most preferably at least a 10-fold positive change compared to the previously measured, pre-established, and / or standard control value of the variable. Similarly, a decrease is preferably at least a 10%, more preferably a 50%, even more preferably at least a 80%, and most preferably at least a 90% negative change of the previously measured, pre-established, and / or standard control value of the variable. Other terms indicating quantitative changes or differences, such as "more" or "less," are used herein in the same manner as above.

[0065] As used herein, a "system" refers to multiple real and / or abstract components that operate together for a common purpose. In some embodiments, a "system" is an integrated collection of hardware and / or software components. In some embodiments, each component of a system interacts with and / or is related to one or more other components. In some embodiments, a system refers to a combination of components and software to control, perform, and / or direct a method.

[0066] As used herein, the term "computed tomography" is abbreviated as "CT" and refers to both tomographic and non-tomographic radiography. For example, the term "CT" refers to numerous forms of CT, including, but not limited to, X-ray CT, positron emission tomography (PET), single-photon emission computed tomography (SPECT), and photon-counting computed tomography. Generally, computed tomography (CT) consists of the use of an X-ray source and a detector that rotates around the patient, followed by the reconstruction of images into different planes. The electrical current for the X-rays used in CT describes the flow of current from the cathode to the anode, and is usually measured in milliamperes (mA).

[0067] As used herein, the term "structured to [verb]" means that the identified element or assembly has a structure that is shaped, sized, arranged, coupled, and / or configured to perform the identified verb. For example, a member "structured to move" includes an element that is movably coupled to another element and causes the member to move, or includes an element of the member that is configured to move in response to another element or assembly. Thus, as used herein, "structured to [verb]" refers to structure, not function. Additionally, as used herein, "structured to [verb]" means that the identified element or assembly is intended and designed to perform the identified verb.

[0068] As used herein, the term "associated" means that elements are part of the same assembly and / or work together or interact with each other in some way. For example, a car has four tires and four hubcaps. It is understood that all elements are joined together as part of the car, but each hubcap is "associated" with a particular tire.

[0069] As used herein, the term "coupled" refers to two or more components that are held together by any suitable means. Thus, in some embodiments, a statement that two or more parts or components are "coupled" means that the parts are joined or operate together directly or indirectly, for example, through one or more intermediate parts or components. As used herein, "directly coupled" means that the two elements are in direct contact with each other. As used herein, "fixedly coupled" or "fixed" means that the two components are coupled so that they move as one while maintaining a constant orientation relative to each other. Thus, when two elements are coupled, all portions of the elements are coupled. However, a statement of a particular portion of a first element coupled to a second element, e.g., the first end of an axle coupled to a first wheel, means that the particular portion of the first element is disposed closer to the second element than the other portions of the first element. Furthermore, an object resting on another object held in position by gravity alone is not "coupled" to the underlying object unless the upper object is otherwise substantially maintained in position. That is, for example, a book on a table is not bound to the table, but a book attached to a table is bound to the table.

[0070] As used herein, the terms "removably coupled" or "temporarily coupled" mean that one component is coupled to another component in an essentially temporary manner. That is, the two components are coupled in such a way that joining or separating the components is easy and does not cause damage to the components. Thus, "removably coupled" components can be easily uncoupled and recoupled without causing damage to the components.

[0071] As used herein, the term "operably coupled" means that several elements or assemblies, each movable between a first position and a second position or configuration, are coupled such that as the first element moves from one position / configuration to another, the second element similarly moves between positions / configurations. Note that a first element may be "operably coupled" to another element without the reverse being true.

[0072] As used herein, the term "rotatably coupled" refers to two or more components coupled in such a way that at least one of the components is rotatable relative to the other.

[0073] As used herein, the term "translatably coupled" refers to two or more components coupled in such a way that at least one of the components is translatable relative to the other.

[0074] As used herein, the term "temporarily disposed" means that a first element or assembly rests on a second element or assembly in such a way that the first element / assembly can be moved without having to uncouple or otherwise manipulate the first element. For example, a book that simply rests on a table, e.g., the book is not glued or fastened to the table, would be "temporarily disposed" on the table.

[0075] As used herein, the term "corresponding" indicates that two structural components are sized and shaped similarly to one another and can be coupled with a minimal amount of friction. Thus, an opening that "corresponds" to a member is sized slightly larger than the member so that the member can pass through the opening with a minimal amount of friction. This definition is modified when two components are made to fit together "snugly." In this situation, the difference in size of the components becomes even smaller, thereby increasing the amount of friction. If the elements defining the opening and / or the components inserted into the opening are made of a deformable or compressible material, the opening may even be slightly smaller than the components inserted into the opening. With respect to surfaces, shapes, and lines, two or more "corresponding" surfaces, shapes, or lines generally have the same size, shape, and contour.

[0076] As used herein, a "path of travel" or "path," when used in connection with a moving element, includes the space that the element moves through when in motion. Thus, any moving element inherently has a "path of travel" or "path."

[0077] As used herein, the statement that two or more parts or components "engage" one another shall mean that the elements exert a force or bias on one another, either directly or through one or more intermediate elements or components. Additionally, when used herein with respect to a moving part, the moving part may "engage" another element during movement from one position to another and / or may "engage" another element once in the described position. Thus, the statements "element A engages element B when element A moves to element A's first position" and "element A engages element B when element A is in element A's first position" are understood to be equivalent statements and mean that element A engages element B while moving to element A's first position and / or that element A engages element B while element A is in element A's first position.

[0078] As used herein, the term "operably engage" means "engage and move." That is, when used in reference to a first component structured to move a second, movable or rotatable component, "operably engage" means that the first component applies a force sufficient to move the second component. For example, a screwdriver may be placed in contact with a screw. When no force is applied to the driver, the driver is merely "coupled" to the screw. When an axial force is applied to the driver, the driver presses against the screw and "engages" it. However, when a rotational force is applied to the driver, the driver "operably engages" the screw and rotates it. Furthermore, in the context of electronic components, "operably engage" means that one component controls another component via a control signal or current.

[0079] As used herein, the term "number" shall mean one or an integer greater than one (e.g., plural).

[0080] As used herein, in the expressions "[x] moves between its first and second positions" or "[y] is structured to move [x] between its first and second positions," "[x]" is the name of an element or assembly. Furthermore, when [x] is an element or assembly that moves between positions, the pronoun "its" refers to "[x]," i.e., the named element or assembly that precedes the pronoun "its."

[0081] As used herein, the "radial sides / surfaces" of a circular or cylindrical body are those sides / surfaces that extend around or surround its center or a height line passing through its center. As used herein, the "axial sides / surfaces" of a circular or cylindrical body are those sides that extend in a plane that extends approximately perpendicular to a height line passing through its center. That is, generally, for a cylindrical soup can, the "radial sides / surfaces" are the approximately circular sidewalls and the "axial sides / surfaces" are the top and bottom of the soup can.

[0082] As used herein, the term "patient" or "subject" refers to an organism undergoing various tests provided by the present technology. The term "subject" includes animals, preferably mammals, including humans. In preferred embodiments, the subject is a primate. In even more preferred embodiments, the subject is a human. For example, the term "subject" or "patient" refers to organisms including, but not limited to, humans and veterinary animals (dogs, cats, horses, pigs, cows, sheep, goats, etc.). In the context of this technology, the term "subject" or "patient" generally refers to an individual undergoing a CT scan to diagnose a disease or injury; and / or to prepare for treatment.

[0083] As used herein, a "diagnostic" test includes detecting or identifying a disease state or condition in a subject, determining the likelihood that a subject will suffer from a given disease or condition, determining the likelihood that a subject with a disease or condition will respond to treatment, determining the prognosis (or likelihood of possible progression or regression) of a subject with a disease or condition, and determining the effectiveness of treatment for a subject with a disease or condition. For example, diagnostics can be used to detect the presence or likelihood of a subject having cancer, or the likelihood that such a subject will respond successfully to a compound (e.g., a pharmaceutical, e.g., a drug) or other treatment.

[0084] As used herein, the term "condition" generally refers to an illness, disease, injury, event, or change in health status.

[0085] As used herein, the terms "treating" or "treatment" with respect to a condition refers to preventing the condition, slowing the onset or rate of progression of the condition, reducing the risk of developing the condition, preventing or slowing the progression of symptoms associated with the condition, reducing or terminating symptoms associated with the condition, producing complete or partial regression of the condition, or any combination thereof. In some embodiments, "treatment" includes exposing a patient or a portion thereof (e.g., a tissue, organ, body part, or other localized region of a patient's body) to radiation (e.g., electromagnetic radiation, ionizing radiation).

[0086] As used herein, the term "sitting position" also refers to a patient in a generally standing position with the torso angled backward relative to the vertical axis, optionally with the knees bent.

[0087] explanation The technology provided herein relates to medical imaging devices. While some embodiments are described with respect to computed tomography (CT), the technology is not limited to use with CT and can also be used with other medical imaging techniques, such as radiography, fluoroscopy, MRI, SPECT, PET, photon-counting computed tomography, and portal imaging (e.g., pre-treatment) or scanning projection radiography. Computed tomography (CT), particularly computed tomography, is an imaging technique that generates cross-sectional images of a patient by mathematically combining multiple X-ray images (projections) taken along a cross-sectional plane at a range of angles. In conventional CT, generating a tomographic image involves providing a projection set of multiple projections spanning an angular range of at least 180 degrees, preferably 360 degrees, around the patient. Typically, the patient moves through a gantry holding the x-ray source and x-ray detector, which rotate in counter-rotating fashion around the patient, acquiring each set of x-ray projections either continuously during the orbital motion (helical scanning) or stepwise between orbits (step scanning) to obtain sets of adjacent cross-sectional images that together describe a volume of tissue. In conventional CT, patient movement is provided by supporting the patient horizontally on a horizontally extending radiolucent table that moves through the gantry.

[0088] In cone-beam CT, x-rays are generated in a cone-shaped beam and measured by an area detector array. In fan-beam CT, the x-rays used to acquire the projections are collimated into a narrow fan beam within the plane of the cross-section and received by a narrow linear detector. Combining x-rays into a fan beam significantly reduces x-ray scatter, enabling data acquisition with improved image fidelity for cross-sectional or tomographic images. Fan beams generate cross-sectional images in "slices" that can be as thin as a few millimeters. Therefore, generating tomographic data for a significant volume of tissue in a reasonable time requires rapid movement of the x-ray tube and detector through many orbits. For this reason, CT acquisition typically uses a specialized gantry system with a housing that internally supports the x-ray tube and detector on a bearing system that rotates continuously or nearly continuously around an unobstructed bore volume. This gantry system is easily distinguishable from typical C-arm systems used, for example, for general-purpose x-ray imaging and cone-beam CT, where only one or a few orbits of the patient are performed.

[0089] CT imaging of some patients may be preferable with the patient in a vertical position (e.g., seated, kneeling, standing, perched, and / or reclined positions). For example, a lung cancer patient undergoing chest radiation therapy may prefer to be in a standing position to avoid the exacerbation of the coughing that often accompanies this treatment. Some medical conditions, such as spinal fractures, may be more pronounced in a weight-bearing standing position. Therefore, a CT scanner that records CT scans of patients in a vertical position can aid in medical diagnosis and treatment. Furthermore, a CT scanner capable of scanning on multiple axes, for example, to scan patients in a vertical position, a traditional horizontal position, and other positions, can expand the usage scenarios of CT scanners to address more illnesses, injuries, and diseases and improve the cost-effectiveness of CT scanners.

[0090] Device Thus, in some embodiments, the technology relates to a multi-axis medical imaging device (e.g., a multi-axis computed tomography scanner or a rapid multi-axis computed tomography (RMACT) scanner). In some embodiments, the medical imaging device is a computed tomography (CT) device, a magnetic resonance imaging (MRI) device, a positron emission tomography (PET) device, a single photon emission computed tomography (SPECT) device, a photon counting computed tomography device, or a portal imaging or scanning projection radiography device. Although the technology is described with respect to exemplary embodiments in which the medical imaging device is a computed tomography (CT) device, it should be understood that the technology is not limited to CT scanning devices and that embodiments include other types of medical imaging devices, methods, and systems.

[0091] In some embodiments, the technology provides a multi-axis CT scanner, for example, as shown in FIG. 1A . In some embodiments, the multi-axis CT scanner is used by a user to obtain a CT scan of a patient. In some embodiments, the patient is positioned vertically. In some embodiments, the vertically positioned patient is positioned slightly reclined (e.g., within 20 degrees of vertical (e.g., within 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, or 20 degrees)), allowing the patient to lean against a surface against a support that provides increased immobilization of the patient and limits patient movement. In some embodiments, the patient is positioned using a patient positioning system and / or patient support, and a user operates a control unit. In some embodiments, the patient positioning system and / or patient support is as described in International Patent Application Publication No. WO2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference.

[0092] In some embodiments, for example, as shown in FIG. 1B , the present technology provides a multi-axis CT scanner 100 comprising a support (e.g., a first support 101A and / or a second support 101B). In some embodiments, the support is mounted to the floor of a room in which the multi-axis CT scanner is located. In some embodiments, the support can be moved within the plane of the floor (e.g., to change the XY position of the support in the XY plane, as shown in FIG. 4B ), for example, to move the multi-axis CT scanner to a position to acquire a CT scan of a patient (see, for example, FIG. 4B ). In some embodiments, a motor (e.g., a motor structured to rotate the gantry 102 relative to the support columns 101A and 101B), a power supply line, and / or a communication cable is provided within one or both of the support columns. Further, in some embodiments, the multi-axis CT scanner 100 comprises a gantry 102 (e.g., a “U-shaped” gantry). In some embodiments, the gantry 102 comprises a first gantry arm 102A and a second gantry arm 102B. In some embodiments, the gantry 102 rotates about an axis (e.g., axis ρ) relative to the first and second columns 101A, 101B, e.g., the first and second gantry arms 102A, 102B rotate about an axis (e.g., axis ρ) relative to the first and second columns 101A, 101B. In some embodiments, a motor (e.g., a motor structured to rotate the gantry 102 relative to the columns 101A and 101B), power feed lines, and / or communication cables are provided within one or both of the gantry arms 102A and / or 102B.

[0093] Additionally, in some embodiments, the multi-axis CT scanner includes a scanner ring 103 (e.g., a toroidal housing that includes (e.g., surrounds) an x-ray source and an x-ray detector). In some embodiments, rotating the gantry 102 causes the scanner ring 103 to rotate in an arc about the axis ρ, e.g., move from a first position to a second position. In some embodiments, the first position of the scanner ring 103 allows the patient to access and / or exit the patient positioning system and / or patient support. In some embodiments, the second position of the scanner ring 103 is a position used to obtain a CT scan of the patient. In some embodiments, the second position of the scanner ring 103 is above the patient. In some embodiments, the inner diameter of the scanner ring is 20 cm or more (e.g., 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 cm).

[0094] In some embodiments, this technique provides the advantage of providing a scanner ring that is smaller and / or has a lower mass than conventional scanner rings. For example, in some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0095] In some embodiments, a smaller and / or lighter scanner ring further contributes to the maneuverability of multi-axis CT scanner technology, e.g., because the gantry and / or scanner ring are easier to move and / or manipulate than prior art. In some embodiments, a smaller and / or lighter scanner ring further contributes to the advantage of being able to move components of the multi-axis CT scanner with minimal and / or reduced force provided by a user and / or motors to move the multi-axis CT scanner ring technology, e.g., because the gantry and / or scanner ring are moved and / or manipulated with reduced and / or minimal force compared to prior art. In some embodiments, the smaller scanner ring includes a rotating anode tube that draws 300 mA (e.g., 250, 260, 270, 280, 290, 300, 310, 320, 330, 340, or 350 mA) and extends approximately 63 cm (e.g., 58.0, 58.1, 58.2, 58.3, 58.4, 58.5, 58.6, 58.7, 58.8, 58.9, 59.0, 59.1, 59.2, 59.3, 59.4, 59.5, 59.6, 59.7, 59.8, 59.9, 59.10, 59.11, 59.12, 59.13, 59.14, 59.15, 59.16, 59.17, 59.18, 59.19, 59.20, 59.21, 59.22, 59.23, 59.24, 59.25, 59.26, 59.27, 59.28, 59.29 ... .1, 59.2, 59.3, 59.4, 59.5, 59.6, 59.7, 59.8, 59.9, 60.0, 60.1, 60.2, 60.3, 60.4, 60.5, 60.6, 60.7, 60.8, 60.9, 61.0, 61.1, 61.2, 61.3, 61.4, 61.5, 61.6, 61.7, 61.8, 61.9, 62.0, 62.1, 62.2, 62.3, 62.4, Approximately 4 times per hour and / or at least 4 times per hour (e.g., 3, 4, 5, 62.5, 62.6, 62.7, 62.8, 62.9, 63.0, 63.1, 63.2, 63.3, 63.4, 63.5, 63.6, 63.7, 63.8, 63.9, 64.0, 64.1, 64.2, 64.3, 64.4, 64.5, 64.6, 64.7, 64.8, 64.9, or 65.0 cm) 5, 6, 7, 8 or more times) x 40 cm (e.g., 35.0, 35.1, 35.2, 35.3, 35.4, 35.5, 35.6, 35.7, 35.8, 35.9, 36.0, 36.1, 36.2, 36.3, 36.4, 36.5, 36.6, 36.7, 36.8, 36.9, 37.0, 37.1, 37.2, 37.3, 37.4, 37.5, 37.6, 37.7, 37.8, 37.9, 38.0, 38.1, 38.2, 38.3, 38.4, 38.5, 38.6, 38.7, 38.8, 38.9, 39.0, 39.1, 39.2, 39.3, 39.4, 39.5, 39.6, 39.7, 39.8, 39.9, 40.0, 40.1, 40.2, 40.3, 40.4, 40.5, 40.6, 40.7, 40.8, 40.9, 41.0, 41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 41.7, 41.8, 41.9, The scanner ring provides scanning distances of 42.0, 42.1, 42.2, 42.3, 42.4, 42.5, 42.6, 42.7, 42.8, 42.9, 43.0, 43.1, 43.2, 43.3, 43.4, 43.5, 43.6, 43.7, 43.8, 43.9, 44.0, 44.1, 44.2, 44.3, 44.4, 44.5, 44.6, 44.7, 44.8, 44.9, or 45.0 cm), but is also smaller and has less mass than previous scanner rings. For example, in some embodiments, the scanner ring may be approximately 33.5 cm across, for example, from the inner circumference (e.g., inner bore) to the outer circumference (e.g., 25.0, 25.5, 26.0, 26.5, 27.0, 27.5, 28.0, 28.5, 29.0, 29.5, 30.0, 30.5, 31.0, 31.5, 32.0, 32.5, 33.0, 33.5, 34.0, 34.5, 35.0, 35.5, 36.0, 36.5, 37.0, 37.5, 38.0, 38.5, 39.0, 39.5, 40.0, 40.5, 41.0, 41.5, 42.0, 42.5, 43.0, 43.5, 44.0, 44.5, 45.0, 45.5, 46.0, 46.5, 47.0, 47.5, 48.0, 48.5, 49.0, 50.5, 51.0, 51.5, 52.0, 52.5, 53.0, 53.5, 54.0, 54.5, 55.0, 55.5, 56.0, 56.5, 57.0, 57.5, 58.0, 58.5, 59.0, 60.5, 61.0, 61.5, 62.0, 62.5, 63.0, 63.5, 64.0, 64.5, 65.0, 0.0, 35.5, 36.0, 36.5, 37.0, 37.5, 38.0, 38.5, 39.0, 39.5, 40.0, 40.5, 41.0, 41.5, 42.0, 42.5, 43.0, 43.5, 44.0, 44.5, 45.0, 45.5, 46.0, 46.5, 47.0, 47.5, 48.0, 48.5, 49.0, 49.5, or 50.0 cm).

[0096] In some embodiments, the scanner ring comprises sources and detectors for CT, MRI, PET, SPECT, photon-counting computed tomography, or portal imaging. Thus, in some embodiments, the scanner ring comprises medical imaging sources (e.g., electromagnetic radiation sources, X-ray sources, gamma ray sources, radio wave sources, photon sources, proton sources, positron sources, gamma ray sources (e.g., gamma rays from a positron source)) and medical imaging detectors (e.g., electromagnetic radiation detectors, X-ray detectors, photon detectors, gamma ray detectors), for example, for one or more of these imaging modes.

[0097] Furthermore, in some embodiments, the scanner ring 103 is structured to translate along an axis substantially parallel to the first gantry arm 102A and the second gantry arm 102B, e.g., along axis τ shown in FIG. 1B . In some embodiments, the scanner ring translates along a vertical (e.g., substantially and / or essentially vertical) axis, e.g., to acquire a CT scan of a patient in a vertical position. In some embodiments, the scanner ring translates along a horizontal (e.g., substantially and / or essentially horizontal) axis, e.g., to acquire a CT scan of a patient in a horizontal position. In some embodiments relating to scanning a horizontal patient, the scanner ring 103 moves into a scanning position and scans a fixed patient, in contrast to conventional techniques in which the patient is moved into a scanning position and the scanner is fixed. Thus, the present technique provides advantages over conventional techniques for acquiring CT scans of horizontal patients. In some embodiments, motors (e.g., motors structured to translate scanner ring 103 relative to gantry 102), power feed lines, and / or communication cables are provided within one or both of gantry arms 102A and / or 102B. In some embodiments, the motors are coupled to belts, chains, or ball screws (e.g., comprising a threaded shaft and ball assembly operably attached to the scanner ring). In some embodiments, the ball screws are 15-100 mm (e.g., 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm).In some embodiments, the ball screw has a rotational speed of 5-100 mm / rev (e.g., 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 20, 21, 2, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm / revolution). In some embodiments, the motor drives a belt operably attached to the scanner ring.

[0098] In some embodiments, the scanner ring 103 comprises (e.g., surrounds) an X-ray generator that moves within the scanner ring 103 and rotates around the patient. In some embodiments, the scanner ring 103 comprises (e.g., surrounds) one or more X-ray detectors. In some embodiments, the X-ray generator produces a fan beam of X-rays in a plane extending across the scanner ring. In some embodiments, the X-ray detector comprises an arc-shaped detector array in said plane at a substantially constant radius from the X-ray source. In some embodiments, multiple fixed X-ray detectors are arranged around the circumference of the scanner ring 103 such that the X-ray detector is always on the opposite side of the X-ray source that moves within the scanner ring 103. In some embodiments, the scanner ring 103 comprises a moving X-ray detector that moves within the scanner ring 103 and is arranged on the opposite side of the moving X-ray generator, e.g., the X-ray generator and the X-ray detector move in coordination such that the X-ray generator and the X-ray detector are on opposite sides of the scanner ring 103. In some embodiments, the scanner ring 103 is translated and fixed in a predetermined position while the X-ray generator and X-ray detector move around the circumference of the scanner ring 103. In some embodiments, the scanner ring 103 is translated one or more times (e.g., to provide a helical scan) and / or is translated continuously while the X-ray generator and X-ray detector move around the circumference of the scanner ring 103. In some embodiments, the multi-axis CT scanner includes slip rings for transmitting power from the scanner ring 103 to the X-ray generator and X-ray detector and for carrying communication signals between the scanner ring 103 and the X-ray generator and X-ray detector.

[0099] In some embodiments, the multi-axis imager is used to provide (e.g., record, acquire) a portal image. In some embodiments, the multi-axis imager is used for scout scanning. In some embodiments where the multi-axis imager is used for portal imaging and / or scout scanning, the x-ray generator and x-ray detector do not move (e.g., do not rotate). In some embodiments, the scanner ring is fixed for portal imaging. In some embodiments, the scanner ring translates for scout scanning.

[0100] In some embodiments, the scanner ring is positioned below the patient. In some embodiments, the scanner ring is positioned in a recess (e.g., a pit) in the floor and translates upward around the patient after the patient is positioned therein. In some embodiments, the scanner ring is positioned in a first position and moved (e.g., rotated on a gantry) to be positioned below the patient. In some embodiments, the scanner ring is positioned as described in U.S. Pat. No. 9,301,726, which is incorporated herein by reference. In some embodiments, the present technology provides a multi-axis imaging device (e.g., a CT scanner) as shown in FIGS. 9-14. For example, as shown in FIG. 9, in some embodiments, the multi-axis imaging device comprises a support column and a scanner ring disposed in a first position in a pit in the floor. As shown in FIG. 10, the multi-axis imaging device comprises a support column (e.g., a first support column and / or a second support column). In some embodiments, the support column is mounted to the floor of a room in which the multi-axis imaging device is located. In some embodiments, the support column can be moved within the plane of the floor (e.g., to change its XY position within the XY plane), e.g., to move the multi-axis imaging device into position to acquire medical images of a patient.

[0101] In some embodiments, a motor (e.g., a motor structured to rotate the gantry relative to the support), power feed lines, and / or communication cables are provided within one or both support columns. Further, in some embodiments, the multi-axis imager comprises a gantry (e.g., a "U-shaped" gantry). In some embodiments, the gantry comprises a first gantry arm and a second gantry arm. In some embodiments, the scanner ring moves along the gantry and moves up off the floor. In some embodiments, moving the scanner ring lifts a floor insert. In some embodiments, the method includes moving the floor insert, for example, to lift the scanner ring off the floor. See FIG. 13.

[0102] In some embodiments, the gantry rotates about an axis relative to the first and second columns, e.g., the first and second gantry arms rotate about an axis relative to the first and second columns. See FIG. 14 . In some embodiments, a motor (e.g., a motor structured to rotate the gantry relative to the columns, power feed lines, and / or communication cables) is provided in one or both gantry arms. Further, in some embodiments, the multi-axis imaging device includes a scanner ring (e.g., a toroidal housing that includes (e.g., surrounds) the imaging source and imaging detector). In some embodiments, rotating the gantry causes the scanner ring to rotate on an arc about the axis, e.g., move from a first position to a second position. In some embodiments, the floor insert replaces and covers the pit, e.g., so that a patient can be positioned in an appropriate location within the medical imaging device to record medical images.

[0103] In some embodiments, the technology provides a multi-axis medical imaging device (e.g., a CT scanning device) that includes a single column, a gantry including a gantry arm, and a scanner ring, as shown in, for example, Figures 15A, 15B, 16A, 16B, 17A, 17B, 18A, and 18B. In some embodiments, the column is mounted to the floor of a room in which the multi-axis medical imaging device is located. In some embodiments, the column can be moved within the plane of the floor (e.g., to change the XY position of the column within the XY plane of the floor), e.g., to move the multi-axis CT scanner to a position to obtain a CT scan of a patient. In some embodiments, a motor (e.g., a motor structured to rotate the gantry relative to the column), power lines, and / or communication cables are provided within the column. In some embodiments, the gantry rotates about an axis relative to the column, e.g., the gantry arm rotates about an axis relative to the column. In some embodiments, a motor (e.g., a motor structured to rotate the gantry relative to the support), power feed lines, and / or communication cables are provided within the gantry arm. Additionally, in some embodiments, the multi-axis CT scanner includes a scanner ring (e.g., a toroidal housing that includes (e.g., surrounds) the X-ray source and the X-ray detector). See, e.g., 15A, 15B, 16A, 16B, 17A, 17B, 18A, and 18B. In some embodiments, rotating the gantry causes the scanner ring to rotate in an arc about an axis, e.g., move from a first position to a second position. In some embodiments, the first position of the scanner ring allows the patient to access and / or exit the patient positioning system and / or patient support. In some embodiments, the second position of the scanner ring is a position used to obtain a CT scan of the patient. In some embodiments, the second position of the scanner ring is above the patient.In some embodiments, the inner diameter of the scanner ring is 20 cm or more (e.g., 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 cm).

[0104] In some embodiments, the scanner ring comprises sources and detectors for CT, MRI, PET, SPECT, photon-counting computed tomography, or portal imaging. Thus, in some embodiments, the scanner ring comprises medical imaging sources (e.g., electromagnetic radiation sources, X-ray sources, gamma ray sources, radio wave sources, photon sources, proton sources, positron sources, gamma ray sources (e.g., gamma rays from a positron source)) and medical imaging detectors (e.g., electromagnetic radiation detectors, X-ray detectors, photon detectors, gamma ray detectors), for example, for one or more of these imaging modes.

[0105] Furthermore, in some embodiments, the scanner ring is structured to translate along an axis substantially parallel to the gantry arm. In some embodiments, the scanner ring translates along a vertical (e.g., substantially and / or essentially vertical) axis, e.g., to acquire a CT scan of a patient in a vertical position. In some embodiments, the scanner ring translates along a horizontal (e.g., substantially and / or essentially horizontal) axis, e.g., to acquire a CT scan of a patient in a horizontal position. In some embodiments relating to scanning a horizontal patient, the scanner ring moves into a scan position to scan a fixed patient, as opposed to conventional techniques in which the patient is moved into a scan position and the scanner is fixed. Thus, this technique provides advantages over conventional techniques for acquiring CT scans of horizontal patients. In some embodiments, a motor (e.g., a motor structured to move the scanner ring relative to the gantry), power wires, and / or communication cables are provided within the gantry arm.

[0106] In some embodiments, the motor is coupled to a ball screw (e.g., comprising a threaded shaft and ball assembly operably attached to the scanner ring). See, e.g., Figures 16A and 16B. In some embodiments, the ball screw is 15-100 mm (e.g., 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm). In some embodiments, the ball screw has a rotational speed of 5-100 mm / rev (e.g., 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 20, 21, 2, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm / rotation).

[0107] In some embodiments, a motor, belt, and pulley system is used to move the scanner ring. In some embodiments, the belt is operably attached to the scanner ring. In some embodiments, the motor drives a belt operably attached to the scanner ring. See, e.g., Figures 15A, 15B, 17A, 17B, 18A, and 18B. In some embodiments, the belt is operably attached to the scanner ring and the counterweight, for example, to coordinate movement of the scanner ring mass and the counterweight mass.

[0108] In some embodiments, the gantry arm has an "A" shape, as shown in Figures 15A, 15B, 16A, and 16B. In some embodiments, the gantry arm has an "H" shape, as shown in Figures 17A and 17B. In some embodiments, the gantry arm has a "T" shape, as shown in Figures 18A and 18B. In some embodiments of the medical imaging device with a single column and single gantry arm described herein, the medical imaging device includes a counterweight (e.g., an auxiliary mass component) as described below, for example, to provide counterbalance of the gantry arm and scanner ring.

[0109] In some embodiments, the scanner ring comprises (e.g., surrounds) an X-ray generator that moves within the scanner ring and thus rotates around the patient. In some embodiments, the scanner ring comprises (e.g., surrounds) one or more X-ray detectors. In some embodiments, the X-ray generator produces a fan beam of X-rays in a plane extending across the scanner ring. In some embodiments, the X-ray detector comprises an arc-shaped detector array in said plane at a substantially constant radius from the X-ray source. In some embodiments, multiple fixed X-ray detectors are arranged around the circumference of the scanner ring such that the X-ray detector is always on the opposite side of the X-ray source, which moves within the scanner ring. In some embodiments, the scanner ring comprises a moving X-ray detector that moves within the scanner ring and is arranged on the opposite side of the moving X-ray generator. For example, the X-ray generator and X-ray detector move in coordination, such that the X-ray generator and X-ray detector are on opposite sides of the scanner ring. In some embodiments, the scanner ring is translated and fixed in a predetermined position while the X-ray generator and X-ray detector move around the circumference of the scanner ring. In some embodiments, the scanner ring is translated one or more times and / or continuously translated while the x-ray generator and x-ray detector move around the circumference of the scanner ring (e.g., to provide a helical scan). In some embodiments, the multi-axis CT scanner comprises slip rings for transmitting power from the scanner ring to the x-ray generator and x-ray detector and for carrying communication signals between the scanner ring and the x-ray generator and x-ray detector.

[0110] In some embodiments, a multi-axis imager with a single support is used to provide (e.g., record, acquire) a portal image. In some embodiments, the multi-axis imager is used for scanning projection radiography ("scout scan"). In some embodiments where the multi-axis imager is used for portal imaging and / or scanning projection radiography, the x-ray generator and x-ray detector do not move (e.g., do not rotate). In some embodiments, the scanner ring is fixed for portal imaging. In some embodiments, the scanner ring translates for scanning projection radiography.

[0111] High-speed multiaxial computed tomography Horizontal and vertical CT scans provide information for different purposes. For example, when imaging the spine for orthopedic purposes, images acquired with the patient in a vertical position (e.g., while the spine is loaded) can show areas where the spine is damaged and requiring surgery. However, because surgery is performed with the patient in a horizontal position, images of the patient in the horizontal position are necessary for surgical planning. Therefore, it can be advantageous to quickly acquire both types of images (e.g., images of the patient in a horizontal position and images of the patient in a vertical position) in a single imaging session while the patient is positioned on the CT scanner platform (e.g., patient support). Furthermore, comparing images of the patient in the horizontal and vertical positions can provide diagnostic information based on differences in anatomy and / or physiology that become apparent when comparing images acquired in the two orientations. For example, comparing images of a patient's vasculature acquired when the patient is in a horizontal position with images of the patient's vasculature acquired when the patient is in a vertical position can highlight vascular problems that are evident as a result of differences in hydrostatic pressure exerted on the vasculature by blood in the two positions.

[0112] However, most conventional CT scanners are configured to produce either horizontal or vertical CT scan images, but not both. Therefore, obtaining horizontal and vertical CT scans of the same patient using conventional techniques requires two CT scanners, each with its own positioning of the patient for imaging.

[0113] Thus, in some embodiments, the present technology relates to a CT scanner that can provide CT scans of a patient in both horizontal and vertical positions after the patient is positioned on the CT scanner. That is, in some embodiments, the same CT scanner is used to acquire CT scans of the patient in both horizontal and vertical positions. For example, embodiments provide that the patient is positioned in a vertical position on the CT scanner platform (e.g., the patient support); a CT scan of the patient in the vertical position is acquired; the CT platform (e.g., the CT scanner gantry and patient support) is rotated to place the patient in a horizontal position; and a CT scan of the patient in the horizontal position is acquired. The patient can then exit the CT scanner while the patient support is in the horizontal position. Alternatively, the CT gantry and patient support are rotated to the vertical position so that the patient can exit the CT scanner from a standing position. Thus, embodiments of the present technology provide a multi-axis high-speed CT scanner that can be positioned in horizontal and vertical scanning positions and angles therebetween while the patient is positioned on the scanner patient support. Both horizontal and vertical scans can be acquired in a much shorter time than using conventional CT scanning techniques.

[0114] In some embodiments, the present technology provides a high-speed multi-axis CT scanner similar to the multi-axis CT scanners described herein, except that the gantry arms are further connected by a bottom bridge component, and the patient positioning system and / or patient support is replaced with an upper bridge connecting the two gantry arms and a patient support spanning the additional bottom bridge.

[0115] 19A-19C, embodiments of the present technology provide a multi-axis imaging technique that is a rapid multi-axis computed tomography (RMACT) imaging technique. In some embodiments, as shown in FIGS. 19A-19C, for example, the RMACT imaging technique provides a rapid multi-axis CT (RMACT) scanner. In some embodiments, the RMACT scanner 1900 includes a first column 1902A, a second column 1902B, a first gantry arm 1901A, a second gantry arm 1901B, a scanner ring 1903, a bottom bridge 1904 and an upper bridge 1906 connecting the first gantry arm 1901A to the second gantry arm 1901B, and a patient support 1905 connected to the bottom bridge 1904 and the upper bridge 1906. In some embodiments, the height of the gantry, eg, the distance from the top bridge 1906 to the bottom bridge 1904, is about 2.3 m (eg, 2.0-2.5 m (eg, 2.0, 2.1, 2.2, 2.3, 2.4, or 2.5 m)).

[0116] 19B and 19C, an RMACT gantry comprising a first gantry arm 1901A and a second gantry arm 1901B rotates about an axis p relative to a first column 1902A and a second column 1902B. In some embodiments, an RMACT scanner is structured to comprise a gantry and a patient support (e.g., including a patient) in a first position (e.g., a horizontal position), the RMACT scanner is structured to rotate the gantry and patient support by approximately 45-135° (e.g., 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, or 135°), and the RMACT scanner is structured to comprise a gantry and a patient support (e.g., including a patient) in a second position (e.g., a vertical position). In some embodiments, the RMACT scanner is structured to rotate the gantry and patient support by approximately 90° (e.g., 80-100° (e.g., 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100°)).

[0117] Additionally, the scanner ring 1903 translates along an axis τ relative to the gantry, which includes a first gantry arm 1901A and a second gantry arm 1901B. The RMACT scanner 1900 of Figures 19A and 19B is shown with the patient support 1905 in a vertical position (e.g., a substantially and / or effectively vertical position) for supporting a patient in a vertical position (e.g., a substantially and / or effectively vertical position), such as a standing or sitting position. The RMACT scanner 1900 shown in FIG. 19C is shown with the gantry (and patient support) rotated 90° relative to the position of the gantry (and patient support) shown in FIG. 19B, providing the patient support 1905 in a horizontal position (e.g., a substantially and / or effectively horizontal position) to support a patient in a horizontal position (e.g., a substantially and / or effectively horizontal position), such as, for example, a lying position with legs straight or bent (e.g., prone, supine, Trendelenburg, or other horizontal position).

[0118] In some embodiments, the support column is mounted to the floor of the room in which the RMACT scanner is located. In some embodiments, the support column can move within the plane of the floor (e.g., to change its XY position within the XY plane), for example, to move the RMACT scanner into position to obtain a CT scan of a patient. In some embodiments, a motor (e.g., a motor structured to rotate the gantry relative to the support columns 1902A and 1902B), a power feed, and / or communication cables are provided within one or both support columns. In some embodiments, a motor (e.g., a motor structured to rotate the gantry relative to the support columns), a power feed, and / or communication cables are provided within one or both gantry arms 1901A and / or 1901B.

[0119] Additionally, in some embodiments, the multi-axis CT scanner comprises a scanner ring 1903 (e.g., a toroidal housing that comprises (e.g., surrounds) the x-ray source and x-ray detector). In some embodiments, rotating the gantry causes the scanner ring 1903 to rotate in an arc about the axis p, e.g., moving the scanner ring 1903 from a first position to a second position. In some embodiments, the inner diameter of the scanner ring is 20 cm or greater (e.g., 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 cm).

[0120] In some embodiments, this technique provides the advantage of providing a scanner ring that is smaller and / or has a lower mass than conventional scanner rings. For example, in some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms).

[0121] In some embodiments, a smaller and / or lighter scanner ring further contributes to the maneuverability of RMACT scanner technology because, for example, the gantry and / or scanner ring are easier to move and / or manipulate than prior art. In some embodiments, a smaller and / or lighter scanner ring further contributes to the advantage of moving components of a multi-axis CT scanner with minimal and / or reduced forces provided by a user and / or motors to move the RMACT scanner ring technology because, for example, the gantry and / or scanner ring are moved and / or manipulated with reduced and / or minimal forces compared to prior art. In some embodiments, the smaller scanner ring includes a rotating anode tube, draws 300 mA (e.g., 250, 260, 270, 280, 290, 300, 310, 320, 330, 340, or 350 mA), and has a width of about 4 mA and / or about 63 cm (e.g., 58.0, 58.1, 58.2, 58.3, 58.4, 58.5, 58.6, 58.7, 58.8, 58.9, 58.10, 58.11, 58.12, 58.13, 58.14, 58.15, 58.16, 58.17, 58.18, 58.19, 58.20, 58.21, 58.22, 58.23, 58.24, 58.25, 58.26, 58.27, 58.28, 58.29, 58.30, 58.31, 58.32, 58.33, 58.34, 58.35, 58.36, 58.37, 58.38, 58.39, 58.40, 58.41, 58.42, 58.43, 58.44, 58.45, 58.46, 58.47, 58.48, 58.49, 58.50, 58.51, 58.52, 58.53, 58.54, 58.55, 58.56, 58.57, 58. .8, 58.9, 59.0, 59.1, 59.2, 59.3, 59.4, 59.5, 59.6, 59.7, 59.8, 59.9, 60.0, 60.1, 60.2, 60.3, 60.4, 60.5, 60.6, 60.7, 60.8, 60.9, 61.0, 61.1, 61.2, 61.3, 61.4, 61.5, 61.6, 61.7, 61.8, 61.9, 62.0, 62.1 62.1, 62.2, 62.3, 62.4, 62.5, 62.6, 62.7, 62.8, 62.9, 63.0, 63.1, 63.2, 63.3, 63.4, 63.5, 63.6, 63.7, 63.8, 63.9, 64.0, 64.1, 64.2, 64.3, 64.4, 64.5, 64.6, 64.7, 64.8, 64.9 or 65.0 cm) approximately four times per hour. and / or at least four (e.g., 3, 4, 5, 6, 7, 8 or more) x 40 cm (e.g., 35.0, 35.1, 35.2, 35.3, 35.4, 35.5, 35.6, 35.7, 35.8, 35.9, 36.0, 36.1, 36.2, 36.3, 36.4, 36.5, 36.6, 36.7, 36.8, 36.9, 37.0, 37.1, 37.2, 37.3, 37.4, 37.5, 37.6, 37.7, 37.8, 37.9, 38.0, 38.1, 38.2, 38.3, 38.4, 38.5, 38.6, 38.7, 38.8, 38.9, 39.0, 39.1, 39.2, 39.3, 39.4, 39.5, 39.6, 39.7, 39.8, 39.9, 40.0, 40.1, 40.2, 40.3, 40.4, 40.5, 40.6, 40.7, 40.8, 40.9, 41.0, 41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 41.7, 41.8, 41.9, 42.0, 42.1, 42.2, 42.3, 42.4, 42.5, 42.6, 42.7,4, 37.5, 37.6, 37.7, 37.8, 37.9, 38.0, 38.1, 38.2, 38.3, 38.4, 38.5, 38.6, 38.7, 38.8, 38.9, 39.0, 39.1, 39.2, 39.3, 39.4, 39.5, 39.6, 39.7, 39.8, 39.9, 40.0, 40.1, 40.2, 40.3, 40.4, 40.5, 40.6, 40.7, 40.8, 40.9, 41.0, 41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 41 44.0, 44.1, 44.2, 44.3, 44.4, 44.5, 44.6, 44.7, 44.8, 44.9, or 45.0 cm), but also smaller and with less mass than previous scanner rings. For example, in some embodiments, the scanner ring may be approximately 33.5 cm across, for example, from the inner circumference (e.g., inner bore) to the outer circumference (e.g., 25.0, 25.5, 26.0, 26.5, 27.0, 27.5, 28.0, 28.5, 29.0, 29.5, 30.0, 30.5, 31.0, 31.5, 32.0, 32.5, 33.0, 33.5, 34.0, 34.5, 35.0, 35.5, 36.0, 36.5, 37.0, 37.5, 38.0, 38.5, 39.0, 39.5, 40.0, 40.5, 41.0, 41.5, 42.0, 42.5, 43.0, 43.5, 44.0, 44.5, 45.0, 45.5, 46.0, 46.5, 47.0, 47.5, 48.0, 48.5, 49.0, 50.5, 51.0, 51.5, 52.0, 52.5, 53.0, 53.5, 54.0, 54.5, 55.0, 55.5, 56.0, 56.5, 57.0, 57.5, 58.0, 58.5, 59.0, 60.5, 61.0, 61.5, 62.0, 62.5, 63.0, 63.5, 64.0, 64.5, 65.0, 0.0, 35.5, 36.0, 36.5, 37.0, 37.5, 38.0, 38.5, 39.0, 39.5, 40.0, 40.5, 41.0, 41.5, 42.0, 42.5, 43.0, 43.5, 44.0, 44.5, 45.0, 45.5, 46.0, 46.5, 47.0, 47.5, 48.0, 48.5, 49.0, 49.5, or 50.0 cm).

[0122] In some embodiments, the scanner ring comprises sources and detectors for CT, MRI, PET, SPECT, photon-counting computed tomography, or portal imaging. Thus, in some embodiments, the scanner ring comprises medical imaging sources (e.g., electromagnetic radiation sources, X-ray sources, gamma ray sources, radio wave sources, photon sources, proton sources, positron sources, gamma ray sources (e.g., gamma rays from a positron source)) and medical imaging detectors (e.g., electromagnetic radiation detectors, X-ray detectors, photon detectors, gamma ray detectors), for example, for one or more of these imaging modes.

[0123] Further, in some embodiments, the scanner ring 1903 is structured to translate along an axis substantially parallel to the length of the first gantry arm 1901A and the second gantry arm 1902B, e.g., along axis τ shown in FIGS. 19A-C . In some embodiments, the scanner ring translates along a vertical (e.g., substantially and / or essentially vertical) axis, e.g., to acquire a CT scan of a patient in a vertical position. In some embodiments, the scanner ring translates along a horizontal (e.g., substantially and / or essentially horizontal) axis, e.g., to acquire a CT scan of a patient in a horizontal position. In some embodiments relating to scanning a horizontal patient, the scanner ring 1903 moves to a scanning position to scan a fixed patient, as opposed to conventional techniques in which the patient is moved to a scanning position and the scanner is fixed. In some embodiments, a motor (e.g., a motor structured to translate the scanner ring 1903 relative to the gantry), power wires, and / or communication cables are provided within one or both gantry arms. In some embodiments, the motor is coupled to a belt, chain, or ball screw (eg, comprising a threaded shaft and ball assembly operably attached to the scanner ring).

[0124] In some embodiments, the motor is coupled to a ball screw (e.g., comprising a threaded shaft and ball assembly operably attached to the scanner ring). In some embodiments, the ball screw is 15-100 mm (e.g., 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm). In some embodiments, the ball screw has a rotational speed of 5-100 mm / rev (e.g., 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 20, 21, 2, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100 mm / rotation).

[0125] In some embodiments, the motor drives a belt operably attached to the scanner ring. In some embodiments, a motor, belt, and pulley system is used to move the scanner ring. In some embodiments, the belt is operably attached to the scanner ring. In some embodiments, the motor drives a belt operably attached to the scanner ring. In some embodiments, the belt is operably attached to the scanner ring and the counterweight to coordinate movement of the scanner ring mass and the counterweight mass, for example, as described herein.

[0126] In some embodiments, the RMACT scanner ring 1903 comprises (e.g., surrounds) an X-ray generator that moves within the scanner ring 1903 and thus rotates around the patient. In some embodiments, the RMACT scanner ring 1903 comprises (e.g., surrounds) one or more X-ray detectors. In some embodiments, the X-ray generator produces a fan beam of X-rays in a plane extending across the scanner ring. In some embodiments, the X-ray detector comprises an arc-shaped detector array in said plane at a substantially constant radius from the X-ray source. In some embodiments, multiple fixed X-ray detectors are arranged around the circumference of the scanner ring 1903 such that the X-ray detector is always on the opposite side of the X-ray source that moves within the scanner ring 1903. In some embodiments, the scanner ring 1903 comprises a moving X-ray detector that moves within the scanner ring 1903 and is arranged on the opposite side of the moving X-ray generator, e.g., the X-ray generator and the X-ray detector move in coordination such that the X-ray generator and the X-ray detector are on opposite sides of the scanner ring 1903. In some embodiments, the scanner ring 1903 is translated and fixed in a predetermined position while the X-ray generator and X-ray detector move around the circumference of the scanner ring 1903. In some embodiments, the scanner ring 1903 is translated one or more times (e.g., to provide a helical scan) and / or is translated continuously while the X-ray generator and X-ray detector move around the circumference of the scanner ring 1903. In some embodiments, the RMACT scanner includes slip rings for transmitting power from the scanner ring 1903 to the X-ray generator and X-ray detector and for carrying communication signals between the scanner ring 1903 and the X-ray generator and X-ray detector.

[0127] In some embodiments, an RMACT device is used to provide (e.g., record, acquire) a portal image. In some embodiments, a multi-axis imager is used for scout scanning. In some embodiments where an RMACT device is used for portal imaging and / or scout scanning, the x-ray generator and x-ray detector do not move (e.g., they do not rotate around the patient). In some embodiments, the scanner ring is fixed for portal imaging. In some embodiments, the scanner ring translates for scout scanning.

[0128] In some embodiments, the technology provides a method for obtaining a number of medical images (e.g., CT scan, magnetic resonance imaging (MRI) scan, positron emission tomography (PET) scan, single photon emission computed tomography (SPECT) scan, photon counting computed tomography scan, or portal images or scanograms (e.g., scanned projection radiography images) using an RMACT scanner described herein. In some embodiments, the method includes providing a high-speed multi-axis CT scanner described herein. For example, in some embodiments, the method provides a high-speed multi-axis CT scanner comprising: a first column, a second column, a first gantry arm, a second gantry arm, and a scanner ring; a bottom bridge and an upper bridge connecting the first gantry arm to the second gantry arm; and a patient support connected to the bottom bridge and the upper bridge. (See, e.g., FIGS. 19A-C). In some embodiments, techniques relate to methods of scanning a patient using a RMACT scanner described herein (e.g., acquiring a first image (e.g., a first CT image) of the patient in a horizontal position and acquiring a second image (e.g., a first CT image) of the patient in a vertical position). Thus, in some embodiments, a method includes providing a rapid multi-axis CT (RMACT) scanner described herein; scanning the patient in a horizontal position to acquire a first image; rotating the gantry, patient support, and / or patient (e.g., about 90° (e.g., 80-100° (e.g., 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100°)); and scanning the patient in a vertical position to acquire a second image.In some embodiments, a method includes providing a rapid multi-axis CT (RMACT) scanner as described herein; scanning a patient in a vertical position to acquire a first image; rotating the gantry, patient support, and / or patient (e.g., about 90° (e.g., 80-100° (e.g., 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100°)); and scanning the patient in a horizontal position to acquire a second image. In some embodiments, the method further includes comparing the first image and the second image. In embodiments of the method that include acquiring a first image (e.g., a first CT image) of the patient in a horizontal position and acquiring a second image (e.g., a first CT image) of the patient in a vertical position, the patient remains on the patient support (e.g., rotates on the patient support) between acquiring the first image and acquiring the second image.

[0129] In some embodiments, the method further includes positioning the patient (e.g., on a patient support) for imaging with the RMACT scanner. In some embodiments, the patient is in a vertical position, and the method includes providing the patient in the vertical position. In some embodiments, the patient is standing (e.g., standing, standing leaning back, standing leaning forward, sitting, etc.), and the method includes providing the patient in a standing (e.g., standing, standing leaning back, standing leaning forward, sitting, etc.) position. In some embodiments, the patient is seated (e.g., sitting, sitting leaning back, sitting leaning forward, etc.), and the method includes providing the patient in a seated (e.g., sitting, sitting leaning back, sitting leaning forward, etc.) position. In some embodiments, the patient is kneeling (e.g., kneeling, kneeling leaning forward, or kneeling leaning back), and the method includes providing the patient in a kneeling (kneeling, kneeling leaning forward, or kneeling leaning back) position.

[0130] In some embodiments, the method includes providing a patient support for holding a patient in a vertical position (e.g., sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perching, kneeling, kneeling leaning forward, kneeling leaning back, or other vertical or substantially vertical position). Embodiments provide that the position and / or configuration of the patient's anatomy (e.g., the patient's limbs, joints) in the vertical position (e.g., relative to the patient support) is the same or similar to the position and / or configuration of the patient in a horizontal position (e.g., relative to the patient support) after rotation of the patient and patient support. For example, in some embodiments, the patient is provided in a vertical position with bent knees, and the patient is similarly rotated to a horizontal position with bent knees.

[0131] In some embodiments, the patient support is made from a lightweight, strong material such as a composite material (e.g., carbon fiber (e.g., foam-filled carbon fiber)). The patient support is manufactured to minimize and / or eliminate deflection in the patient support (e.g., due to gravity and the patient's mass), for example, when the RMACT scanner rotates between horizontal and vertical positions.

[0132] In some embodiments, the patient support comprises multiple patient support components, such as, for example, shin guards, a seat, a heel stop, etc. (e.g., as described in International Patent Application Publication No. WO 2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference). See, for example, FIG. 20A. The exemplary patient support components shown in FIG. 20A include shin guards (2001), a heel stop (2002), a seat (2003) (e.g., for positioning the patient in a sitting position), a first seat (2004) (e.g., for positioning the patient in a first type of seated position), and a second seat (2005) (e.g., for positioning the patient in a second type of seated position). These components include interface structures (e.g., pegs, tabs, hooks) structured to interface with and attach the patient support components to the patient support. In some embodiments, the patient support components are modular and can be used in combination with the patient support to provide a number of different configurations for supporting different patient postures. For example, as shown in FIG. 20B, shin pads 2001, heel pads 2002, and seat 2003 can be attached to patient support 2010 to provide support for a patient in a seated position. As shown in FIG. 2C, shin pads 2001, heel pads 2002, and seat 2004 can be attached to patient support 2010 to provide support for a patient in a seated position. In some embodiments, seat 2003 or seat 2004, 2005 can be attached at several locations along the long axis of the patient support. In some embodiments, seat 2003 or seat 2004, 2005 can be translated along the long axis of the patient support. In some embodiments, the shin guards and heel guards are also movable and / or translatable to provide custom-configurable support for a patient positioned on the patient support.In some embodiments, the patient support components are manufactured using customized manufacturing methods (e.g., 3D printing) with shapes customized for a particular patient to place the patient in one or more optimal positions.

[0133] In some embodiments, the method includes rotating a gantry of the RMACT scanner. In some embodiments, rotating the gantry includes rotating the gantry about an axis ρ relative to the first column and / or the second column. In some embodiments, the method includes rotating the gantry from a horizontal position (e.g., a substantially and / or essentially horizontal position) to a vertical position (e.g., a substantially and / or essentially vertical position), e.g., a rotation of about 90°. In some embodiments, the method includes rotating the gantry from a vertical position (e.g., a substantially and / or essentially vertical position) to a horizontal position (e.g., a substantially and / or essentially horizontal position), e.g., a rotation of about 90°. In some embodiments, rotating the gantry includes activating a motor to apply a force to rotate the gantry. In some embodiments, rotating the gantry includes manually pushing and / or pulling the gantry to rotate it. In some embodiments, the method provides for, for example, using a motor and / or using manual force, applying a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5 , 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) to rotate the gantry.That is, in some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0 , 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor.

[0134] In some embodiments, the method includes translating a scanner ring of an RMACT scanner from a first position, e.g., away from a patient, to a second position in which the scanner ring surrounds the patient and / or patient support. In some embodiments, translating the scanner ring includes translating the scanner ring along a translation axis (τ) that is parallel (e.g., substantially and / or essentially parallel) to a length of the gantry arm. In some embodiments, the scanner ring is translated about 0.20-2.00 m (e.g., 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1.00, 1.05, 1.10, 1.15, 1.20, 1.25, 1.30, 1.35, 1.40, 1.45, 1.50, 1.55, 1.60, 1.65, 1.70, 1.75, 1.80, 1.85, 1.90, 1.95, or 2.00 m).

[0135] In some embodiments, the gantry and patient of the RMACT scanner are in a vertical position (e.g., a substantially and / or essentially vertical position) when the scanner ring is translated. In some embodiments, the gantry and patient are in a horizontal position (e.g., a substantially and / or essentially horizontal position) when the scanner ring is translated (e.g., to obtain a CT scan of a reclining patient).

[0136] In some embodiments, translating a scanner ring of the RMACT scanner includes activating a motor to apply a force that translates the scanner ring. In some embodiments, translating the scanner ring includes activating a rotational motor to drive a belt or chain attached to the scanner ring. In some embodiments, translating the scanner ring includes activating a motor coupled to a ball screw operably coupled to the scanner ring. In some embodiments, the ball screw is adapted to translate the scanner ring by 15-100 mm (e.g., 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100). In some embodiments, the ball screw has a rotational speed of 5-100 mm / rev (e.g., 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, Provides translation of the scanner ring of 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100 mm / rotation).

[0137] In some embodiments, translating the scanner ring of the RMACT scanner includes manually pushing and / or pulling the scanner ring to translate it. In some embodiments, the method includes, for example, using a motor and / or using a manual force, translating the scanner ring to a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 3 The scanner ring may be translated by applying a force of less than 1.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N to translate the scanner ring.That is, in some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0 , 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor.

[0138] In some embodiments, the method includes translating the RMACT scanner in the plane of the floor. For example, in some embodiments, the method includes translating the RMACT scanner (e.g., by translating one or both columns) in the XY plane (e.g., in the plane of the floor), e.g., to position the scanner ring relative to the patient and / or the patient's region of interest.

[0139] In some embodiments, the method includes acquiring (e.g., acquiring, recording, etc.) a medical image. In some embodiments, the method includes acquiring (e.g., acquiring, recording, etc.) a CT image, an MRI image, a PET image, a SPECT image, a photon-counting computed tomography image, or a portal image or a scanning projection radiography image (e.g., a "scout" scan). In some embodiments, the method includes activating an imaging source (e.g., an electromagnetic radiation source, an X-ray source, a gamma ray source, a radio wave source, a photon source, a proton source, a positron source, a gamma ray source (e.g., gamma rays from a positron source)). In some embodiments, the method includes activating an imaging detector (e.g., an electromagnetic radiation detector, an X-ray detector, a photon detector, a gamma ray detector), e.g., using the detector to detect electromagnetic radiation, X-rays, gamma rays, radio waves, photons, protons, positrons, etc.

[0140] In some embodiments relating to CT scanning methods, the method includes generating x-rays using an x-ray generator of a scanner ring of a RMACT scanner. In some embodiments, the method includes detecting x-rays using an x-ray detector of the scanner ring. In some embodiments, the method includes rotating the x-ray generator and opposing x-ray detector around the patient. In some embodiments, the method includes rotating the x-ray generator and opposing x-ray detector around the patient while the scanner ring is fixed relative to the gantry arm. In some embodiments, the method includes rotating the x-ray generator and opposing x-ray detector around the patient while the scanner ring moves relative to the gantry arm.

[0141] In some embodiments, the method includes, for example, translating the scanner ring to a position where the scanner ring does not surround the patient and / or patient support (e.g., to allow the patient to exit the RMACT scanning system). In some embodiments, the method includes rotating the gantry to a horizontal position (e.g., a substantially and / or essentially horizontal position). In some embodiments, translating the scanner ring away from the patient and / or rotating the gantry to a horizontal position involves applying a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 35 ... 4.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21 This includes applying a force of less than 0.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N.In some embodiments, the force is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28 A force of less than 0.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor. In some embodiments, translating the scanner ring away from the patient and / or rotating the gantry to the horizontal position comprises activating motors to apply a force to translate the scanner ring away from the patient and / or rotate the gantry to the horizontal position. In some embodiments, translating the scanner ring away from the patient and / or rotating the gantry to the horizontal position comprises manually pushing and / or pulling the scanner ring to translate the scanner ring away from the patient and / or rotate the gantry to the horizontal position. In some embodiments, the method comprises translating the scanner ring away from the patient and / or rotating the gantry to the horizontal position by a human user using a manual force. In some embodiments, the method comprises translating the scanner ring away from the patient and / or rotating the gantry to the horizontal position by a human user using a manual force without the aid of a motor.For example, in some embodiments, the method includes translating the scanner ring away from the patient and / or rotating the gantry to a horizontal position by a human user using manual force in the absence of electrical power, e.g., to allow a user to exit the CT scanner in the event of a power outage.

[0142] In some embodiments, the RMACT scanner includes a gantry that is balanced (e.g., counterbalanced) about the axis of rotation of the gantry. In some embodiments, the RMACT scanner includes a counterweight for balancing the gantry and / or the scanner ring. In some embodiments, the RMACT scanner includes a counterweight for translation of the scanner ring.

[0143] Counterweighting and Balancing In some embodiments, the technique provides a multi-axis imaging device (e.g., a computed tomography (CT) device, a magnetic resonance imaging (MRI) device, a positron emission tomography (PET) device, a single photon emission computed tomography (SPECT) device, a photon counting computed tomography device, or a portal imaging or scanning projection radiography device) and includes balancing and / or counterweighting to minimize forces applied to the device to rotate the gantry and / or translate the scanner ring. In some embodiments, the multi-axis imaging device is a multi-axis computed tomography scanner or a rapid multi-axis computed tomography (RMACT) scanner. In some embodiments, a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0) is used to rotate the gantry. , 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N) is applied to the gantry.In some embodiments, a force of 50 N or less is used to translate it (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31. A force of 0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N is applied. In some embodiments, the force is applied by a human alone, a motor alone, or a combination of a human and a motor (e.g., a human with motor assistance). This design reduces the size of the drivetrain and associated manufacturing and maintenance costs, improves precision, and improves the safety of the system for the patient and operator, because movement of the system components does not generate sufficient force to injure a person and / or damage objects with which the components may collide.

[0144] 5A and 5B, in some embodiments, the gantry is balanced about the axis of rotation ρ so that the torque applied by gravity to the mass of the top 501 of the gantry is equal (e.g., substantially and / or essentially equal) to the torque applied by gravity to the mass of the bottom 502 of the gantry. In some embodiments, the ratio of the torque applied by gravity to the mass of the top 501 of the gantry to the torque applied by gravity to the mass of the bottom 502 of the gantry is about 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3.

[0145] In some embodiments, each gantry arm includes a counterweight in the bottom of the gantry (e.g., the bottom of the gantry 502 in the shaded area of ​​FIG. 5B) to provide sufficient mass to balance the mass of the top of the gantry 501. Therefore, for small forces (e.g., 50 N or less) (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, A force of less than 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N is required to rotate the gantry. In some embodiments, the force is applied by a motor (e.g., a rotation motor). In some embodiments, the force is applied by a human operator of the multi-axis CT scanner (e.g., by applying a manual force to the gantry to rotate it), hi some embodiments, the force is applied by a combination of motors and a human.

[0146] In some embodiments, the scanner ring is balanced by counterweights associated with the gantry arms (e.g., inner and / or outer) of a single gantry arm apparatus, or counterweights associated with one or both of the gantry arms of a two gantry arm apparatus. For example, in some embodiments, the scanner ring has a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms) and is balanced with a counterweight having a mass of about 1000 kilograms (e.g., about 900, 910, 920, 930, 940, 950, 960, 970, 980, 990, 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, or 1100 kilograms). The technology is not limited to a scanner ring and counterweight mass ratio of approximately 1:1. Thus, the technology includes embodiments in which the scanner ring and counterweight have a mass ratio of approximately 3:1, 2.5:1, 2:1, 1:1, 1:2, 1:2.5, or 1:3.

[0147] In some embodiments, a belt and pulley system is used to attach the scanner ring to the counterweight, for example to coordinate movement of the scanner ring mass and the counterweight mass. In some embodiments, a rotary motor is used to translate the scanner ring. In some embodiments, a ball screw is used to translate the scanner ring. Therefore, a small force (e.g., 50 N or less) is required to translate the scanner ring (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, A force of less than 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N is required. In some embodiments, the force is applied by a motor (e.g., a rotary motor, a motor coupled to a ball screw). In some embodiments, the force is applied by a human operator of the multi-axis medical imaging device (e.g., by applying a manual force to the scanner ring to translate it), hi some embodiments, the force is applied by a combination of motors and a human.

[0148] For example, as shown in FIG. 6, an embodiment of a scanner ring counterweight system includes a belt 601, a motor 602, a pulley 603, a first weight (W1) 604, and a second weight (W2) 605. The first weight (W1) 604 is attached to the belt 601 and provides a counterweight having a mass equal (e.g., substantially and / or essentially equal) to the mass of the scanner ring represented by the second weight (W2) 605 attached to the belt 601. The scanner ring is translated by the action of the motor 602. The first weight (W1) 604 is associated with one or both of the gantry arms and may be on the inside or outside of the gantry arms. Furthermore, the first weight (W1) 604 may be distributed evenly or unevenly among the gantry arms.

[0149] 7, an embodiment of a scanner ring counterweight system includes a first belt 701, a motor 702, a first pulley 703, a first weight (W1) 704, a second weight (W2) 705, a second belt 706, a second pulley 707, and a third pulley 708. The first weight (W1) 704 is attached to the second belt 706 and is a counterweight having a mass equal (e.g., substantially and / or essentially equal) to the mass of the scanner ring represented by the first belt 701 and the second weight (W2) 705 attached to the second belt 706. The scanner ring translates under the action of the motor 702. The first weight (W1) 704 is associated with one or both of the gantry arms and may be inside or outside the gantry arms. Additionally, the first weight (W1) 704 may be evenly or unevenly distributed among the gantry arms.

[0150] As yet another example, as shown in FIG. 8 , an embodiment of a scanner ring counterweight system includes a belt 801, a motor 802, a pulley 803, a first weight (W1) 804, a second weight (W2) 805, and a motor (e.g., comprising a threaded shaft and a ball assembly) coupled to a ball screw 806. The first weight (W1) 804 is attached to the belt 801 and is a counterweight having a mass equal to (e.g., substantially and / or essentially equal to) the mass of the scanner ring represented by the second weight (W2) 805 attached to the belt 801. The scanner ring is translated by the action of a motor coupled to the ball screw 806, which rotates on an axis represented by a dashed line, for example. The threaded shaft of the ball screw is driven by the motor, which rotates the threaded shaft on the axis shown in dashed line. The threaded shaft engages a ball assembly operably attached to the scanner ring. Rotation of the threaded shaft causes translation of the ball assembly and the scanner ring. In some embodiments, the ball screw is 15-100 mm (e.g., 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100).In some embodiments, the ball screw has a rotational speed of 5-100 mm / rev (e.g., 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 9, 98, 99, 100 mm / rotation). A first weight (W1) 804 is associated with one or both gantry arms and may be located inside or outside the gantry arms. Furthermore, the first weight (W1) 804 may be distributed evenly or unevenly between the gantry arms.

[0151] In some embodiments, the frictional and electrical resistance provided by the motors and mechanical components (e.g., ball screws, belts, pulley systems, etc.) used to move the scanner can provide a force of about 30 N (e.g., about 25.0, 25.5, 26.0, 26.5, 27.0, 27.5, 28.0, 28.5, 29.0, 29.5, 30.0, 30.5, 31.0, 31.5, 32.0, A resistance of 32.5, 33.0, 33.5, 34.0, 34.5, or 35.0 N is introduced, but the force applied to move the scanner ring is less than or equal to 50 N (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41 ... .5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N). Those skilled in the art will appreciate that the pitch of the threads and / or motor size in ball screw embodiments can be varied to change (e.g., increase or decrease) the friction and resistance provided by the motor and mechanical components, and thus the force used to rotate the gantry and / or translate the scanner ring.

[0152] In some embodiments, for example, as shown in Figures 15A, 15B, 16A, 16B, 17A, 17B, 18A, and 18B, the technology provides a multi-axis medical imaging device (e.g., a CT scanning device) that includes a single column, a gantry including a gantry arm, a scanner ring, and, for example, a counterweight (e.g., provided by an auxiliary mass) to provide counterbalancing.

[0153] This technology is not limited to embodiments that include counterweighting and / or balancing. Thus, in some embodiments, the technology provides a multi-axis imaging device (e.g., a computed tomography (CT) device, a magnetic resonance imaging (MRI) device, a positron emission tomography (PET) device, a single-photon emission computed tomography (SPECT) device, a photon-counting computed tomography device, or a portal imager) that is balance-free and / or counterweight-free (e.g., the multi-axis imager does not include counterweighting and / or the multi-axis imager does not include balancing). In some embodiments of a multi-axis imaging device that does not include counterweighting and / or balancing, a motor or a person assisted by a motor applies force to rotate and / or translate the imaging device.

[0154] Additionally, this technology includes the use of other drive technologies and methods such as belts, screws, chains, pulleys, rods, gears, hydraulics, etc.

[0155] method In some embodiments, the technology provides methods for acquiring medical images (e.g., CT scans, magnetic resonance imaging (MRI) scans, positron emission tomography (PET) scans, single photon emission computed tomography (SPECT) scans, photon counting computed tomography scans, or portal images or scanograms (e.g., scanned projection radiography images). Although exemplary methods for acquiring CT scans are described, the technology is not limited to methods for acquiring CT scans and includes embodiments for acquiring other types of medical images.

[0156] In some embodiments, the method includes providing a multi-axis CT scanner described herein or a rapid multi-axis computed tomography (RMACT) scanner described herein. For example, in some embodiments, the method includes providing a multi-axis CT scanner including a first column, a second column, a gantry including a first gantry arm and a second gantry arm, and a scanner ring (see, e.g., FIG. 1B). In some embodiments, the method includes providing a multi-axis CT scanner including a single column, a gantry including a gantry arm, and a scanner ring. See, e.g., FIGS. 15A, 15B, 16A, 16B, 17A, 17B, 18A, and 18B.

[0157] In some embodiments, the gantry is configured to rotate relative to the support column and / or the scanner ring is configured to translate relative to the gantry arm. See, for example, FIG. 4C , which shows a rear view of a multi-axis CT scanner with the gantry in a horizontal position, and FIG. 4D , which shows a front view of a multi-axis CT scanner with the gantry in a vertical position. By providing the gantry in a vertical position, as shown in FIG. 4D , a patient positioned in a vertical position can be scanned. Thus, in some embodiments, the method includes scanning the patient in a vertical position. FIGS. 4E and 4F show a multi-axis CT scanner with the gantry in a vertical position.

[0158] In some embodiments, the multi-axis CT scanner comprises a gantry that counterbalances the scanner ring and the top and bottom of the gantry with respect to the axis of rotation of the gantry, hi some embodiments, the multi-axis CT scanner comprises a counterweight for translation of the scanner ring.

[0159] In some embodiments, the method includes positioning the patient. In some embodiments, for example, as shown in FIG. 2 , positioning the patient includes positioning the patient 201 using a patient positioning system 202 (e.g., as described in International Patent Application Publication No. WO 2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated by reference herein). In some embodiments, the patient is in a vertical position, and the method includes providing the patient in the vertical position. In some embodiments, the patient is standing (e.g., standing, standing leaning back, standing leaning forward, sitting, etc.), and the method includes providing the patient in a standing position (e.g., standing, standing leaning back, standing leaning forward, sitting, etc.). In some embodiments, the patient is seated (e.g., sitting, sitting leaning back, sitting leaning forward, etc.), and the method includes providing the patient in a seated position (e.g., sitting, sitting leaning back, sitting leaning forward, etc.). In some embodiments, the patient is kneeling (e.g., kneeling, kneeling and leaning forward, or kneeling and leaning back), and the method includes providing the patient in the kneeling (kneeling, kneeling and leaning forward, or kneeling and leaning back) position. In some embodiments, the method includes providing a patient positioning system and / or patient support for maintaining the patient in a vertical position (e.g., sitting, sitting and leaning back, sitting and leaning forward, standing, standing and leaning back, standing and leaning forward, perched, kneeling, kneeling and leaning forward, or kneeling and leaning back, or other vertical or substantially vertical position). See, e.g., International Patent Application Publication No. WO 2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference.

[0160] In some embodiments, the method includes providing a multi-axis CT scanner and positioning a patient 201 within a scanning volume of the multi-axis CT scanner. In some embodiments, the method includes positioning the patient 201 on a patient positioning system 202 provided within the scanning volume of the multi-axis CT scanner.

[0161] In some embodiments, the method includes rotating the gantry, e.g., as shown in FIGS. 3A and 3B. In some embodiments, rotating the gantry includes rotating the gantry about an axis ρ relative to the first column and / or the second column. In some embodiments, the method includes rotating the gantry from a horizontal position (e.g., a substantially and / or essentially horizontal position) to a vertical position (e.g., a substantially and / or essentially vertical position), e.g., a rotation of about 90°, e.g., as shown in FIGS. 3A and 3B. For example, in some embodiments, the method includes rotating the gantry from a position in which the gantry arms are parallel (e.g., substantially and / or essentially parallel) to an axis α, as shown in FIG. 3A, to a position in which the gantry arms are parallel (e.g., substantially and / or essentially parallel) to an axis β, as shown in FIG. 3B. In some embodiments, the axis α is parallel (e.g., substantially and / or essentially parallel) to the floor. In some embodiments, the axis β is perpendicular (e.g., substantially and / or essentially perpendicular) to the floor. In some embodiments, the method includes rotating the gantry so that the long axis of the gantry arm is parallel (e.g., substantially and / or essentially parallel) to the patient's spine. For example, in some embodiments, axis β shown in FIG. 3B is parallel (e.g., substantially and / or essentially parallel) to the patient's spine. This technique is not limited to rotations of approximately 90° (e.g., substantially and / or essentially 90°) as shown in FIGS. 3A and 3B. Thus, the technique encompasses rotating the gantry through any angle (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees).In some embodiments, for example, as shown in FIGS. 3A and 3B, axis α and / or axis β are or can be provided at any angle within the plane of the page, e.g., rotation about axis ρ relative to the position of axis α and / or axis β shown in FIG. 3A or 3B.

[0162] In some embodiments, rotating the gantry comprises activating a motor to apply a force to rotate the gantry, hi some embodiments, rotating the gantry comprises manually pushing and / or pulling the gantry to rotate it. In some embodiments, the method provides for, for example, using a motor and / or using manual force, applying a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5 , 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) to rotate the gantry.That is, in some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0 , 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor.

[0163] In some embodiments, the method includes translating a scanner ring, e.g., from a first position away from the patient (e.g., as shown in FIG. 2) to a second position, where the scanner ring surrounds the patient and / or patient positioning system (e.g., as shown in FIG. 3C). In some embodiments, translating the scanner ring includes translating the scanner ring along a translation axis (τ) that is parallel (e.g., substantially and / or essentially parallel) to the length of the gantry arm. In some embodiments, the scanner ring is translated about 0.20-2.00 m (e.g., 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1.00, 1.05, 1.10, 1.15, 1.20, 1.25, 1.30, 1.35, 1.40, 1.45, 1.50, 1.55, 1.60, 1.65, 1.70, 1.75, 1.80, 1.85, 1.90, 1.95, or 2.00 m).

[0164] In some embodiments, the gantry is in a vertical position (e.g., a substantially and / or essentially vertical position) when the scanner ring is translated. In some embodiments, the gantry is in a horizontal position (e.g., a substantially and / or essentially horizontal position) when the scanner ring is translated (e.g., to obtain a CT scan of a lying patient). In some embodiments, the gantry is at an angle of 0-200 degrees (e.g., 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, or 200 degrees) relative to the floor when the scanner ring is translated.

[0165] In some embodiments, translating the scanner ring includes activating a motor to apply a force that translates the scanner ring. In some embodiments, translating the scanner ring includes activating a rotational motor to drive a belt or chain attached to the scanner ring. In some embodiments, translating the scanner ring includes activating a motor coupled to a ball screw operably coupled to the scanner ring. In some embodiments, the ball screw is configured to translate the scanner ring by 15-100 mm (e.g., 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100). In some embodiments, the ball screw has a rotational speed of 5-100 mm / rev (e.g., 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, Provides translation of the scanner ring of 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100 mm / rotation).

[0166] In some embodiments, translating the scanner ring includes manually pushing and / or pulling the scanner ring to translate it. In some embodiments, the method includes, for example, using a motor and / or using a manual force, translating the scanner ring to a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 3 The scanner ring may be translated by applying a force of less than 1.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N to translate the scanner ring.That is, in some embodiments, the pressure is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0 , 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or less than 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor.

[0167] In some embodiments, the method includes translating the multi-axis CT scanner in the plane of the floor. For example, in some embodiments, the method includes translating the multi-axis CT scanner (e.g., by translating one or both columns) in the XY plane (e.g., in the plane of the floor), e.g., to position the scanner ring relative to the patient and / or the patient's region of interest (see, e.g., FIGS. 4A and 4B and the three-dimensional coordinate system showing the XY plane for reference).

[0168] In some embodiments, the method includes acquiring (e.g., acquiring, recording, etc.) a medical image. In some embodiments, the method includes acquiring (e.g., acquiring, recording, etc.) a CT image, an MRI image, a PET image, a SPECT image, a photon-counting computed tomography image, or a portal image or a scanning projection radiography image (e.g., a "scout" scan). In some embodiments, the method includes activating an imaging source (e.g., an electromagnetic radiation source, an X-ray source, a gamma ray source, a radio wave source, a photon source, a proton source, a positron source, a gamma ray source (e.g., gamma rays from a positron source)). In some embodiments, the method includes activating an imaging detector (e.g., an electromagnetic radiation detector, an X-ray detector, a photon detector, a gamma ray detector), e.g., using the detector to detect electromagnetic radiation, X-rays, gamma rays, radio waves, photons, protons, positrons, etc.

[0169] In some embodiments relating to CT scanning methods, the method includes generating x-rays using an x-ray generator of a scanner ring. In some embodiments, the method includes detecting x-rays using an x-ray detector of the scanner ring. In some embodiments, the method includes rotating the x-ray generator and opposing x-ray detector around the patient. In some embodiments, the method includes rotating the x-ray generator and opposing x-ray detector around the patient while the scanner ring is fixed relative to the gantry arm. In some embodiments, the method includes rotating the x-ray generator and opposing x-ray detector around the patient while the scanner ring moves relative to the gantry arm.

[0170] In some embodiments, the method includes reversing the above-described translating and rotating steps to move the scanner ring and / or gantry, e.g., to allow a patient to exit the medical imaging device (e.g., a CT scanner). For example, in some embodiments, the method includes translating the scanner ring, e.g., to a position where the scanner ring does not surround the patient and / or patient positioning system. In some embodiments, the method includes rotating the gantry to a horizontal position (e.g., a substantially and / or essentially horizontal position). In some embodiments, translating the scanner ring away from the patient and / or rotating the gantry to a horizontal position involves applying a force of 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 35 ... 4.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21 This includes applying a force of less than 0.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N.In some embodiments, the force is 50 N or less (e.g., 50.0, 49.5, 49.0, 48.5, 48.0, 47.5, 47.0, 46.5, 46.0, 45.5, 45.0, 44.5, 44.0, 43.5, 43.0, 42.5, 42.0, 41.5, 41.0, 40.5, 40.0, 39.5, 39.0, 38.5, 38.0, 37.5, 37.0, 36.5, 36.0, 35.5, 35.0, 34.5, 34.0, 33.5, 33.0, 32.5, 32.0, 31.5, 31.0, 30.5, 30.0, 29.5, 29.0, 28 A force of less than 0.5, 28.0, 27.5, 27.0, 26.5, 26.0, 25.5, 25.0, 24.5, 24.0, 23.5, 23.0, 22.5, 22.0, 21.5, 21.0, 20.5, 20.0, 19.5, 19.0, 18.5, 18.0, 17.5, 17.0, 16.5, 16.0, 15.5, 15.0, 14.5, 14.0, 13.5, 13.0, 12.5, 12.0, 11.5, 11.0, 10.5, or 10.0 N) can be provided by a human, a motor, or a combination of a human and a motor. In some embodiments, translating the scanner ring away from the patient and / or rotating the gantry to the horizontal position comprises activating motors to apply a force to translate the scanner ring away from the patient and / or rotate the gantry to the horizontal position. In some embodiments, translating the scanner ring away from the patient and / or rotating the gantry to the horizontal position comprises manually pushing and / or pulling the scanner ring to translate the scanner ring away from the patient and / or the gantry and rotate it to the horizontal position. In some embodiments, the method comprises translating the scanner ring away from the patient and / or rotating the gantry to the horizontal position by a human user using a manual force. In some embodiments, the method comprises translating the scanner ring away from the patient and / or rotating the gantry to the horizontal position by a human user using a manual force without the aid of a motor.For example, in some embodiments, the method includes translating the scanner ring away from the patient and / or rotating the gantry to a horizontal position by a human user using manual force in the absence of power, e.g., to allow a user to exit the CT scanner in the event of a power outage.

[0171] system The technology provides system embodiments. For example, the technology provides a multi-axis medical imaging system. In some embodiments, the medical imaging system is a computed tomography (CT) system, a magnetic resonance imaging (MRI) system, a positron emission tomography (PET) system, a single-photon emission computed tomography (SPECT) system, a photon-counting computed tomography system, or a portal imaging system or a scanning projection radiography imaging system. While the technology is described with respect to exemplary embodiments in which the medical imaging system is a computed tomography (CT) system, it should be understood that the technology is not limited to CT scanning systems and that embodiments include other types of medical imaging systems.

[0172] For example, in some embodiments, the system includes a multi-axis medical imaging device as described herein, e.g., a multi-axis medical imaging device including a first column, a second column, a gantry including a first gantry arm and a second gantry arm, and a scanner ring (see, e.g., FIG. 1B). In some embodiments, the system includes a multi-axis medical imaging device as described herein, e.g., a multi-axis medical imaging device including a column, a gantry including a gantry arm, and a scanner ring (see, e.g., FIGS. 15A, 15B, 16A, 16B, 17A, 17B, 18A, 18B). In some embodiments, the system includes a high-speed multi-axis computed tomography system as described herein.

[0173] In some embodiments, the system includes a multi-axis medical imaging device including a gantry structured to rotate relative to the support column. Accordingly, in some embodiments, the system includes a multi-axis medical imaging device including a motor structured to rotate the gantry relative to the support column. In some embodiments, the system includes a multi-axis medical imaging device including a scanner ring structured to translate relative to the gantry arm. Accordingly, in some embodiments, the multi-axis medical imaging device includes a motor structured to translate the scanner ring relative to the gantry arm. In some embodiments, the system includes a multi-axis medical imaging device including a balanced gantry / scanner ring (e.g., a gantry / scanner ring including a gantry and a scanner ring). In some embodiments, the multi-axis medical imaging device includes a mass to provide a counterweight for translation of the scanner ring. In some embodiments, the system includes a multi-axis medical imaging device including a medical imaging source and a detector (e.g., a system includes a multi-axis medical imaging device including a scanner ring including a medical imaging source facing a detector that moves around the scanner ring, for example).

[0174] In some embodiments, the system comprises a multi-axis medical imaging device as described herein and a patient positioning system and / or patient support, e.g., as described in International Patent Application Publication No. WO2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference.

[0175] In some embodiments, a system comprises a multi-axis medical imaging apparatus as described herein and software and / or hardware components configured to rotate the gantry and / or translate the scanner ring. In some embodiments, the system includes software components configured to perform the methods described herein.

[0176] In some embodiments, the system comprises a multi-axis medical imaging device, software for acquiring (eg, recording, capturing) medical images, and software for controlling the rotation of the gantry and the translation of the scanner ring.

[0177] In some embodiments, the system includes a multi-axis medical imaging device and a controller described herein. In some embodiments, the medical imaging source and detector communicate with the controller. In some embodiments, the controller activates the medical imaging source and collects image projections from the detector. In some embodiments, the controller controls movement of opposing medical imaging sources and detectors around a scanner ring. In some embodiments, the controller communicates with cameras (e.g., horizontal and / or vertical cameras) positioned to acquire elevation and / or planar images of the area occupied by the patient. In some embodiments, the controller communicates with a graphic display terminal that provides output images, such as tomographic images, positioning information, and a user input device, such as a keyboard, for receiving commands from a user. In some embodiments, the controller has a general computer architecture including one or more processors in communication with a memory for storing non-transitory control programs (e.g., for storing tomographic projection sets and resulting tomographic images).

[0178] In some embodiments, a system comprises a multi-axis medical imaging device as described herein, a patient in an upright (e.g., vertical (e.g., substantially and / or essentially vertical position)) position, and a user interacting with a controller structured to move the multi-axis medical imaging device and acquire medical images of the patient or a portion thereof.

[0179] In some embodiments, a system includes a multi-axis medical imaging device and an imaging subsystem. In some embodiments, a controller controls the imaging subsystem. In some embodiments, the imaging subsystem includes one or more cameras that record images of objects (e.g., a patient positioning system and / or a patient support and / or a patient) within a scanner ring of the multi-axis medical imaging device. In some embodiments, the imaging subsystem includes one or more cameras disposed on a scanner ring of the multi-axis medical imaging device. Thus, in some embodiments, a system includes a multi-axis medical imaging device with one or more cameras (e.g., a scanner ring with one or more cameras). In some embodiments, the cameras record images that are then processed by software (e.g., configured to perform image recording, image analysis, image storage, image manipulation, and / or image comparison methods) and / or hardware components (e.g., a microprocessor, a graphics processor, a communication bus configured to communicate, record, analyze, store, manipulate, and / or compare images) of the imaging subsystem.

[0180] In certain embodiments, the system includes a multi-axis CT scanner described herein, e.g., a multi-axis CT scanner including a first column, a second column, a gantry including a first gantry arm and a second gantry arm, and a scanner ring (see, e.g., FIG. 1B ). In certain embodiments, the system includes a multi-axis CT scanner described herein, e.g., a multi-axis CT scanner including a column, a gantry including a gantry arm, and a scanner ring (see, e.g., FIGS. 15A , 15B , 16A , 16B , 17A , 17B , 18A , and 18B ). In some embodiments, the system includes a multi-axis CT scanner including a gantry structured to rotate relative to the column. Accordingly, in some embodiments, the system includes a multi-axis CT scanner including a motor structured to rotate the gantry relative to the column. In some embodiments, the system includes a multi-axis CT scanner including a scanner ring structured to translate relative to the gantry arm. Accordingly, in some embodiments, the multi-axis CT scanner includes a motor structured to translate the scanner ring relative to the gantry arm. In some embodiments, the system includes a multi-axis CT scanner with a balanced gantry / scanner ring. In some embodiments, the multi-axis CT scanner includes a mass to provide a counterweight for translation of the scanner ring. In some embodiments, the system includes a multi-axis CT scanner with an x-ray generator and an x-ray detector (e.g., the system includes a multi-axis CT scanner with a scanner ring with a rotating x-ray generator facing a rotating x-ray detector that moves around the scanner ring).

[0181] In some embodiments, the system comprises a multi-axis CT scanner as described herein and a patient positioning system and / or patient support as described, for example, in International Patent Application Publication No. WO2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference.

[0182] In some embodiments, the system comprises a multi-axis CT scanner as described herein and software and / or hardware components configured to rotate the gantry and / or translate the scanner ring. In some embodiments, the system includes software components configured to perform the methods described herein.

[0183] In some embodiments, the system comprises a multi-axis CT scanner, software for acquiring (eg, recording, acquiring) CT scans, and software for controlling the rotation of the gantry and the translation of the scanner ring.

[0184] In some embodiments, the system includes a multi-axis CT scanner and a controller as described herein. In some embodiments, the X-ray generator and the X-ray detector communicate with the controller. In some embodiments, the controller activates the X-ray tube and collects tomographic projections from the X-ray detector. In some embodiments, the controller controls movement of the opposing X-ray generator and the X-ray detector around the scanner ring. In some embodiments, the controller communicates with cameras (e.g., horizontal and / or vertical cameras) positioned to acquire elevation and / or planar images of the area occupied by the patient. In some embodiments, the controller communicates with a graphic display terminal that provides output images such as tomographic images, positioning information, and a user input device such as a keyboard for receiving commands from a user. In some embodiments, the controller has a general computer architecture including one or more processors in communication with a memory for storing non-transitory control programs (e.g., for storing tomographic projection sets and resulting tomographic images).

[0185] In some embodiments, the system comprises a multi-axis CT scanner as described herein, an upright (e.g., vertical (e.g., substantially and / or essentially vertical position)) patient, and a user interacting with a controller structured to move the multi-axis CT scanner and acquire a CT scan of the patient or portion thereof.

[0186] In some embodiments, the system includes a multi-axis CT scanner and an imaging subsystem. In some embodiments, a controller controls the imaging subsystem. In some embodiments, the imaging subsystem includes one or more cameras that record images of objects (e.g., a patient positioning system and / or a patient support and / or a patient) within a scanner ring of the multi-axis CT scanner. In some embodiments, the imaging subsystem includes one or more cameras disposed on a scanner ring of the multi-axis CT scanner. Thus, in some embodiments, a system includes a multi-axis CT scanner with one or more cameras (e.g., a scanner ring with one or more cameras). In some embodiments, the cameras record images that are then processed by software (e.g., configured to perform image recording, image analysis, image storage, image manipulation, and / or image comparison methods) and / or hardware components (e.g., a microprocessor, a graphics processor, a communication bus configured to communicate, record, analyze, store, manipulate, and / or compare images) of the imaging subsystem.

[0187] In some embodiments, the imaging subsystem is configured to image the patient positioning system and / or patient support (e.g., as described in International Patent Application Publication No. WO2019 / 056055, U.S. Patent Application Publication No. 2020 / 0268327, and U.S. Patent Application No. 63 / 237,513, each of which is incorporated herein by reference). In some embodiments, the imaging subsystem is configured to create a model of the patient positioning system and / or patient support using the image of the patient positioning system. In some embodiments, the imaging subsystem is configured to compare a position and / or configuration of the patient positioning system and / or patient support (e.g., using the model of the patient positioning system and / or patient support) to a preset position and / or configuration of the patient positioning system and / or patient support (e.g., a model and / or parameters stored on a computer-readable medium and provided to a microprocessor for comparison to the model describing the patient positioning system and / or patient support). In some embodiments, the preset positions of the patient positioning system and / or patient support provide for the patient to be positioned in an upright position using the patient positioning system and / or patient support.

[0188] In some embodiments, the imaging subsystem is configured to image the patient. In some embodiments, the imaging subsystem is configured to create a model of the patient using the patient image. In some embodiments, the imaging subsystem is configured to compare the patient's position (e.g., using the patient model) against a preset patient position (e.g., a model and / or parameters stored in a computer-readable medium and provided to a microprocessor for comparison with the model describing the patient positioning system). In some embodiments, the preset patient position provides the patient in an upright position. In some embodiments, the imaging subsystem is configured to monitor patient movement, for example, to alert the system that patient movement may degrade image quality and / or to alert the system that the patient may be in a position that may interfere with the movement of the multi-axis CT scanner. In some embodiments, the imaging subsystem is configured to find and / or identify ubiquitous rigid features of the human face (e.g., eye sockets, nose, ears, and / or mouth). In some embodiments, the imaging subsystem is configured to find and / or identify intrinsic features (e.g., scars, tattoos, facial geometry). In some embodiments, the imaging subsystem is configured to track ubiquitous and intrinsic features (eg, using least squares correlation) to track patient motion.

[0189] In some embodiments, the imaging subsystem is used to control the movement of the gantry and / or scanner ring relative to the patient. For example, in some embodiments, the imaging subsystem provides images and / or models of the multi-axis CT scanner and a superimposed computer-generated scan volume of the scanner ring as it moves along a planned trajectory to scan the patient. In some embodiments, the model presents a bounding box that bounds the scan volume, e.g., in a side elevation view and / or a top view, allowing a user to verify the position of the gantry and / or scan ring before scanning. In some embodiments, the imaging subsystem is used to monitor the trajectory of the gantry and / or scanner ring to minimize and / or eliminate the likelihood of a collision with the patient during scanning.

[0190] In some embodiments, the imaging subsystem is configured to identify and / or verify the identity of the patient, for example, using facial scanning recognition, optical scanning recognition, and / or other techniques for identifying an individual and / or verifying the patient's identity. In some embodiments, the imaging subsystem is configured to identify and / or verify the patient's identity using a combination of ubiquitous and unique patient characteristics. In some embodiments, the imaging subsystem includes techniques for determining the spatial position of a target, for example, as described in U.S. Pat. No. 5,923,417, which is incorporated herein by reference. In some embodiments, the imaging subsystem includes techniques for determining the spatial position and orientation of a body, for example, as described in U.S. Pat. No. 6,061,644, which is incorporated herein by reference. In some embodiments, the imaging subsystem comprises technology for optical tracking, such as NDI OPTOTRAK (see, e.g., Northern Digital, Inc. (NDI) "Optical Tracking Educational Guide," June 2016, P / N 8300349 Rev001, incorporated herein by reference). In some embodiments, the imaging subsystem comprises technology for tracking a target, including receiving depth images of the target and analyzing the depth images with a pre-trained collection of known poses to find example poses that represent the observed pose of the target, as described in the platform U.S. Pat. No. 7,974,443, incorporated herein by reference. In some embodiments, the imaging subsystem comprises technology for a system for providing a three-dimensional virtual environment, capturing patient images with a camera, and correlating the patient's position in physical space with the patient's position in the virtual environment (see, e.g., U.S. Pat. No. 8,009,022, incorporated herein by reference).

[0191] In some embodiments, the system includes a multi-axis medical imaging device (e.g., a CT scanner) and a light curtain subsystem. In some embodiments, a controller controls the light curtain subsystem. In some embodiments, the light curtain subsystem includes a light source and a light detector for producing the light curtain. In some embodiments, the light curtain envelops a volume enclosed by a scanner ring of the multi-axis medical imaging device (e.g., CT scanner). In some embodiments, penetration of the light curtain prevents the light curtain from being detected by light detection. In some embodiments, penetration of the light curtain indicates that an object (e.g., a patient, a component of the multi-axis medical imaging device (e.g., CT scanner), or a system including the multi-axis medical imaging device (e.g., CT scanner)) is in a position that may result in a collision with the multi-axis medical imaging device (e.g., CT scanner) as the multi-axis medical imaging device (e.g., CT scanner) moves. That is, in some embodiments, the light curtain marks a volume where an object is considered to be in an appropriate and / or safe position (e.g., to minimize and / or eliminate harm caused by a collision with the multi-axis medical imaging device (e.g., CT scanner)). In some embodiments, the light curtain comprises multiple light beams. In some embodiments, the light curtain comprises multiple laser light beams. In some embodiments, light from a source (e.g., laser light) is redirected by one or more mirrors to create the light curtain. In some embodiments, light (e.g., laser light) is produced from a rotating source, and circular mirroring redirects the light (e.g., laser light) to form a cylindrical light curtain.

[0192] Some portions of this description will describe embodiments of the technology in terms of algorithms and symbolic representations of operations on information. These algorithmic descriptions and representations are commonly used by those skilled in the data processing arts to effectively convey the substance of their work to others skilled in the art. While these operations are described functionally, computationally, or logically, it will be understood that they may be implemented by computer programs or equivalent electrical circuits, microcode, or the like. Further, without loss of generality, it has proven convenient to refer to configurations of these operations as modules. The described operations and their associated modules may be embodied in software, firmware, hardware, or any combination thereof.

[0193] Certain steps, operations, or processes described herein may be performed or implemented using one or more hardware or software modules, alone or in combination with other devices. In some embodiments, software modules are implemented in a computer program product that includes a computer-readable medium containing computer program code, which may be executed by a computer processor to perform any or all of the steps, operations, or processes described.

[0194] In some embodiments, the system comprises a computer and / or data storage provided virtually (e.g., as a cloud computing resource). In particular embodiments, the technology includes the use of cloud computing to provide a virtual computer system comprising computer components and / or performing computer functions as described herein. Thus, in some embodiments, cloud computing provides the infrastructure, applications, and software described herein over a network and / or the Internet. In some embodiments, computing resources (e.g., data analysis, calculations, data storage, application programs, file storage, etc.) are provided remotely over a network (e.g., the Internet). A "microprocessor" or "processor" refers to one or more microprocessors that can be configured to communicate in a standalone and / or distributed environment and that can be configured to communicate with other processors via wired or wireless communications; such one or more processors can be configured to operate on devices controlled by one or more processors, which can be similar or different devices. Furthermore, unless otherwise specified, "memory" can include one or more processor-readable and accessible memory elements and / or components, which can be internal to a device controlled by a processor or external to a device controlled by a processor, and can be accessed via a wired or wireless network.

[0195] Embodiments of the present technology may also relate to apparatus for performing the operations herein. This apparatus may be specially constructed for the required purposes and / or may comprise a general-purpose computing device selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored on a non-transitory, tangible, computer-readable storage medium or any type of medium suitable for storing electronic instructions that may be coupled to a computer system bus. Furthermore, any computing system referred to herein may include a single processor or may be an architecture employing a multiple processor design to increase computing power.

[0196] In some embodiments, the technology (e.g., system) includes image reconstruction components (e.g., hardware and / or software components) within the scanner ring, configured to, for example, create (e.g., reconstruct) a medical image from raw data (e.g., from raw image data). In some embodiments, the technology (e.g., system) includes data transfer components that communicate raw image data acquired by the scanner ring (e.g., acquired by a detector of the scanner ring) to components configured to create (e.g., reconstruct) a medical image. In some embodiments, the scanner ring, comprising the data transfer components and the components configured to create (e.g., reconstruct) a medical image, is separate from the medical imaging device (e.g., a computer connected to the medical imaging device by wired and / or wireless communication components).

[0197] Treatment method In some embodiments, the technology relates to a method of treatment (e.g., a method of treating a patient). For example, in some embodiments, a method includes imaging a patient in a vertical position, e.g., sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perched, kneeling, kneeling leaning forward, or kneeling leaning back, and treating the patient in the vertical position. In some embodiments, the patient is imaged in the vertical position, imaged in a horizontal position, and treated (e.g., using a treatment including surgery) in the horizontal position.

[0198] In some embodiments, the patient has a pulmonary disease. In some embodiments, the thoracic (e.g., lung) area of ​​the patient is imaged and treated. In some embodiments, the patient has an orthopedic condition and an area of ​​the body including the orthopedic condition is imaged and treated.

[0199] In some embodiments, the method includes acquiring a diagnostic image of the patient in a vertical position (e.g., sitting, sitting and leaning back, sitting and leaning forward, standing, standing and leaning back, standing and leaning forward, sitting, kneeling, kneeling and leaning forward, or kneeling and leaning back); and treating the patient in a vertical position that is, for example, the same vertical position as the imaging (e.g., sitting, sitting and leaning back, sitting and leaning forward, standing, standing and leaning back, standing and leaning forward, sitting, kneeling, kneeling and leaning forward, or kneeling and leaning back). In some embodiments, the method includes acquiring a diagnostic image of a patient in a vertical position (e.g., sitting, sitting and leaning back, sitting and leaning forward, standing, standing and leaning back, standing and leaning forward, sitting, kneeling, kneeling and leaning forward, or kneeling and leaning back); acquiring a portal image of the patient prior to treatment (e.g., to properly align the patient for treatment); and treating the patient in a vertical position (e.g., sitting, sitting and leaning back, sitting and leaning forward, standing, standing and leaning back, standing and leaning forward, sitting, kneeling, kneeling and leaning forward, or kneeling and leaning back), e.g., the same vertical position as for imaging. In some embodiments, treating the patient includes moving (e.g., rotating) the patient and exposing the patient to treatment at multiple angles and / or positions on the patient's body.

[0200] In some embodiments, the method includes imaging a patient in a vertical position (e.g., using a medical imaging device described herein) and treating the patient in the vertical position (e.g., using a radiation therapy device). In some embodiments, the method includes imaging the patient in a vertical position (e.g., a fixed vertical position) using a moving (e.g., translating and / or rotating) scanner (e.g., using a medical imaging device described herein) and treating the patient in the vertical position by rotating the patient (e.g., slowly rotating the patient) and exposing the patient to radiation from the fixed radiation therapy device.

[0201] In some embodiments, the method includes acquiring diagnostic images of a patient in a vertical position (e.g., sitting, sitting and leaning back, sitting and leaning forward, standing, standing and leaning back, standing and leaning forward, perched, kneeling, kneeling and leaning forward, or kneeling and leaning back); acquiring treatment planning images of the patient in a horizontal position (e.g., lying down, lying down with knees bent), and treating the patient in the horizontal position (e.g., using surgery and / or exposing the patient to radiation).

[0202] Purpose In some embodiments, the technology provided herein is used in medical, clinical, and research settings. For example, in some embodiments, the technology is used to image biological systems, e.g., organisms (e.g., animals, humans), organs, tissues, and / or cells. In some embodiments, the technology is used to image the head, neck, lungs, heart, circulatory system (e.g., arteries and / or veins), abdomen, pelvic region, gastrointestinal system, axial skeleton (e.g., spine), kidneys, and / or limbs. For example, in some embodiments, the technology is used in the diagnosis and / or treatment of disease and / or injury. For example, the technology is used in preventive medicine, disease screening, disease diagnosis, disease treatment, and / or disease monitoring. For example, in some embodiments, the technology is used in the diagnosis and / or treatment of cancer. In some embodiments, the technology is used to image the chest, e.g., for the diagnosis of pneumothorax, emphysema, cardiomegaly, fibrosis, diaphragmatic hernia, empyema, atelectasis, pneumonia, pulmonary edema, pulmonary hemorrhage, primary lung malignancy, or metastatic disease. In some embodiments, the technology is used to diagnose and / or treat calcification, bone trauma, hemorrhage, edema, infarction, and / or tumors. The technology can also be used in research settings, e.g., to image animals, humans, organs, or tissues in research applications. The technology can be used in veterinary medical settings, e.g., to image animals, organs, or tissues for diagnosis and / or treatment. In some embodiments, the technology is used in industrial applications, e.g., to image non-living objects, e.g., to identify structural characteristics, material defects, internal contents, etc., without destroying or otherwise disrupting the non-living objects.

[0203] While the disclosure herein refers to specific illustrated embodiments, it should be understood that these embodiments are presented by way of example and not limitation. All publications and patents mentioned in the above specification are incorporated herein by reference in their entirety for all purposes. Various modifications and variations of the described compositions, methods, and uses of the techniques will be apparent to those skilled in the art without departing from the scope and spirit of the described technology. While this technology has been described in connection with specific exemplary embodiments, it should be understood that the invention as claimed should not be unduly limited to such specific embodiments. Indeed, various modifications of the described modes for carrying out the invention that are apparent to those skilled in the art are intended to be within the scope of the following claims.

Claims

1. a support assembly; a gantry coupled to the column assembly; a scanner ring coupled to the gantry; 1. A multi-axis computed tomography (CT) scanner, comprising:

2. The multi-axis CT scanner of claim 1 , wherein the scanner ring includes an x-ray generator and an x-ray detector.

3. The multi-axis CT scanner of claim 1 , wherein the gantry is rotatably coupled to the column assembly.

4. The multi-axis CT scanner of claim 3 , wherein the gantry is structured to rotate 0-200 degrees relative to the column assembly.

5. 2. The multi-axis CT scanner of claim 1, wherein the gantry includes a first gantry arm rotatably coupled to a first column of the column assembly, and the gantry includes a second gantry arm rotatably coupled to a second column of the column assembly.

6. The multi-axis CT scanner of claim 1 , wherein the column assembly is translatably coupled to a horizontal planar base.

7. The multi-axis CT scanner of claim 1 , wherein the column assembly is fixedly coupled to a horizontal planar base.

8. The multi-axis CT scanner of claim 1 , wherein the scanner ring is translatably coupled to the gantry.

9. 10. The multi-axis CT scanner of claim 1, wherein the scanner ring is translatably coupled to a first gantry arm of the gantry, and the scanner ring is translatably coupled to a second gantry arm of the gantry.

10. 10. The multi-axis CT scanner of claim 9, wherein the scanner ring is structured to translate along a longitudinal axis of the first gantry arm and along a longitudinal axis of the second gantry arm.

11. 10. The multi-axis CT scanner of claim 9, wherein the scanner ring is structured to translate 0.20-2.00 m relative to the gantry.

12. The multi-axis CT scanner of claim 1 , wherein a balanced assembly includes the gantry and the scanner ring.

13. 2. The multi-axis CT scanner of claim 1, wherein a force of 50 N or less rotates a counterbalanced assembly including the gantry and the scanner ring relative to the support column assembly and / or a force of 50 N or less translates the scanner ring relative to the gantry.

14. 14. The multi-axis CT scanner of claim 13, wherein the counterbalanced assembly including the gantry and the scanner is configured to rotate with a force of 50 N or less provided by a human, a motor, or a combination of a human and a motor, and / or the scanner ring is configured to translate relative to the gantry with a force of 50 N or less provided by a human, a motor, or a combination of a human and a motor.

15. The multi-axis CT scanner of claim 1 , wherein the column assembly includes a motor operatively engaged with the gantry.

16. The multi-axis CT scanner of claim 15 , wherein the motor is configured to rotate the gantry relative to the column assembly.

17. The multi-axis CT scanner of claim 1 , wherein the gantry includes a motor operatively engaged with the column assembly.

18. The multi-axis CT scanner of claim 17 , wherein the motor is configured to rotate the gantry relative to the column assembly.

19. The multi-axis CT scanner of claim 1 , wherein the gantry includes a motor operatively engaged with the scanner ring.

20. 20. The multi-axis CT scanner of claim 19, wherein the motor is coupled to a ball screw, a chain, or a belt.

21. 20. The multi-axis CT scanner of claim 19, wherein the motor is coupled to a drive assembly structured to translate the scanner ring relative to the gantry.

22. The multi-axis CT scanner of claim 1 , wherein the gantry includes an auxiliary mass component that provides a counterweight to the scanner ring.

23. 23. The multi-axis CT scanner of claim 22, wherein the gantry includes a first gantry arm that includes a first portion of the auxiliary mass component and a second gantry arm that includes a second portion of the auxiliary mass component.

24. 23. The multi-axis CT scanner of claim 22, wherein the multi-axis CT scanner includes a motor structured to move the auxiliary mass component and the scanner ring.

25. The multi-axis CT scanner of claim 1 , wherein the multi-axis CT scanner is structured to record a CT scan of a subject in a vertical or substantially vertical position.

26. 26. The multi-axis CT scanner of claim 25, wherein the subject is in a sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perching, kneeling, kneeling leaning forward, or kneeling leaning back position.

27. 27. The multi-axis CT scanner of claim 26, wherein the scanner ring is structured to move from a first position above the subject to a second position around the subject.

28. The multi-axis CT scanner of claim 1 , wherein the scanner ring has an inner diameter of 20 cm or greater.

29. 21. The multi-axis CT scanner of claim 20, wherein the ball screw includes a threaded shaft having a diameter of 15-100 mm.

30. 30. The multi-axis CT scanner of claim 29, wherein the motor is configured to translate the scanner ring 5-100 mm per revolution of the threaded shaft.

31. providing a multi-axis computed tomography (CT) scanner; Positioning the object; recording a CT scan of the subject; 1. A method of obtaining a CT scan of an object, comprising:

32. The multi-axis CT scanner comprises: a support assembly; a gantry coupled to the column assembly; a scanner ring coupled to the gantry; 32. The method of claim 31 , comprising:

33. 32. The method of claim 31, wherein positioning the object comprises positioning the object in a vertical position.

34. 34. The method of claim 33, wherein the vertical position is sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perching, kneeling, kneeling leaning forward, or kneeling leaning back.

35. 32. The method of claim 31 , wherein positioning the object comprises positioning the object using a patient positioning system and / or a patient support.

36. 33. The method of claim 32, further comprising positioning the scanner ring around the subject.

37. 37. The method of claim 36, wherein positioning the scanner ring comprises rotating the gantry relative to the column assembly and / or translating the scanner ring relative to the gantry.

38. 38. The method of claim 37, wherein rotating the gantry relative to the column assembly comprises applying a force of 50 N or less to the assembly including the gantry, and / or translating the scanner ring relative to the gantry comprises applying a force of 50 N or less to the scanner ring.

39. 39. The method of claim 38, wherein a human, a motor, or a combination of a human and a motor applies the force of 50 N or less to the assembly including the gantry and the scanner ring, and / or a human, a motor, or a combination of a human and a motor applies the force of less than 50 N to the scanner ring.

40. 38. The method of claim 37, wherein said rotating said gantry relative to said column assembly comprises rotating said gantry relative to said column assembly 0-200 degrees.

41. 38. The method of claim 37, wherein said rotating said gantry relative to said column assembly comprises rotating said gantry approximately 90 degrees relative to said column assembly.

42. 38. The method of claim 37, wherein said translating said scanner ring relative to said gantry comprises translating said scanner ring relative to said gantry 0.2-2.0 m.

43. 36. The method of claim 35, further comprising verifying the configuration of the patient positioning system and / or the patient support.

44. 36. The method of claim 35, further comprising verifying the position of the subject on the patient positioning system and / or patient support.

45. 44. The method of claim 43, wherein verifying the configuration of the patient positioning system comprises imaging the patient positioning system to provide an image and / or model of the patient positioning system, and comparing the image and / or model of the patient positioning system to a stored preset patient positioning system configuration.

46. 45. The method of claim 44, wherein verifying the position of the subject comprises imaging the subject to provide an image and / or model of the subject, and comparing the image and / or model of the subject to stored preset subject patient positions.

47. 32. The method of claim 31, further comprising imaging the object to monitor object position and / or object movement.

48. 32. The method of claim 31, further comprising imaging the object to identify the object and / or to verify the identity of the object.

49. 32. The method of claim 31, further comprising translating the multi-axis CT scanner in a plane of a base movably coupled to the multi-axis CT scanner.

50. 32. The method of claim 31 , wherein recording a CT scan of the object comprises generating x-rays, detecting x-rays, and optionally synchronizing translation of the scanner ring with generating the x-rays.

51. 32. The method of claim 31, further comprising rotating the gantry relative to the column assembly and / or translating the scanner ring relative to the gantry to provide an exit port for the subject.

52. A system for recording a computed tomography (CT) scan of a subject, the system including a multi-axis CT scanner.

53. 53. The system of claim 52, further comprising a vertically oriented target.

54. The multi-axis CT scanner comprises: a support assembly; a gantry coupled to the column assembly; a scanner ring coupled to the gantry; 53. The system of claim 52, comprising:

55. 53. The system of claim 52, further comprising a patient positioning system and / or a patient support.

56. 56. The system of claim 55, further comprising a vertically positioned target, wherein the patient positioning system and / or patient support maintains the vertically positioned target.

57. 53. The system of claim 52, further comprising an imaging subsystem.

58. 58. The system of claim 57, wherein the imaging subsystem is configured to monitor patient position and / or patient movement.

59. 58. The system of claim 57, wherein the imaging subsystem is configured to identify the patient and / or verify the patient's identity.

60. 58. The system of claim 57, wherein the imaging subsystem is configured to configure and / or verify the configuration of a patient positioning system and / or a patient support.

61. 58. The system of claim 57, wherein the imaging subsystem is configured to assist in controlling movement of the multi-axis CT scanner or components thereof.

62. 53. The system of claim 52, further comprising a light curtain subsystem.

63. 63. The system of claim 62, wherein the light curtain subsystem includes a laser source.

64. 63. The system of claim 62, wherein the light curtain subsystem includes a mirror.

65. 63. The system of claim 62, wherein the light curtain subsystem includes a light detector.

66. 63. The system of claim 62, wherein the light curtain subsystem is configured to communicate an alert when the light curtain is broken into.

67. 67. The system of claim 66, wherein the alert stops movement of the multi-axis CT scanner or a component thereof and / or produces an audible and / or visual alert signal.

68. 53. The system of claim 52, further comprising a controller configured to control movement of the multi-axis CT scanner or components thereof and / or to initiate and / or terminate a CT scan.

69. Use of a multi-axis CT scanner to record CT scans of vertically oriented objects.

70. Use of a multi-axis CT scanner according to any one of claims 1 to 30.

71. 31. Use of a multi-axis CT scanner according to any one of claims 1 to 30 for recording a CT scan of an object.

72. Use of a system including a multi-axis CT scanner to record CT scans of vertical objects.

73. Use of a system according to any one of claims 52 to 68.

74. 69. Use of a system comprising a multi-axis CT scanner according to any one of claims 52 to 68 for recording a CT scan of an object.

75. recording a diagnostic image of the patient in a vertical position; treating the patient in the vertical position; 10. A method of treating a patient, comprising:

76. 76. The method of claim 75, wherein the diagnostic image is a computed tomography image.

77. 76. The method of claim 75, further comprising recording a portal image prior to said treatment.

78. 76. The method of claim 75, wherein recording a diagnostic image of the patient in an upright position comprises imaging a fixed patient and / or treating the patient in the upright position comprises rotating the patient.

79. 76. The method of claim 75, further comprising providing a multi-axis CT scanner according to any one of claims 1 to 30.

80. a support assembly; a gantry coupled to the column assembly; a scanner ring coupled to the gantry; 1. A multi-axis medical imaging device comprising:

81. 81. The multi-axis medical imaging device of claim 80, wherein the scanner ring includes an imaging source and a detector.

82. 81. The multi-axis medical imaging device of claim 80, wherein the gantry is rotatably coupled to the column assembly.

83. 83. The multi-axis medical imaging device of claim 82, wherein said gantry is structured to rotate 0-200 degrees relative to said column assembly.

84. 81. The multi-axis medical imaging device of claim 80, wherein the gantry includes a first gantry arm rotatably coupled to a first column of the column assembly, and the gantry includes a second gantry arm rotatably coupled to a second column of the column assembly.

85. 81. The multi-axis medical imaging device of claim 80, wherein the support assembly is translatably coupled to a horizontal planar base.

86. 81. The multi-axis medical imaging device of claim 80, wherein the support assembly is fixedly coupled to a horizontal planar base.

87. 81. The multi-axis medical imaging device of claim 80, wherein the scanner ring is translatably coupled to the gantry.

88. 81. The multi-axis medical imaging device of claim 80, wherein the scanner ring is translatably coupled to a first gantry arm of the gantry, and the scanner ring is translatably coupled to a second gantry arm of the gantry.

89. 89. The multi-axis medical imaging device of claim 88, wherein the scanner ring is structured to translate along a longitudinal axis of the first gantry arm and along a longitudinal axis of the second gantry arm.

90. 89. The multi-axis medical imaging device of claim 88, wherein the scanner ring is structured to translate 0.20-2.00 m relative to the gantry.

91. 81. The multi-axis medical imaging device of claim 80, wherein a balanced assembly comprises said gantry and said scanner ring.

92. 81. The multi-axis medical imaging device of claim 80, wherein a force of 50 N or less causes a counterbalanced assembly including the gantry and the scanner ring to rotate relative to the support column assembly and / or a force of 50 N or less causes the scanner ring to translate relative to the gantry.

93. 93. The multi-axis medical imaging device of claim 92, wherein the counterbalanced assembly including the gantry and scanner ring is configured to rotate with a force of 50 N or less provided by a human, a motor, or a combination of a human and a motor, and / or the scanner ring is configured to translate relative to the gantry with a force of 50 N or less provided by a human, a motor, or a combination of a human and a motor.

94. 81. The multi-axis medical imaging device of claim 80, wherein the column assembly includes a motor operatively engaged with the gantry.

95. 95. The multi-axis medical imaging device of claim 94, wherein the motor is structured to rotate the gantry relative to the column assembly.

96. 81. The multi-axis medical imaging device of claim 80, wherein the gantry includes a motor operably engaged with the column assembly.

97. 97. The multi-axis medical imaging device of claim 96, wherein the motor is structured to rotate the gantry relative to the column assembly.

98. 81. The multi-axis medical imaging device of claim 80, wherein the gantry includes a motor operatively engaged with the scanner ring.

99. 99. The multi-axis medical imaging device of claim 98, wherein the motor is coupled to a ball screw, a belt, or a chain.

100. 99. The multi-axis medical imaging device of claim 98, wherein the motor is coupled to a drive assembly structured to translate the scanner ring relative to the gantry.

101. 81. The multi-axis medical imaging device of claim 80, wherein the gantry includes an auxiliary mass component that provides a counterweight to the scanner ring.

102. 102. The multi-axis medical imaging device of claim 101, wherein the gantry includes a first gantry arm including a first portion of the auxiliary mass component and a second gantry arm including a second portion of the auxiliary mass component.

103. 102. The multi-axis medical imaging device of claim 101, wherein the multi-axis imaging device includes a motor structured to move the auxiliary mass component and the scanner ring.

104. 81. The multi-axis medical imaging device of claim 80, wherein the multi-axis medical imaging device is structured to record medical images of a subject in a vertical or substantially vertical position.

105. 105. The multi-axis medical imaging device of claim 104, wherein the subject is in a sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perching, kneeling, kneeling leaning forward, or kneeling leaning back position.

106. 106. The multi-axis medical imaging device of claim 105, wherein the scanner ring is structured to move from a first position above the subject to a second position around the subject.

107. 81. The multi-axis medical imaging device of claim 80, wherein the scanner ring has an inner diameter of 20 cm or greater.

108. 100. The multi-axis medical imaging device of claim 99, wherein the ball screw comprises a threaded shaft having a diameter of 15-100 mm.

109. 109. The multi-axis medical imaging device of claim 108, wherein the motor is configured to translate the scanner ring 5-100 mm per revolution of the threaded shaft.

110. providing a multi-axis medical imaging device; Positioning the object; recording a medical image of the subject; A method for obtaining a medical image of a subject, comprising:

111. the multi-axis medical imaging device, a support assembly; a gantry coupled to the column assembly; a scanner ring coupled to the gantry; 111. The method of claim 110, comprising:

112. 111. The method of claim 110, wherein positioning the object comprises positioning the object in a vertical position.

113. 113. The method of claim 112, wherein the vertical position is sitting, sitting leaning back, sitting leaning forward, standing, standing leaning back, standing leaning forward, perching, kneeling, kneeling leaning forward, or kneeling leaning back.

114. 111. The method of claim 110, wherein positioning the object comprises positioning the object using a patient positioning system and / or a patient support.

115. 112. The method of claim 111, further comprising positioning the scanner ring around the subject.

116. 116. The method of claim 115, wherein positioning the scanner ring comprises rotating the gantry relative to the column assembly and / or translating the scanner ring relative to the gantry.

117. 117. The method of claim 116, wherein the rotating comprises applying a force of 50 N or less to an assembly including the gantry and the scanner ring, and / or the translating comprises applying a force of 50 N or less to the scanner ring.

118. 118. The method of claim 117, wherein a human, a motor, or a combination of a human and a motor applies the force of 50 N or less to the assembly including the gantry and the scanner ring, and / or a human, a motor, or a combination of a human and a motor applies the force of less than 50 N to the scanner ring.

119. 117. The method of claim 116, wherein said rotating said gantry relative to said column assembly comprises rotating said gantry relative to said column assembly 0-200 degrees.

120. 117. The method of claim 116, wherein said rotating said gantry relative to said column assembly comprises rotating said gantry approximately 90 degrees relative to said column assembly.

121. 117. The method of claim 116, wherein said translating said scanner ring relative to said gantry comprises translating said scanner ring relative to said gantry 0.2-2.0 m.

122. 115. The method of claim 114, further comprising verifying a configuration of the patient positioning system and / or the patient support.

123. 115. The method of claim 114, further comprising verifying the position of the subject on the patient positioning system and / or patient support.

124. 123. The method of claim 122, wherein verifying the configuration of the patient positioning system comprises imaging the patient positioning system to provide an image and / or model of the patient positioning system, and comparing the image and / or model of the patient positioning system to a stored preset patient positioning system configuration.

125. 124. The method of claim 123, wherein verifying the position of the subject comprises imaging the subject to provide an image and / or model of the subject, and comparing the image and / or model of the subject to stored preset subject patient positions.

126. 111. The method of claim 110, further comprising imaging the object to monitor object position and / or object movement.

127. 111. The method of claim 110, further comprising imaging the object to identify the object and / or to verify the identity of the object.

128. 111. The method of claim 110, further comprising translating the multi-axis medical imaging device within a plane of a base movably coupled to the multi-axis medical imaging scanner.

129. 111. The method of claim 110, wherein recording a medical image of the object comprises activating a medical imaging source and a medical imaging detector, and optionally synchronizing translation of the scanner ring with activating the medical imaging source.

130. 111. The method of claim 110, further comprising rotating the gantry relative to the column assembly and / or translating the scanner ring relative to the gantry to provide an exit port for the subject.

131. A system for recording medical images of a subject, the system including a multi-axis medical imaging device.

132. 132. The system of claim 131, further comprising a vertically disposed target.

133. the multi-axis medical imaging device, a support assembly; a gantry coupled to the column assembly; a scanner ring coupled to the gantry; 132. The system of claim 131, comprising:

134. 132. The system of claim 131, further comprising a patient positioning system and / or a patient support.

135. 135. The system of claim 134, further comprising a vertically positioned target, wherein the patient positioning system and / or patient support maintains the vertically positioned target.

136. 132. The system of claim 131, further comprising an imaging subsystem.

137. 137. The system of claim 136, wherein the imaging subsystem is configured to monitor patient position and / or patient movement.

138. 137. The system of claim 136, wherein the imaging subsystem is configured to identify the patient and / or verify the patient's identity.

139. 137. The system of claim 136, wherein the imaging subsystem is configured to configure and / or verify the configuration of a patient positioning system and / or a patient support.

140. 137. The system of claim 136, wherein the imaging subsystem is configured to assist in controlling movement of the multi-axis CT scanner or components thereof.

141. 132. The system of claim 131, further comprising a light curtain subsystem.

142. 142. The system of claim 141, wherein the light curtain subsystem includes a laser source.

143. 142. The system of claim 141, wherein the light curtain subsystem includes a mirror.

144. 142. The system of claim 141, wherein the light curtain subsystem includes a light detector.

145. 142. The system of claim 141, wherein the light curtain subsystem is configured to communicate an alert when the light curtain is broken into.

146. 146. The system of claim 145, wherein the alert stops movement of the multi-axis medical imaging device or a component thereof and / or produces an audible and / or visible alert signal.

147. 132. The system of claim 131, further comprising a controller configured to control movement of the multi-axis medical imaging device or components thereof and / or to initiate and / or terminate medical image acquisition.

148. Use of a multi-axis medical imaging device to record medical images of vertical objects.

149. Use of a multi-axis medical imaging device according to any one of claims 80 to 109.

150. 110. Use of a multi-axis medical imaging apparatus according to any one of claims 80 to 109 for recording medical images of an object.

151. Use of a system including a multi-axis medical imaging device for recording medical images of a vertical object.

152. Use of a system according to any one of claims 131 to 147.

153. 148. Use of a system comprising a multi-axis medical imaging device according to any one of claims 131 to 147 for recording medical images of an object.

154. a first support column, a second support column, a first gantry arm, a second gantry arm, and a scanner ring; a bottom bridge and a top bridge connecting the first gantry arm to the second gantry arm; a patient support connected to a bottom bridge and an upper bridge; 1. A rapid multi-axis computed tomography (RMACT) scanner, including:

155. 155. The RMACT scanner of claim 154, structured to rotate the patient support between a vertical position and a horizontal position.

156. 155. The RMACT scanner of claim 154, wherein the first support column includes a motor operably engaged with the first gantry arm and / or the second support column includes a motor operably engaged with the second gantry arm.

157. 155. The RMACT scanner of claim 154, wherein the first gantry arm includes a motor operably engaged with the first support column, and / or the second gantry arm includes a motor operably engaged with the second support column.

158. 155. The RMACT scanner of claim 154, wherein the scanner ring includes an X-ray source and an X-ray detector.

159. 155. The RMACT scanner of claim 154, wherein the scanner ring has an inner diameter of at least 20 cm.

160. 155. The RMACT scanner of claim 154, wherein the scanner ring has a mass of approximately 1000 kg.

161. 155. The RMACT scanner of claim 154, wherein the scanner ring draws about 300 mA of current, provides about 4 or more x 40 cm scans per hour, and provides a field of view of about 63 cm.

162. a first support column, a second support column, a first gantry arm, a second gantry arm, and a scanner ring; a bottom bridge and a top bridge connecting the first gantry arm to the second gantry arm; a patient support connected to a bottom bridge and an upper bridge; a rapid multi-axis computed tomography (RMACT) scanner including: imaging the patient in a vertical position to obtain a first image; imaging the patient in a horizontal position to obtain a second image; 1. A method for acquiring a medical image, comprising:

163. 163. The method of claim 162, further comprising comparing the first image with the second image.

164. 163. The method of claim 162, further comprising maintaining the patient on a patient support between imaging the patient in the vertical position and imaging the patient in the horizontal position.

165. 163. The method of claim 162, further comprising diagnosing a patient using the first image.

166. 163. The method of claim 162, further comprising planning surgery or treatment using the second image.

167. 163. The method of claim 162, further comprising placing the patient on the patient support.

168. 163. The method of claim 162, further comprising rotating the first gantry arm and the second gantry arm relative to the first column and the second column before imaging the patient in a horizontal position.

169. 1. A system including a rapid multi-axis computed tomography (RMACT) scanner, the rapid multi-axis computed tomography (RMACT) scanner comprising: a first support column, a second support column, a first gantry arm, a second gantry arm, and a scanner ring; a bottom bridge and a top bridge connecting the first gantry arm to the second gantry arm; a patient support connected to a bottom bridge and an upper bridge; a microprocessor configured to acquire a first image of the patient in a vertical position and to acquire a second image of the patient in a horizontal position; Including, the system.

170. 170. The system of claim 169, wherein the microprocessor is configured to rotate a gantry and / or translate a scanner ring.

171. 170. The system of claim 169, further comprising an X-ray source, wherein the microprocessor is configured to activate and deactivate the X-ray source.

172. 170. The system of claim 169, further comprising a software component that compares the first image and the second image.

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