Systems and methods for a mobile X-ray imaging system

Abstract

To provide systems and methods for a mobile X-ray imaging system.SOLUTION: Various methods and systems are provided for a mobile X-ray imaging system. In one embodiment, a system comprises a gantry with an X-ray source and an X-ray detector mounted thereon opposite each other, a carrier coupled to the gantry and configured to rotate the gantry relative to the carrier, and a robotic arm coupling the carrier to a base, the robotic arm comprising at least three links and four joints.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the subject matter disclosed herein relate to an X-ray imaging system, and more particularly, to a gantry of a mobile X-ray imaging system.

Background Art

[0002] It is often desirable to perform X-ray examinations of a patient from several different positions, and it may be preferable to do so without the need to reposition the patient. Mobile C-arm X-ray imaging systems have been developed to meet these needs and are now well known in the medical and surgical fields. C-arm X-ray imaging systems are particularly useful in that they are small enough and sufficiently mobile to be present in surgical or examination situations without the need for the physician to repeatedly move and without the patient having to change position to obtain an appropriate image.

[0003] The term "C-arm" refers to a generally C-shaped gantry of a machine to which an X-ray source and an X-ray detector are attached at opposite ends, and thus X-rays emitted by the X-ray source are incident on and detected by the X-ray detector. The X-ray source and the X-ray detector are arranged, for example, to generate data representing the characteristics of an object intervening between the X-ray source and the X-ray detector when a human limb is interposed therebetween and irradiated with X-rays. The generated data is typically displayed on a monitor and stored electronically.

Summary of the Invention

[0004] In one embodiment, the system includes a gantry with an X-ray source and an X-ray detector attached on opposite sides of each other, a carrier coupled to the gantry, the carrier being configured to rotate the gantry relative to the carrier, and a robotic arm coupling the carrier to a mobile base and configured to adjust the position of the carrier relative to the mobile base, the robotic arm including three links and four joints. In this way, the mobile X-ray imaging system can increase the displacement of the isocenter and the range of motion.

[0005] It should be understood that the above brief description is provided to introduce, in a simplified form, a selection of concepts that are further described in the detailed description. It is not intended to identify key or essential features of the claimed subject matter, the scope of which is defined uniquely by the claims that follow the detailed description. Further, the claimed subject matter is not limited to embodiments that solve any disadvantages noted in the above or any part of this disclosure.

[0006] The present invention will be better understood from the following description of non-limiting embodiments, read in conjunction with the accompanying drawings.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

Figure 25

Figure 26

DETAILED DESCRIPTION OF THE INVENTION

[0008] The following description relates to various embodiments of a mobile X-ray imaging system. As shown in FIGS. 1-3, the mobile X-ray imaging system can include a robotic arm having at least three links and four joints for adjusting the position of a C-arm carrier relative to a mobile base, and thus a coupled C-arm gantry. The configuration of the links of the robotic arm allows for an increase in the range of motion to achieve a desired isocenter position, as shown in FIGS. 4-7. The mobile X-ray imaging system can include a torque balancing system, such as a spring-based torque balancing system as shown in FIG. 8, to reduce the load on the motors of the robotic arm. A method for controlling a mobile X-ray imaging system, such as the method shown in FIG. 9, includes determining position adjustments for one or more components of the mobile X-ray imaging system and aligning the isocenter of the imaging system with a desired isocenter position. To adjust the isocenter of the mobile X-ray imaging system from a first position to a second position, as shown in FIG. 10, a plurality of different trajectories can be used according to various considerations, such as weight balance, obstacles in the room, and the lengths of the links of the robotic arm, as shown in FIGS. 11-13. Exemplary mobile X-ray imaging systems having different wheel configurations are shown in FIGS. 14-17. FIG. 18 shows an exemplary joint configuration of a robotic arm for adjusting the isocenter position. On the other hand, FIG. 19 shows an exemplary joint configuration for rotating the C-arm gantry around a point other than the isocenter. Dynamically rotating the X-ray source and the X-ray detector during imaging around a point other than the isocenter enables different isocenter trajectories and thus various X-ray imaging modes, as shown in FIGS. 20-26.

[0009] FIG. 1 shows a block diagram illustrating the components of an exemplary mobile X-ray imaging system 100. The mobile X-ray imaging system 100 includes an X-ray source 105 and an X-ray detector 107 attached to a C-arm gantry 110.

[0010] The detector arm system 170 includes a detector arm motor or a detector lift 172 for adjusting the position of the X-ray detector 107. For example, as further described herein, the detector lift 172 can translate and / or rotate the X-ray detector 107 relative to the C-arm gantry 110.

[0011] The C-arm gantry 110 includes a C-arm motor 112 for adjusting the position of the C-arm gantry 110. More specifically, the C-arm gantry 110 is mechanically coupled to a C-arm carrier 111 that includes the C-arm motor 112, and as further described herein with respect to FIGS. 2-5, the C-arm motor 112 can be driven to adjust the position of the C-arm gantry 110 relative to the C-arm carrier 111.

[0012] The mobile X-ray imaging system 100 further includes a robotic arm 120 that is mechanically coupled to the C-arm gantry 110 via the C-arm carrier 111. The robotic arm 120 includes a plurality of links 122 and motors 124 disposed at joints between the links 122, as further described herein. In particular, the plurality of links 122 of the robotic arm 120 include a first link coupled to the C-arm carrier 111, and thus a first electric joint is formed between the first link and the C-arm carrier 111 to adjust the position of the C-arm carrier 111 relative to the first link; a second link coupled to the first link, and thus a second electric joint is formed between the first link and the second link to adjust the position of the first link relative to the second link; a third link coupled to the second link, and thus a third electric joint is formed between the second link and the third link to adjust the position of the second link relative to the third link. Further, the third link is mechanically coupled to the mobile base 140, and thus a fourth electric joint is formed between the third link and the mobile base 140 to adjust the position of the third link relative to the mobile base 140.

[0013] The mobile base 140 includes one or more motors 142 for driving one or more wheels 144 and adjusts the position of the mobile base 140. Additionally, as further described herein, one or more of the wheels 144 may be free or non-electric. For example, the wheels 144 may include two electric wheels (each having two motors 142) and one non-electric wheel.

[0014] The mobile X-ray imaging system 100 further includes a controller 150 comprising a processor 152 and a non-transitory memory 154. A method for controlling the mobile X-ray imaging system 100 may be stored in the non-transitory memory 154 as executable instructions 155 and implemented by the processor 152. Exemplary methods that may be implemented as instructions 155 are further described herein with respect to FIG. 6.

[0015] The mobile X-ray imaging system 100 further includes a user interface 160 for receiving input from a user or operator of the mobile X-ray imaging system 100. The user interface 160 may be communicatively coupled to a controller 150 to provide commands input by the user to the controller 150 via the user interface 160. The user interface 160 may comprise one or more of a keyboard, a mouse, a trackball, one or more knobs, one or more joysticks, a touchpad, a touch screen, one or more hard and / or soft buttons, a smartphone, a microphone, a virtual reality device, etc. Thus, the user interface 160 may enable voice control and the display of information such as simulated movement or possible collisions using a virtual reality device or an interactive display device (e.g., a touch screen). In some examples, the user interface 160 may be located remotely from the mobile X-ray imaging system 100. For example, the user interface 160 may be communicatively coupled to the controller 150 and / or the mobile X-ray imaging system 100 via a wired or wireless connection and may be disposed away from the mobile base 140.

[0016] As further described herein, a user of the mobile X-ray imaging system 100 can input a desired isocenter position, for example, via the user interface 160. Next, the controller 150 can determine position adjustments for one or more of the detector arm system 170, the C-arm gantry 110, the robotic arm 120, and the mobile base 140, and can align the isocenter of the mobile X-ray imaging system 100 with the desired isocenter position. As another example, a user of the mobile X-ray imaging system 100 can directly control the position of one or more components of the mobile X-ray imaging system 100 relative to other components of the mobile X-ray imaging system 100 via the user interface 160. For example, the user may directly input position adjustments for one or more components of the mobile X-ray imaging system 100, for example, via a joystick or a knob. As another example, the movement of the components of the mobile X-ray imaging system 100 may be pre-programmed such that the user does not directly control any movement, and instead, a pre-programmed movement may be initiated. The movement may include complex movements involving continuous movement of the isocenter.

[0017] The controller 150 is further communicatively coupled to a display device 165 for displaying one or more X-ray images acquired via the X-ray detector 107. Further, in some examples, one or more of the controller 150, the user interface 160, and the display device 165 may be located remotely from the remaining components of the mobile X-ray imaging system 100.

[0018] The mobile X-ray imaging system 100 can further include a torque balancing system 180 for balancing the mobile X-ray imaging system 100 when the position of one or more components of the mobile X-ray imaging system 100 is adjusted. In one example, the torque balancing system 180 includes a plurality of motors 182, and the motors 182 are configured to generate a balancing torque applied to the robotic arm 120. More specifically, the motors 182 generate a balancing torque to balance the torque generated between the C-arm gantry 110, the robotic arm 120, and the mobile base 140. For this purpose, the motors 182 may include the motors 124 of the robotic arm 120.

[0019] Non-active solutions for torque balancing, such as counterweights, springs (including gas-based springs), cables, and pulleys, may be preferred over motor-based torque balancing in some cases. In one example, the torque balancing system 180 includes a plurality of springs 184, and the springs 184 are configured to generate a balancing torque applied to the robotic arm 120. More specifically, the springs 184 generate a balancing torque to balance the torque generated between the C-arm gantry 110, the robotic arm 120, and the mobile base 140. An exemplary torque balancing system 180 including the springs 184 is further described herein with respect to FIG. 8.

[0020] The mobile X-ray imaging system 100 can further include a cooling system 190 for cooling the X-ray source 105 and / or the X-ray detector 107. The cooling system 190 may include one or more flexible tubes and pumps, by way of example and not limitation, to provide a cooling fluid to the X-ray source 105 to carry thermal energy away from the X-ray source 105. The cooling system 190 may actively cool the X-ray source 105 and the X-ray detector 107 independently, or in some examples, the X-ray detector 107 may be cooled by any suitable type of derivation of the cooling circuit of the X-ray source 105.

[0021] Figure 2 shows a schematic diagram of an exemplary mobile X-ray imaging system 200. The mobile X-ray imaging system 200 includes the components shown in FIG. 1. For example, the mobile X-ray imaging system 200 includes an X-ray source 205 and an X-ray detector 207 attached to a C-arm gantry 210. The C-arm gantry 210 is coupled to a mobile base 240 of the mobile X-ray imaging system 200 via a C-arm carrier 212 and a robotic arm 220. As further described herein, the C-arm carrier 212 and the robotic arm 220 are controlled to adjust the position of the imaging isocenter 209, also simply referred to herein as the isocenter 209, relative to the mobile base 240, adjust the position of the C-arm gantry 210 relative to the mobile base 240, and / or adjust the positions of the X-ray source 205 and the X-ray detector 207 relative to the isocenter 209.

[0022] Specifically, the isocenter 209 of the C-arm gantry 210 includes the intersection of the optical axis (defined by the normal to the X-ray detector 207 passing through the focal point 305 of the X-ray source 205 and the center or focal point 305 of the X-ray detector 207) and the C-arm rotation axis along the carrier 212. In some examples, the first link 221 is rotated at the second joint 225 relative to the second link 224 such that the first link 221 is always aligned with the isocenter. However, it should be understood that in other examples, the first link 221 may not be aligned with the isocenter.

[0023] The C-arm carrier 212 is coupled to the C-arm gantry 210 and includes a carrier base 213 configured to rotate the C-arm gantry 210 along the gantry track 211 in the shown xy plane. To that end, the carrier base 213 can include one or more motors (not shown), such as the C-arm motor 112, to slide the C-arm gantry 210 along the gantry track 211. The C-arm gantry 210 can rotate within the xy plane about a rotation axis or isocenter 209 relative to the C-arm carrier 212 such that the X-ray source 205 and the X-ray detector 207 rotate relative to the isocenter 209 in the xy plane.

[0024] In addition, the C-arm carrier 212 further includes a support base 214 mechanically coupled to the carrier base 213 as shown. Next, the support base 214 is mechanically coupled to the first link 221 of the robotic arm 220, thereby forming a first joint 222 between the first link 221 and the C-arm carrier 212. The motor 124 of the robotic arm 220 is configured to rotate the first link 221 of the robotic arm 220 at the motorized first joint 222 relative to the C-arm carrier 212, and thus the C-arm gantry 210, whereby the C-arm gantry 210 rotates within the shown yz plane. That is, the C-arm carrier 212 rotates at the first joint 222 relative to the first link 221 within the yz plane. In this way, the carrier base 213 and the C-arm gantry 210 (and components attached to the C-arm gantry 210) coupled thereto can rotate within the yz plane relative to the first link 221 of the robotic arm 220. Accordingly, the C-arm gantry 210 and components attached thereto can rotate about the isocenter 209 in three-dimensional space (e.g., within the xy plane via the C-arm carrier 212 and within the yz plane via the first joint 222).

[0025] Furthermore, the first link 221 of the robotic arm 220 is mechanically coupled to the second link 224 of the robotic arm 220 at the second joint 225. The robotic arm 220 includes a motor 124 (not shown in FIG. 2) at the joint 225 to rotate the first link 221 relative to the second link 224. In particular, the first link 221 can rotate about the second joint 225 within the xy plane shown in the movement range 226. It should be understood that the movement range 226 is theoretical, and in practice, the first link 221, and thus the C-arm gantry 210, may not be fully rotatable around the second joint 225.

[0026] The second link 224 of the robotic arm 220 is mechanically coupled to the third link 228 of the robotic arm 220 via the third joint 227. The robotic arm 220 includes a motor 124 (not shown in FIG. 2) at the third joint 227 to rotate the second link 224 within the xy plane relative to the third link 228 in the movement range 229. Similar to the movement range 226 of the first link 221, the movement range 229 of the second link 224 relative to the third link 228 is theoretical, and in practice, the movement range of the second link 224 can only include a subset of the shown movement range 229.

[0027] Furthermore, the third link 228 of the robotic arm 220 is mechanically coupled to the mobile base 240 at the fourth joint 230. The robotic arm 220 includes a motor 124 (not shown in FIG. 2) at the fourth joint 230 to rotate the third link 228 within the xy plane relative to the mobile base 240 in the movement range 231. Similar to the movement ranges 226 and 229, the movement range 231 of the third link 228 relative to the mobile base 240 is theoretical.

[0028] Accordingly, the robotic arm 220 of the mobile X-ray imaging system 200 includes a first link 221, a second link 224, and a third link 228, as well as a first joint 222, a second joint 225, a third joint 227, and a fourth joint 230. The first joint 222 provides degrees of freedom in the shown yz plane, and the second joint 225, the third joint 227, and the fourth joint 230 each provide degrees of freedom in the shown xy plane. Each joint is motorized to enable relative movement of the links of the robotic arm 220 not only with respect to the C-arm gantry 210 and the mobile base 240, but also with respect to each other. By controlling the relative positions of the links, the position of the C-arm gantry 210, and thus the X-ray source 205 and the X-ray detector 207 attached thereto, can be adjusted with respect to the mobile base 240 in three-dimensional space.

[0029] The mobile X-ray imaging system 200 further includes a detector arm system 270 having one or more robotic arms configured to adjust the position of the X-ray detector 207. The detector arm system 270 can be controlled to increase or decrease the distance of the X-ray detector 207 from the C-arm gantry 210, thereby adjusting the position of the imaging center 218 of the mobile X-ray imaging system 200, which is located at the center point between the X-ray detector 207 and the X-ray source 205. As further described herein, the components of the mobile X-ray imaging system 200 other than the detector arm system 270 can be controlled to adjust the position of the imaging center 218 in three-dimensional space. For example, by controlling the robotic arm 220, translation of the imaging center 218 in the shown xy plane is enabled. Additionally, rotation of the C-arm gantry 210 at the first joint 222 in the yz plane, as well as rotation of the C-arm gantry 210 with respect to the C-arm carrier 212, adjusts the relative positions of the X-ray source 205 and the X-ray detector 207 with respect to the imaging center 218 in three-dimensional space.

[0030] The mobile base 240 includes a plurality of wheels including drive wheels 244 and free wheels 246. The drive wheels 244 may be driven by one or more motors 242 to move the mobile base 240, and thus the entire mobile X-ray imaging system 200. In addition to moving the mobile X-ray imaging system 200 along the x-axis (i.e., left and right), the motor 242 can drive the drive wheels 244 in the z-direction, thus enabling the mobile X-ray imaging system 200 to be repositioned in any orientation within the xz plane. As an example, two motors 242 can be provided for each of the drive wheels 244, with one motor 242 comprising a traction motor and the second motor 242 comprising a steering motor. In other examples, compound wheels (with differential traction motors), omnidirectional wheels, or other types of electric wheels can be used. The free wheels 246 may not be driven by a motor. Further, as shown, the drive wheels 244 can be disposed at the front of the mobile base 240 (i.e., the side of the mobile base 240 closer to the C-arm gantry 210), and thus advantageously disposed near the center of gravity of the mobile X-ray imaging system 200. As will be further described herein with respect to FIGS. 14-17, in some examples, the free wheels 246 can be disposed at the front side of the structural mobile base 240 that extends toward the C-arm gantry 210. In some examples, all of the wheels of the mobile X-ray imaging system 200 may be drive wheels 244.

[0031] In some examples, the mobile X-ray imaging system 200 can include a high voltage generator 274 housed within the housing 245 of the mobile base 240. Providing the high voltage generator 274 within the mobile base 240 increases the weight of the mobile base 240, and thus stabilizes the mobile X-ray imaging system 200. Further, providing the high voltage generator 274 within the mobile base 240 eliminates the need to remotely house the high voltage generator 274 from the mobile X-ray imaging system 200, thereby typically eliminating the long high voltage cable connected to the X-ray source 205 via the tether 288 and providing high voltage to the X-ray source 205.

[0032] The mobile X-ray imaging system 200 can further include a torque balancing system 272 for actively or passively balancing static torques generated by different joint configurations of the robotic arm and the C-arm gantry. Although the torque balancing system 272 is shown as being disposed within the mobile base 240, it should be understood that the torque balancing system 272 may be incorporated into the robotic arm assembly and thus may be external and / or internal to the robotic arm 220. As shown, since the links of the robotic arms 220 and 230 include short links, in the example shown, the joint 230 between the third link 228 and the mobile base 240 is disposed in a vertical direction (e.g., the y-direction) relatively close to the isocenter 209. In such an example, the torque balancing system 272 may include one or more motors, such as the motor 124 of the robotic arm 220, to generate a balancing torque.

[0033] In other examples, the links of the robotic arm 220 include long links that provide an extended reach of the robotic arm and thus the C-arm gantry 210. In such an example, the joint 230 between the third link 228 and the mobile base 240 may be disposed lower in the vertical direction (e.g., closer to the floor). In such an example, the torque balancing system 272 may include one or more springs, such as the spring 184, to generate a torque that balances the mobile X-ray imaging system 200. Exemplary configurations of mobile X-ray imaging systems having long or short links and a spring-based torque balancing system 272 are further described herein with respect to FIG. 8.

[0034] Furthermore, the tether 288 can couple the mobile X-ray imaging system 200 to the ceiling of the room in which the mobile X-ray imaging system 200 is installed. Power, data, and cooling can be provided via the tether 288.

[0035] In some examples, the C-arm gantry 210 can include composite materials that reduce the overall weight of the C-arm gantry 210 and provide protection for the components of the C-arm gantry 210. For example, the C-arm gantry 210 can include a strong but lightweight composite material such that the center of gravity of the C-arm assembly, including the C-arm gantry 210 and the x-ray source 205 and x-ray detector 207 attached thereto, is closer to the axis of rotation or isocenter 209. In contrast, in a conventional approach for constructing the C-arm gantry 210 with heavier materials, the center of gravity of the C-arm assembly is away from the center of rotation or axis of rotation that coincides with the isocenter 209 and towards the C-arm gantry 210 to which the carrier 212 is coupled as shown in FIG. 2. Reducing the weight of the C-arm gantry 210 and thus positioning the center of gravity of the C-arm assembly closer to the axis of rotation 209 favorably affects the control of the placement of the C-arm gantry. The composite structure (made of a single piece or a limited set of shaped elements) may include additional functions such as supporting the movement of the detector, covering the bottom of the tube, providing conduits for cables and cooling fluid pipes, and providing thermal and electrical barriers. This is quite a contrast to a typical metal C-arm structure, which is typically formed of curved extruded aluminum beams.

[0036] Furthermore, in some examples, an on-board generator, a heat exchanger, and a battery can be provided on the mobile base 240 to eliminate the tether 288 and thus enable full autonomous operation of the mobile x-ray imaging system 200.

[0037] The robot arm 220 and the C-arm carrier 212 of the mobile X-ray imaging system 200 are shown in a first joint configuration. FIG. 3 shows a simplified view of the mobile X-ray imaging system 200 in a different joint configuration 300, where the robot arm 220 is in the first joint configuration shown in FIG. 2, and the detector arm system 270 extends such that the detector 207 approaches the isocenter 209. It should be understood that the configuration of the mobile X-ray imaging system 200 enables the expansion of the full range of motion of the mobile X-ray imaging system 200 compared to conventional approaches.

[0038] For example, FIG. 4 shows a schematic view of the mobile X-ray imaging system 200 in a second joint configuration 400. FIG. 5 shows a schematic view of the mobile X-ray imaging system 200 in a third joint configuration 500. Further, in the third joint configuration 500, the X-ray detector 207 extends away from the C-arm gantry 210 via the detector arm system 270 as shown, thereby adjusting the position of the imaging center 218. In both examples, the C-arm gantry 210 is repositioned relative to the C-arm carrier 212.

[0039] Furthermore, FIG. 6 shows the joint configuration 610 of the mobile X-ray imaging system 200 and another joint configuration 620 of the mobile X-ray imaging system 200. In particular, the joint configurations 610 and 620 show the maximum angular extension of the C-arm gantry 210.

[0040] FIG. 7 shows the mobile X-ray imaging system 200 having links of the robot arm 220 in joint configurations 710 and another joint configuration 720. Despite the substantially different joint configurations 710 and 720 of the robot arm 220, the C-arm gantry 210 is maintained at the same position relative to the isocenter 209. Thus, there are multiple joint configurations for a given C-arm position.

[0041] FIG. 8 shows a schematic view of a torque balancing system 801 for a mobile X-ray imaging system 800. The torque balancing system 801 includes a plurality of springs for each joint of the robotic arm 820, and thus includes a first spring 802, a second spring 804, and a third spring 806. It should be noted that the torque balancing system 801 does not include a spring for the first joint between the first link 821 of the robotic arm and the C-arm carrier 812. However, in some examples, the torque balancing system 801 can also include a fourth spring for the first joint between the first link 821 and the C-arm carrier 812.

[0042] The torque balancing system 801 further includes a plurality of bars extending from the joints of the arm assembly, including a first bar 831 extending from a second joint 825 between the first link 821 and the second link 824, a second bar 832 extending from a third joint 827 between the second link 824 and the third link 828, and a third bar 833 extending from the third joint 827. The first bar 831 is coupled to the second bar 832 via a first mechanical link 841, and the third bar 833 is coupled to the mobile base 840 via a second mechanical link 842.

[0043] As shown, the first spring 802 couples the first link 821 to the first bar 831 to provide a first balancing torque, the second spring 804 couples the second link 824 to the second bar 832 to provide a second balancing torque, and the third spring 806 couples the third link 828 to the mobile base 840 to provide a third balancing torque.

[0044] Due to the configuration of the torque balancing system 801, particularly the configuration of the bars and mechanical links as shown, the plurality of springs can counteract the torque applied to the robotic arm and the mobile base according to the joint configuration of the robotic arm and the C-arm gantry.

[0045] Further, a third link 828 is coupled to a mobile base 840 via a fourth joint 830, whereby the third link 828 can rotate about the fourth joint 830 with respect to the mobile base 840. As described above, the second link 824 and the third link 828 are longer links compared to the links of the robotic arm 220 shown in FIG. 2. In such an example, the fourth joint 830 can be placed closer to the floor such that the fourth joint 830 is lower in the vertical direction than the isocenter of the C-arm gantry 810.

[0046] FIG. 9 shows a high-level flowchart illustrating an exemplary method 900 for adjusting the position of a mobile x-ray imaging system. In particular, method 900 relates to controlling one or more components of a mobile x-ray imaging system, such as the mobile x-ray imaging system 200 described above, to adjust the position of the isocenter of the mobile x-ray imaging system. Method 900 is described with respect to the systems and components of FIGS. 1-8, but it should be understood that the method can be implemented with other systems and components without departing from the scope of the present disclosure. Method 900 may be stored, for example, as executable instructions 155 in the non-transitory memory 154 of a controller 150 of the mobile x-ray imaging system 100 and may be implemented by a processor 152 of the controller 150.

[0047] Method 900 begins at 905. At 905, method 900 receives an indication of a desired isocenter position. The indication of the desired isocenter position can be received, for example, via a user interface such as user interface 160. The desired isocenter position can include an indication of a position in three-dimensional coordinates (e.g., x, y, z), and in some examples, can further include the orientation of the x-ray source and detector with respect to the isocenter. As another example, the desired isocenter position can include the direction in which the user wants to adjust the isocenter.

[0048] At 907, method 900 evaluates the current position configuration of the mobile X-ray imaging system. For example, method 900 evaluates the position configuration of each component of the mobile X-ray imaging system relative to each other component, as well as the position configuration of the components of the mobile X-ray imaging system relative to the environment (e.g., room) in which the mobile X-ray imaging system is located. Method 900 evaluates the current position configuration of the mobile X-ray imaging system and determines a position adjustment of one or more components of the mobile X-ray imaging system to align the isocenter of the mobile X-ray imaging system with the desired isocenter position received at 905. In one example, method 900 determines a vector between the current isocenter of the mobile X-ray imaging system and the desired isocenter position. As further described herein, method 900 then determines a position adjustment for one or more components of the mobile X-ray imaging system and moves the isocenter along the vector to the desired isocenter position.

[0049] Accordingly, following 910, method 900 determines whether the desired isocenter position is within the range of the mobile base. If the desired isocenter position can be achieved without adjusting the position of the mobile base, the desired isocenter position is within the range of the mobile base. That is, if the isocenter of the mobile X-ray imaging system can be aligned with the desired isocenter position without driving the wheels of the mobile base to translate and / or rotate the mobile base, the desired isocenter position is within the range of the mobile base.

[0050] If the desired isocenter position is not within the range of the mobile base ("NO"), following 915, method 900 determines a position adjustment to the position of the mobile base. The position adjustment can include rotation and / or translation of the position of the mobile base relative to its current position.

[0051] After determining the position adjustment for the mobile base at 915, or if the desired isocenter position is within the range of the mobile base at 910 ("YES"), method 900 continues to 920. At 920, method 900 determines whether the desired isocenter position is within the range of the robotic arm. The desired isocenter position is within the range of the robotic arm if the isocenter can be aligned with the desired isocenter position by adjusting the position of one or more links of the robotic arm. The range of the robotic arm may be considered according to the position adjustment for the mobile base determined at 915. If the desired isocenter position is not within the range of the robotic arm ("NO"), method 900 continues to 925, and method 900 determines the position adjustment for one or more links of the arm.

[0052] After determining the position adjustment for one or more links of the robotic arm at 925, or if the desired isocenter position is within the range of the mobile base at 920 ("YES"), method 900 continues to 930. At 930, method 900 determines whether the desired isocenter position is within the range of the orientation of the C-arm gantry. The desired isocenter position is within the range of the orientation of the C-arm gantry if the isocenter of the mobile X-ray imaging system can be aligned with the desired isocenter position by rotating the C-arm gantry relative to the C-arm carrier and / or sliding the C-arm gantry along the track relative to the C-arm carrier as described above. If the desired isocenter position is not within the range of the orientation of the C-arm gantry ("NO"), method 900 continues to 935, and method 900 determines the position adjustment for the orientation of the C-arm gantry.

[0053] After determining the position adjustment with respect to the orientation of the C-arm gantry at 935, or if the desired isocenter position is within the range of the orientation of the C-arm gantry at 930 ("YES"), the method 900 continues at 940, and the method 900 determines whether the desired isocenter position is within the range of the detector arm or the detector lift. If the desired isocenter position is not within the range of the detector lift ("NO"), the method 900 continues at 945. At 945, the method 900 determines the position adjustment with respect to the detector lift.

[0054] After determining the position adjustment of the detector lift at 945, or if the desired isocenter is within the range of the detector lift at 940 ("YES"), the method 900 continues at 950. At 950, the method 900 controls one or more motors of the mobile x-ray imaging system according to the determined position adjustment. For example, the method 900 may control one or more motors to drive the wheels of the mobile base to relocate the base, control one or more motors of the robotic arm to provide different joint configurations of the links, control the carrier to adjust the orientation of the C-arm with respect to the carrier, and / or control the detector arm system to adjust the position of the x-ray detector. The method 900 can control one or more motors simultaneously so that the determined position adjustments are applied simultaneously. For example, the method 900 can simultaneously adjust the positions of the mobile base, one or more links of the robotic arm, the gantry, and the detector arm so that the isocenter is aligned with the desired isocenter position.

[0055] It should be understood that a set of position adjustments for the components of a mobile X-ray imaging system can be determined such that, while maintaining the overall balance of the mobile X-ray imaging system, the isocenter of the mobile X-ray imaging system is aligned with a desired isocenter position. As an illustrative example, the isocenter of a mobile X-ray imaging system can be aligned with a desired isocenter position by adjusting the position of the second link of a robotic arm relative to a third link. However, if method 900 controls only the second link to adjust the isocenter position to a desired isocenter position, the mobile X-ray imaging system will become unbalanced and may, in some cases, fall over. To avoid such a scenario, method 900, when applied, can determine position adjustments for the links of a robotic arm and a gantry such that the mobile X-ray imaging system aligns the isocenter with a desired isocenter position without falling over. That is, as described above, the range of motion of each component of the robotic arm shown in FIG. 2 is theoretical. The limits on position adjustments for the links of the robotic arm can be designed and implemented such that balance is ensured with a margin even at the most extreme joint positions. Therefore, method 900 need only adjust the positions of the components within such determined limits.

[0056] After applying the position adjustment, the isocenter of the mobile X-ray imaging system is aligned with the desired isocenter position. Method 900 then returns.

[0057] As an illustrative example of how the components of a mobile X-ray imaging system can be controlled to align the isocenter of the mobile X-ray imaging system with a desired isocenter position, FIG. 10 shows a first joint configuration 1010 of a mobile X-ray imaging system 200 having a first isocenter position 1011 and a second joint configuration 1020 of the mobile X-ray imaging system 200 having a second isocenter position 1021. Although not explicitly shown, the second joint configuration 1020 can include rotation of a C-arm gantry 210 in the yz plane via a carrier 212.

[0058] To show how the mobile X-ray imaging system 200 can be adjusted from the first joint configuration 1010 to the second joint configuration 1020, FIGS. 11-13 show the different trajectories of the different components between the two configurations. In particular, FIG. 11 includes a set 1100 of graphs showing the basic linear trajectories of each component from the first joint configuration 1010 to the second joint configuration 1020, and each component (i.e., the second link 224, the third link 228, and the carrier 212) is controlled such that the corresponding angle or position increases linearly over time. The set 1100 of graphs includes a plot 1110 of the angle of the second link 224 over time, a plot 1120 of the angle of the third link 228 over time, a plot 1130 of the position of the carrier 212 relative to the track 211 of the gantry 210 over time, and a plot 1140 of the rotation angle of the C-arm gantry 210 relative to the carrier 212 over time. As shown, the components of the mobile X-ray imaging system 200 are in the first joint configuration 1010 at time T1, and each component is controlled linearly over time until time T2 when the component is in the second joint configuration 1020. In such an example, a method 900 for controlling the mobile X-ray imaging system 200 can determine a position adjustment that includes the linear trajectory shown in FIG. 11.

[0059] However, in some cases, the linear trajectory shown in FIG. 11 may be disadvantageous or completely impossible. For example, the C-arm gantry 210 may collide with the floor or another object in the room, or the intermediate configuration of the mobile X-ray imaging system 200 between times T1 and T2 may be unbalanced to the point where the mobile X-ray imaging system 200 falls over. Thus, the components of the mobile X-ray imaging system 200 may be controlled in a non-linear trajectory to transition from the first joint configuration 1010 to the second joint configuration 1020.

[0060] As an illustrative example, FIG. 12 shows a set 1200 of graphs indicating how the components of a mobile X-ray imaging system can transition from a first joint configuration 1010 to a second joint configuration 1020, and FIG. 13 shows a set 1300 of graphs indicating alternative trajectories of the components for transitioning from the first joint configuration 1010 to the second joint configuration 1020.

[0061] As shown in FIG. 12, the set 1200 of graphs includes a plot 1210 of the second link angle over time, a plot 1220 of the third link angle over time, a plot 1230 of the carrier track position over time, and a plot 1240 of the carrier rotation angle over time. Similarly, as shown in FIG. 13, the set 1300 of graphs includes a plot 1310 of the second link angle over time, a plot 1320 of the third link angle over time, a plot 1330 of the carrier track position over time, and a plot 1340 of the carrier rotation angle over time. As shown, the components may be controlled in a trajectory that is substantially different from the linear trajectory of FIG. 11. For example, the trajectories shown in plots 1210 and 1220 of the second and third links 224 and 228 respectively indicate that the second link 224 swings back and forth, the third link 228 rotates counterclockwise first and then slowly clockwise until it reaches the second joint configuration 1020. Next, the track position with respect to the carrier 212 is adjusted to approach the second joint configuration 1020 as shown by the trajectories of plots 1220 and 1230, and the third link 228 begins to rotate clockwise towards the second joint configuration 1020. Similarly, FIG. 13 shows substantially different trajectories for each component, which may reflect, for example, different torque balancing systems of the mobile X-ray imaging system 200 or different obstacles in the room in which the mobile X-ray imaging system 200 is placed.

[0062] FIG. 14 shows a side view of an exemplary mobile X-ray imaging system 1400 according to one embodiment. FIG. 15 shows a top view of the exemplary mobile X-ray imaging system 1400, and FIGS. 16 and 17 show perspective views of the exemplary mobile X-ray imaging system 1400. As shown in FIG. 14, the mobile X-ray imaging system 1400 includes electric wheels 1406 disposed at the center of gravity of the mobile X-ray imaging system 1400. The mobile X-ray imaging system 1400 further includes one or more free or non-electric wheels 1405 disposed on a structure extending from the mobile base toward the C-arm gantry, as shown. In some examples, the mobile X-ray imaging system 1400 includes one or more free wheels 1407 disposed at the back of the mobile base. Further, FIGS. 15-17 show the mobile X-ray imaging system 1400 disposed relative to a table 1505, which shows how the C-arm gantry can be selectively controlled to adjust the position of the X-ray source and detector relative to the table 1505.

[0063] As an example of repositioning the isocenter relative to the table 1505, FIG. 18 shows a set of schematic diagrams showing exemplary joint configurations for adjusting the isocenter position. As shown by configuration 1810, the isocenter can be translated away from the mobile base. As shown by configuration 1820, the isocenter can be translated away from the mobile base in a direction perpendicular to the floor. As shown by configuration 1830, the isocenter can be translated toward the mobile base. As shown by configuration 1840, the isocenter can be translated toward the mobile base in a vertical direction. Moving the isocenter upward can adjust the height of the table to a comfortable working position for the doctor or to the height of an anatomical structure in a particular procedure.

[0064] It should be understood that the robotic arm can further rotate the C-arm gantry around points other than the isocenter, except for adjusting the isocenter of the mobile X-ray imaging system. As an illustrative example, FIG. 19 shows a set of simplified diagrams showing the dynamic rotation around a point 1911 that is different from the isocenter 209. In particular, the C-arm gantry 210 rotates around the point 1911 which is the limit of the X-ray beam 1905 generated at the focal point 305 of the X-ray source. Thus, the isocenter trajectory is an arc of a circle. Specifically, the mobile X-ray imaging system shifts from a first joint configuration 1910 to a second joint configuration 1920 to rotate the C-arm gantry 210 around the point 1911, and then shifts to a third joint configuration 1930 to further rotate the C-arm gantry 210 around the point 1911, and the isocenter 209 is different from the point 1911 in each configuration. Any trajectory is possible within the range of motion of any joint, including translation, circular rotation, elliptical rotation, combinations of linear and circular segments, etc.

[0065] The ability to adjust the position of the C-arm gantry with respect to isocenters of different orbits enables the use of a mobile X-ray imaging system for cone beam computed tomography. As an exemplary example of the reason why the mobile X-ray imaging system can rotate around a point different from the isocenter, FIGS. 20 to 25 show exemplary orbits for performing cone beam computed tomography (CBCT) using a mobile X-ray imaging system according to an embodiment. In particular, FIG. 20 shows a standard CBCT orbit 2000. The detector and the source rotate once around the isocenter, which is shown here as about 200 degrees (for example, 180 degrees plus the cone angle). The reconstructed volume is shown in gray. By rotating the C-arm gantry about a point different from the isocenter as described with respect to FIG. 19, double-rotation large field of view (LFOV) CBCT is possible. For example, as shown in FIG. 21, orbit 2100 includes a first rotation around a first center of rotation and a second rotation around a second center of rotation. Each rotation around the virtual center is about 220 degrees (for example, 120 degrees plus the virtual cone angle). FIG. 22 shows the first orbit 2200 of the first rotation, and FIG. 23 shows the orbit 2300 of the second rotation. As shown in FIG. 21, the reconstructed FOV is twice the diameter of the FOV of the standard CBCT volume shown in FIG. 20. Therefore, by simulating a detector twice as large, a reconstructed volume twice as large can be obtained.

[0066] As yet another example of how the expanded isocenter orbits enabled by the mobile X-ray imaging system described herein can be used in different imaging scenarios, FIGS. 24 and 25 show orbits 2400 and 2500 of reconstructed volumes with elliptical cross-sections. The orbits of the isocenter are circular arcs and translations. Such an option can be selected when the rotation range of the C-arm gantry is insufficient for the implementation of the above-described LFOV CBCT.

[0067] Finally, FIG. 26 shows an exemplary trajectory 2600 for performing linear tomosynthesis using a mobile x-ray imaging system. The imaging chain is simply shifted and images are acquired periodically. Thus, the trajectory 2600 enables tomosynthesis-type reconstruction. Since the C-arm gantry can be rotated in three-dimensional space, the trajectory 2600 can be executed in any orientation and thus allows the most favorable orientation for reconstructing the object of interest. Further, stereoscopy is a variation of the same mode and acquires a set of images at a moderate spacing (e.g., separated by 5 centimeters). A set of images (e.g., stereo snapshots) may be acquired or a low frequency stereo cino mode (i.e., oscillation between two positions) may be used.

[0068] Figures 1-8, 10, and 14-18 show exemplary configurations of the relative arrangements of various components. When shown in direct contact with or directly coupled to each other, such elements can be referred to as being in direct contact or directly coupled to each other, at least in one example. Similarly, elements shown as being continuous or adjacent to each other can, at least in one example, be continuous or adjacent to each other, respectively. As an example, components that are in contact sharing a surface may be referred to as surface-sharing contact. As another example, elements arranged apart from each other having only the space therebetween and no other components present may, at least in one example, be referred to as such. As yet another example, elements shown as being above / below each other, opposite each other, or left / right of each other may be referred to as such with respect to each other. Further, as shown in the figures, at least in one example, the uppermost element or point of an element may be referred to as the "upper part" of the component, and the lowermost element or point of an element may be referred to as the "lower part" of the component. As used herein, upper / lower, upper side / lower side, up / down are relative to the vertical axis of the figure and can be used to describe the arrangement of the elements of the figure relative to each other. Thus, an element shown above another element is, in one example, arranged vertically above the other element. As yet another example, the shape of the elements shown in the figure may be referred to as having those shapes (e.g., circular, linear, planar, curved, spherical, chamfered, angled, etc.). Further, elements shown as intersecting each other may, at least in one example, be referred to as intersecting elements or intersecting each other. Still further, an element shown inside another element or outside another element may, in one example, be referred to as such.

[0069] The technical effects of the present disclosure include an increase in the displacement of the C-arm gantry for an X-ray imaging system. Another technical effect of the present disclosure includes simultaneous control of a plurality of components of a mobile X-ray imaging system for adjusting the isocenter of the mobile X-ray imaging system.

[0070] In one embodiment, the system includes a gantry with an X-ray source and an X-ray detector attached on opposite sides of each other, a carrier coupled to the gantry and configured to rotate the gantry relative to the carrier, and a robotic arm coupled to the carrier and having at least three links and four joints.

[0071] In a first example of the system, the base includes a mobile base, and the system further includes a set of wheels driven by one or more motors, the set of wheels being coupled to the mobile base. In a second example of the system, optionally including the first example, the system further includes a torque balancing system for counteracting static torque generated by a configuration of at least three links of the robotic arm, the gantry, and the base. In a third example of the system, optionally including one or more of the first and second examples, the torque balancing system includes a plurality of springs, each spring being configured to apply a balancing torque near a corresponding rotational joint of at least three links of the robotic arm, the gantry, and the mobile base. In a fourth example of the system, optionally including one or more of the first to third examples, the torque balancing system includes a counterweight system. In a fifth example of the system, optionally including one or more of the first to fourth examples, at least three links of the robotic arm are movable in a first plane relative to the mobile base, The first plane is a plane perpendicular to the floor,The joint of the robotic arm between the link and the carrier is configured to rotate the carrier relative to the link within a plane perpendicular to the first plane, and the carrier is configured to rotate the gantry relative to the carrier along the track of the gantry. In a sixth example of a system optionally including one or more of the first through fifth examples, the system further includes a high-voltage generator disposed and housed within a mobile base to provide high voltage to an X-ray source. In a seventh example of a system optionally including one or more of the first through sixth examples, the gantry is C-shaped, and the X-ray source and the X-ray detector are attached to opposite ends of the C-shaped gantry. In an eighth example of a system optionally including one or more of the first through seventh examples, the system further includes a controller and a user interface, the controller receives a desired isocenter position via the user interface, and the controller controls one or more of at least three links of the robotic arm to adjust the isocenter of the gantry to the desired isocenter position. In a ninth example of a system optionally including one or more of the first through ninth examples, the controller simultaneously controls one or more of at least three links of the robotic arm to adjust the isocenter to the desired isocenter position. In a tenth example of a system optionally including one or more of the first through ninth examples, the vertical height of the coupling between the second robotic arm and the mobile base is inversely proportional to the lengths of the first and second robotic arms.

[0072] In another embodiment, a method for a mobile X-ray imaging system includes receiving an indication of a desired isocenter position, calculating position adjustments for one or more components of the mobile X-ray imaging system, and controlling one or more motors to adjust the positions of the one or more components to align the isocenter of the mobile X-ray imaging system with the desired isocenter position.

[0073] In a first example of the method, one or more motors are controlled simultaneously to adjust the positions of one or more components simultaneously. In a second example of the method, optionally including the first example, the position adjustment is calculated according to the current isocenter position and the desired isocenter position. In a third example of the method, optionally including one or more of the first to second examples, controlling one or more motors to adjust the positions of one or more components includes controlling one or more motors of a mobile base, a carrier coupled to a C-shaped gantry, a first link coupled to the carrier, a second link coupled to the first link, and a third link coupling the second link to the mobile base. In a fourth example of the method, optionally including one or more of the first to third examples, the method further includes controlling one or more motors to adjust the positions of one or more components and dynamically rotating one or more components about a point different from the isocenter during imaging.

[0074] In yet another embodiment, the system includes a C-shaped gantry to which an X-ray source and an X-ray detector are attached, a carrier coupled to the C-shaped gantry and configured to translate the C-shaped gantry relative to the carrier, and a first link of a robotic arm coupled to the carrier at a first joint, wherein the carrier is rotatable at the first joint within a plane of the first link. 2 In the plane of the first link and rotatable at the first joint is, The first link and a second link of the robotic arm coupled to the first link at a second joint, wherein the first link is rotatable at the second joint relative to the second link within a plane perpendicular to the plane of the first link. 2 In a plane perpendicular to the plane of the first link 3 In the plane of the first link and rotatable at the second joint relative to the second link is, and the third plane is a plane perpendicular to the floor. The second link and a third link of the robotic arm coupled to the second link at a third joint, wherein the second link is rotatable at the third joint relative to the third link within a plane of the third link. 3 A third link that is rotatable at the third joint relative to the third link within the plane of the third link and a mobile base coupled to the third link at a fourth joint, wherein the third link is rotatable at the fourth joint relative to the mobile base within a plane of the third link. 3A movable base rotatable by a fourth joint relative to a movable base within a plane, and a controller, which when implemented, causes the controller to receive a desired isocenter position and controls one or more of the carrier, the first link, the second link, the third link, and the movable base to adjust the isocenter of the X-ray source and the X-ray detector to the desired isocenter position, the controller being comprised of instructions in a non-transitory memory.

[0075] In a first example of the system, the system further comprises a user interface communicatively coupled to the controller, and the controller receives the desired isocenter position via the user interface. In a second example of the system optionally including the first example, the controller is further configured to calculate position adjustments to one or more of the carrier, the first link, the second link, the third link, and the movable base to align the isocenter with the desired isocenter position. In a third example of the system optionally including one or more of the first and second examples, the controller simultaneously controls one or more of the carrier, the first link, the second link, the third link, and the movable base to adjust the isocenter.

[0076] As used herein, elements or steps recited in the singular and preceded by the word "a" or "an" are to be understood as not excluding a plurality of said elements or steps, unless explicitly stated to the contrary. Further, reference to "an embodiment" of the present invention is not intended to be construed as excluding the existence of additional embodiments that also incorporate the recited features. Further, unless explicitly stated to the contrary, embodiments "comprising," "including," or "having" an element or elements with a particular property may include additional such elements that do not have that property. The terms "including" and "in which" are used as explicit equivalents of the respective terms "comprising" and "wherein." Further, terms such as "first," "second," and "third" are used merely as labels and are not intended to impose numerical requirements or a particular positional order on the objects to which they refer.

[0077] This specification discloses the invention, including the best mode, and uses examples to enable any person skilled in the art to practice the invention, including making and using any device or system and performing any incorporated method. The patentable scope of the invention is defined by the claims and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims or if they include equivalent structural elements that do not differ substantially from the literal language of the claims.

Description of the Reference Numerals

[0078] 100 Mobile X-ray imaging system 105 X-ray source 107 X-ray detector 110 C-arm gantry 111 C-arm carrier 112 C-arm motor 120 Robot Arm 122 Link 124 Motor 140 Mobile Base 142 Motor 144 Wheel 150 Controller 152 Processor 154 Non - Volatile Memory 155 Executable Instructions 160 User Interface 165 Display Device 170 Detector Arm System 172 Detector Lift 180 Torque Balancing System 182 Motor 184 Spring 190 Cooling System 200 Mobile X - ray Imaging System 205 X - ray Source 207 X - ray Detector 209 Imaging Isocenter, Rotation Axis 210 C - arm Gantry 211 Gantry Track 212 C - arm Carrier 213 Carrier Base 214 Support Base 218 Imaging Center 220 Robot Arm 221 First Link 222 First Joint 224 Second Link 225 Second Joint 226 Movement Range 227 Third Joint 228 Third Link 229 Movement Range 230 Fourth Joint 231 Movement Range 240 Mobile Base 242 Motor 244 Driving Wheel 245 Housing 246 Freewheel 270 Detector Arm System 272 Torque Balancing System 274 High Voltage Generator 288 Tether 300 Joint Configuration 305 Focus 400 Second Joint Configuration 500 Third Joint Configuration 610 Joint Configuration 620 Joint Configuration 710 Joint Configuration 720 Joint Configuration 800 Mobile X-ray Imaging System 801 Torque Balancing System 802 First Spring 804 Second Spring 806 Third Spring 810 C-Arm Gantry 812 C-Arm Carrier 820 Robot Arm 821 First Link 824 Second Link 825 Second Joint 827 Third Joint 828 Third Link 830 Fourth Joint 831 First Bar 832 Second Bar 833 Third Bar 840 Mobile Base 841 First Mechanical Link 842 Second Mechanical Link 900 Method 905 Step 907 Step 910 Step 915 Step 920 Step 925 Step 930 Step 935 Step 940 Step 945 Step 950 steps 1010 First joint configuration 1011 First isocenter position 1020 Second joint configuration 1021 Second isocenter position 1100 Set of graphs 1110 Plot 1120 Plot 1130 Plot 1140 Plot 1200 Set of graphs 1210 Plot 1220 Plot 1230 Plot 1240 Plot 1300 Set of graphs 1310 Plot 1320 Plot 1330 Plot 1340 Plot 1400 Mobile X-ray imaging system 1405 Free or non-motorized wheels 1406 Motorized wheels 1407 Free wheels 1505 Table 1810 Configuration 1820 Configuration 1830 Configuration 1840 Configuration 1905 X-ray beam 1910 First joint configuration 1911 Point 1920 Second joint configuration 1930 Third joint configuration 2000 Orbit 2100 Orbit 2200 First orbit of the first rotation 2300 Orbit of the second rotation 2400 Orbit of the reconstructed volume 2500 Orbit of the reconstructed volume 2600 Orbit

Claims

1. A gantry (110, 210, 810) with an X-ray source (105, 205) and an X-ray detector (107, 207) attached on opposite sides of each other, A carrier (111, 212, 812) coupled to the gantry (110, 210, 810), the carrier (111, 212, 812) being configured to rotate the gantry (110, 210, 810) relative to the carrier (111, 212, 812), A mobile base (140, 240, 840), A robot arm (120, 220, 820) that couples the carrier (111, 212, 812) to the mobile base, the robot arm (120, 220, 820) comprising at least three links (122, 221, 224, 228, 821, 824, 828) and four joints (222, 225, 227, 230, 825, 827, 830), A torque balancing system (180, 272, 801) for counteracting static torques generated by the at least three links (122, 221, 224, 228, 821, 824, 828) of the robot arm (120, 220, 820), the gantry (110, 210, 810), and the mobile base, the torque balancing system (180, 272, 801) comprising a plurality of springs (184, 802, 804, 806), each spring (184, 802, 804, 806) applying a balancing torque near a corresponding joint, A controller Comprising, The controller (150) simultaneously controls the carrier (111, 212, 812), the at least three links (122, 221, 224, 228, 821, 824, 828), and the mobile base (140, 240, 840) to adjust the isocenter (209) of the gantry to a desired isocenter position, a system (100, 200, 800, 1400).

2. Further comprising a set of wheels (144, 244, 246, 1405, 1406, 1407) driven by one or more motors (142, 242), the set of wheels (144, 244, 246, 1405, 1406, 1407) being coupled to the mobile base (140, 240, 840), the system (100, 200, 800, 1400) according to claim 1.

3. The system (100, 200, 800, 1400) according to claim 1, wherein the torque balancing system (180, 272, 801) comprises a counterweight system.

4. The at least three links (122, 221, 224, 228, 821, 824, 828) of the robotic arm (120, 220, 820) are movable in a first plane with respect to the mobile base (140, 240, 840), the first plane being a plane perpendicular to the floor, and a joint (222) of the robotic arm (120, 220, 820) between the links (122, 221, 224, 228, 821, 824, 828) of the robotic arm (120, 220, 820) and the carrier (111, 212, 812) is configured to rotate the carrier (111, 212, 812) with respect to the links (122, 221, 224, 228, 821, 824, 828) in a plane perpendicular to the first plane, and the carrier (111, 212, 812) is configured to rotate the gantry (110, 210, 810) with respect to the carrier (111, 212, 812) along a track (211) of the gantry (110, 210, 810). The system (100, 200, 800, 1400) according to claim 2.

5. The system (100, 200, 800, 1400) according to claim 2, further comprising a high voltage generator (274) disposed and housed within the mobile base (140, 240, 840) for providing a high voltage to the X-ray source (105, 205).

6. The system (100, 200, 800, 1400) according to claim 1, wherein the gantry (110, 210, 810) is C-shaped, and the X-ray source (105, 205) and the X-ray detector (107, 207) are attached to both ends of the C-shaped gantry (110, 210, 810).

7. The system (100, 200, 800, 1400) according to claim 1, further comprising a user interface (160), wherein the controller (150) receives a desired isocenter position via the user interface (160), and the controller (150) simultaneously controls the carrier (111, 212, 812), the at least three links (122, 221, 224, 228, 821, 824, 828), and the mobile base (140, 240, 840) to adjust the isocenter (209) of the gantry (110, 210, 810) to the desired isocenter position.

8. A method (900) for a mobile X-ray imaging system (100, 200, 800, 1400), comprising: wherein the mobile X-ray imaging system comprises: a gantry (110, 210, 810) with an X-ray source (105, 205) and an X-ray detector (107, 207) attached to opposite sides thereof; a carrier (111, 212, 812) coupled to the gantry (110, 210, 810), the carrier (111, 212, 812) being configured to rotate the gantry (110, 210, 810) relative to the carrier (111, 212, 812); a robotic arm (120, 220, 820) coupling the carrier (111, 212, 812) to a mobile base, the robotic arm (120, 220, 820) comprising at least three links (122, 221, 224, 228, 821, 824, 828) and four joints (222, 225, 227, 230, 825, 827, 830); a torque balancing system (180, 272, 801) for counteracting static torques generated by the at least three links (122, 221, 224, 228, 821, 824, 828) of the robotic arm (120, 220, 820), the gantry (110, 210, 810), and the base, the torque balancing system (180, 272, 801) comprising a plurality of springs (184, 802, 804, 806), each spring (184, 802, 804, 806) applying a balancing torque near a corresponding joint; and wherein the method comprises: receiving an indication of a desired isocenter position (905); Calculating position adjustments for a plurality of components of the mobile X-ray imaging system (100, 200, 800, 1400) (915, 925, 935, 945); Controlling a plurality of motors (112, 124, 142, 182, 242) to adjust the positions of the plurality of components and aligning the isocenter (209) of the mobile X-ray imaging system (100, 200, 800, 1400) with the desired isocenter position (950); comprising; Controlling the plurality of motors (112, 124, 142, 182, 242) to adjust the positions of the plurality of components (950) includes simultaneously controlling the mobile base (140, 240, 840), a carrier (111, 212, 812) coupled to the gantry (110, 210, 810), a first link (221, 821) coupled to the carrier (111, 212, 812), a second link (224, 824) coupled to the first link (221, 821), and a third link (228, 828) coupling the second link (224, 824) to the mobile base (140, 240, 840) to align the isocenter (209) with the desired isocenter position; Method (900). **Claim 9** The method (900) according to claim 8, wherein the plurality of motors (112, 124, 142, 182, 242) are controlled simultaneously to adjust the positions of the plurality of components simultaneously. **Claim 10** The method (900) according to claim 8, wherein the position adjustment is calculated according to a current isocenter position and the desired isocenter position. **Claim 11** Controlling the plurality of motors (112, 124, 142, 182, 242) to adjust the positions of the plurality of components (950) includes controlling a plurality of motors of the mobile base (140, 240, 840), the carrier (111, 212, 812) coupled to the gantry (110, 210, 810), the first link (221, 821) coupled to the carrier (111, 212, 812), the second link (224, 824) coupled to the first link (221, 821), and the third link (228, 828) coupling the second link (224, 824) to the mobile base (140, 240, 840) to align the isocenter (209) with the desired isocenter position, the method (900) according to claim 8.

12. The method (900) according to claim 8, further comprising controlling the plurality of motors (112, 124, 142, 182, 242) to adjust the positions of the plurality of components and dynamically rotating the plurality of components about a point (1911) different from the isocenter (209) during imaging of the plurality of components.

13. A C-shaped gantry (110, 210, 810) to which an X-ray source (105, 205) and an X-ray detector (107, 207) are attached, A carrier (111, 212, 812) coupled to the C-shaped gantry (110, 210, 810), the carrier (111, 212, 812) being configured to translate the C-shaped gantry (110, 210, 810) relative to the carrier (111, 212, 812), A first link (221, 821) of a robotic arm (120, 220, 820) coupled to the carrier (111, 212, 812) by a first joint (222), the carrier (111, 212, 812) being rotatable about the first joint (222) in a second plane relative to the first link (221, 821), the first link (221, 821), The second link (224, 824) of the robot arm (120, 220, 820) coupled to the first link (221, 821) by the second joint (225, 825), wherein the first link (221, 821) is rotatable with respect to the second link (224, 824) by the second joint (225, 825) in a third plane perpendicular to the second plane, and the third plane is a plane perpendicular to the floor, the second link (224, 824), and The third link (228, 828) of the robot arm (120, 220, 820) coupled to the second link (224, 824) by the third joint (227, 827), wherein the second link (224, 824) is rotatable with respect to the third link (228, 828) by the third joint (227, 827) in the third plane, the third link (228, 828), and The mobile base (140, 240, 840) coupled to the third link (228, 828) by the fourth joint (230, 830), wherein the third link (228, 828) is rotatable with respect to the mobile base (140, 240, 840) by the fourth joint (230, 830) in the third plane, the mobile base (140, 240, 81), and A torque balancing system (180, 272, 801) for counteracting the static torque generated by the first link (221, 821), the second link (224, 824), the third link (228, 828), the gantry (110, 210, 810), and the mobile base and A controller (150) which, when implemented, causes the controller (150) to receive a desired isocenter position and Controls one or more of the carrier (111, 212, 812), the first link (221, 821), the second link (224, 824), the third link (228, 828), the mobile base (140, 240, 840), and the torque balancing system to adjust the isocenter (209) of the X-ray source (105, 205) and the X-ray detector (107, 207) to the desired isocenter position A controller (150) comprising instructions (155) in a non-transitory memory (154) and Comprising. A system (100, 200, 800, 1400) in which the controller (150) simultaneously controls the carrier (111, 212, 812), the first link (221, 821), the second link (224, 824), the third link (228, 828), and the mobile base (140, 240, 840) to adjust the isocenter (209) to the desired isocenter position.

14. The system (100, 200, 800, 1400) according to claim 13, further comprising a user interface (160) communicatively coupled to the controller (150), wherein the controller (150) receives the desired isocenter position via the user interface (160).

15. The system (100, 200, 800, 1400) according to claim 13, wherein the controller (150) is further configured to calculate a position adjustment for one or more of the carrier (111, 212, 812), the first link (221, 821), the second link (224, 824), the third link (228, 828), and the mobile base (140, 240, 840) to align the isocenter (209) with the desired isocenter position.

Images