Medical vehicles and methods for operating medical vehicles

Abstract

The present invention relates to a medical vehicle comprising a base vehicle and a compartment. The compartment has a compartment room and a medical imaging system, and is part of or attached to the base vehicle. The medical imaging system comprises at least one rotating component. The medical vehicle further comprises a counter-rotation device having at least one rotor, the counter-rotation device configured to operate such that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately equal to zero or exactly equal to zero. The present invention also relates to the base vehicle, the medical imaging system, and a method for operating said medical vehicle.

Description

[Technical Field]

[0001] The present invention relates to a medical vehicle comprising a base vehicle, a compartment having a compartment room, and a medical imaging system, the medical imaging system comprising at least one rotating component. The present invention also relates to a method for operating said medical vehicle. [Background technology]

[0002] Mobile computed tomography (CT) systems can be used in mobile stroke units to diagnose strokes in a timely manner and differentiate between ischemic and hemorrhagic strokes, allowing for the planning of the correct pre-hospital treatment regimen and for treatment to begin immediately after hospitalization. Such mobile stroke units can be installed in stroke ambulances and trucks, ships and helicopters, and even spacecraft.

[0003] During transportation, the imaging system may be used for some, at least low-quality, imaging to optimize time and accessibility. However, at the same time, the imaging system is subject to forces induced by vehicle motion. During stationary set operation, the relevant forces are constant and are themselves taken into account in the system's design. However, when a significant portion of the system is rotating (e.g., a CT or X-ray system is scanning while the vehicle is moving), additional non-constant forces, namely acceleration forces, particularly gyroscopic torque and related forces, are induced in the rotating parts. This is particularly the case for CT systems with large, high-speed rotating gantries, referred to herein as CT gantries, and high-speed rotating anodes in the X-ray tubes. A typical CT gantry weighs approximately one ton and rotates at up to 4 Hz. Gyroscopic torques induced by the CT in a moving vehicle can induce excessive forces on the CT system's supports. The magnitude and direction of the gyroscopic torque are related to the mass, mass distribution, and rotational speed of the rotating components in the vehicle, which are related to the road's speed and radius of curvature, as well as the speed and direction at which the axis of the rotating components changes.

[0004] Gyroscopic torque therefore causes distortions in the supports, effectively changing the vehicle's driving behavior. A rotating component that is forced to change the direction of its axis of rotation will break perpendicular to this force. If the axis of rotation of the rotating component is along the longitudinal direction of the vehicle and the vehicle turns, the nose of the vehicle will rise or fall due to a gyroscopic torque that is proportional to the angular velocity of the rotating component, the moment of inertia of the rotating component, and the angular velocity of the vehicle traveling around the curve.

[0005] In the event of an accident or a sudden change in driving direction, such as a sharp turn of a road vehicle, the speed at which the rotating components are forced to change direction can be particularly high, and therefore the torques and associated forces can cause unexpected movements of the entire vehicle. Furthermore, the forces can exceed the mechanical limits of the support and cause the CT system to become dislodged from its support. Summary of the Invention [Problem to be solved by the invention]

[0006] It is therefore an object of the present invention to provide a medical vehicle having an improved and safer ability to perform medical scans while the medical vehicle is in operation. A further method of the present invention is to provide a corresponding method for operating a medical vehicle. [Means for solving the problem]

[0007] The object of the present invention is solved by the subject matter of the independent claims, further embodiments are incorporated in the dependent claims.

[0008] In one aspect of the present invention, a medical vehicle is provided that includes a base vehicle and a compartment, the compartment including a compartment room and a medical imaging system. The primary purpose of the medical vehicle may be medical imaging, i.e., performing medical scans using the medical imaging system. Here, the medical vehicle may be optimized to perform medical scans while the medical vehicle is in motion and / or may be optimized to perform medical scans when the medical vehicle is stationary while configured to perform medical scans while the medical vehicle is in motion. Alternatively, or additionally, the primary purpose of the medical vehicle may be non-medical, such as a cruise ship having a medical imaging system as part of its medical equipment.

[0009] The base vehicle is a vehicle that carries a compartment with a compartment room and a medical imaging system, i.e., the base vehicle is a medical vehicle without a compartment. As noted above, the base vehicle may be specifically configured for use with a medical imaging system, such as a truck with a medical imaging system, and / or the base vehicle may have a primary non-medical purpose, such as a cruise ship.

[0010] The compartment may be part of the base vehicle or attached to the base vehicle. In other words, the compartment may be a virtual compartment defined by the volume of an existing compartment of the base vehicle, or may have physical walls. In the latter case, the compartment may be permanently attached to the base vehicle or may be removable so that it can be located separately from the base vehicle and / or so that a different compartment can be attached to the base vehicle. The compartment may be just large enough to fit the medical imaging system, so that the compartment room is very small. The compartment may also provide a larger compartment room, for example, to provide extra space next to the medical imaging system for medical staff.

[0011] The medical imaging system includes at least one rotating component, which may be configured to rotate about an axis of rotation, and may further include bearings that support the rotating component and a number of other components depending on the exact type of medical imaging system.

[0012] The medical vehicle further includes a counter-rotation device having at least one rotor. The rotor may be configured to rotate about a rotation axis. The counter-rotation device is configured to operate such that the sum of the angular momentum of the rotational components and the angular momentum of the counter-rotation device is approximately equal to zero. The operation of the counter-rotation device may be performed by controlling the angular velocity of the counter-rotation device's rotor. As an example, the rotational components and the moments of inertia of the rotor and the angular velocities of the rotational components may be known, and then the angular velocity of the rotor required to compensate for the angular momentum of the rotational components can be easily calculated. In this context, "approximately equal to zero" refers to a significant reduction in the total angular momentum; for example, the sum of the angular momentum of the rotational components may be less than 10% of the angular momentum of the rotational components, preferably less than 5% of the angular momentum of the rotational components, and most preferably less than 1% of the angular momentum of the rotational components.

[0013] Thus, the angular momentum of the rotating components is compensated and the net angular momentum is reduced (or neutralized) to enable and provide safe medical imaging during transport. In particular, gyroscopic forces that may arise when the medical imaging system is rotated, e.g., when traveling around a curve, are minimized.

[0014] According to one embodiment, the base vehicle is a truck, a training vehicle, an airplane, a helicopter, a spacecraft, an autonomous flying object, and / or a watercraft. In all of the above vehicles, the medical imaging system can be installed, transported, and used during operation of the medical vehicle. Rotation of the medical imaging system can result from, for example, curves, potholes, hills, turbulence, waves, or uncontrolled movement on the route during an accident.

[0015] According to one embodiment, the medical imaging system is a computed tomography (CT) system, a positron emission tomography-computed tomography (PET-CT) system, or an X-ray system. However, the medical imaging system may be any medical imaging system with a rotating component. In the case of a CT system or a PET-CT system, one rotating component may be a CT gantry and another rotating component may be an X-ray anode. In the case of an X-ray system, one rotating component may be an X-ray anode. In the case of a CT system or a PET-CT system, the angular momentum of the CT gantry may be greater than that of the X-ray anode, i.e., the overall angular momentum of the rotating components may be dominated by the CT gantry. In this case, the rotor of the counter-rotator may rotate in the opposite direction to the CT gantry. Furthermore, since the angular momentum of the X-ray anode may be smaller than that of the CT gantry, the gyroscopic forces and torques induced by the X-ray anode may be smaller than those of the CT gantry, and one or more rotors that compensate for the combined angular momentum of the CT gantry and the X-ray anode may be sufficient. In particular, if the rotation axis of the X-ray anode is parallel to the rotation axis of the CT gantry, the rotation axis of the rotor may be parallel to the rotation axis of the CT gantry, and the rotational speed of the rotor may then be controlled based on the known moments of inertia of the CT gantry and the X-ray anode and their respective angular velocities.

[0016] According to one embodiment, the at least one moment of inertia of the rotor is adjustable. Said adjustment may in particular be performed by changing the distance of the mass of the rotor from the axis of rotation. Operating the counter-rotators so that the sum of the angular momentum of the rotational components and the angular momentum of the counter-rotators is approximately equal to zero or exactly zero can be achieved by adjusting the at least one moment of inertia of the rotor while rotating at a predetermined angular velocity, or by both adjusting the at least one moment of inertia of the rotor and controlling the angular velocity of the rotor.

[0017] According to one embodiment, at least one of the rotors is assigned to a base vehicle and / or a compartment, i.e., the rotor is not part of a medical imaging system. A rotor assigned to a base vehicle is particularly useful when the base vehicle is configured for use with a different medical imaging system. The rotor may then be used to compensate for the angular momentum of one of the medical imaging systems. A rotor assigned to a compartment but not to a medical imaging system may be used when it is difficult and / or too expensive to equip the medical imaging system with such a rotor.

[0018] According to one embodiment, the rotation axis of at least one rotor is adjustable. The rotation axis can then be adjusted to match different rotation axes (or effective rotation axes) of different medical imaging systems, particularly when the base vehicle is configured for use with different medical imaging systems. Alternatively, or additionally, the rotation axis can be adjusted when the (effective) rotation axis of a rotating component changes, for example, when a CT gantry is tilted.

[0019] Alternatively or additionally, there may be two or more rotors with axes of rotation that are not parallel to each other, in particular perpendicular to each other, and by controlling the angular speed of these rotors, both the direction and magnitude of the angular momentum of the counter-rotating device can then be adjusted.

[0020] According to one embodiment, at least one of the rotors is assigned to the medical imaging system, so that angular momentum compensation can be performed within the medical imaging system and components of the medical vehicle external to the medical imaging system may not experience gyroscopic forces or torques when the medical vehicle undergoes rotational motion.

[0021] According to one embodiment, at least one of the rotors is an active imaging rotor. As an example, two identical CT gantries can be configured adjacent to each other and driven to rotate in opposite directions. In this case, one of the CT gantries is considered a rotating component, and the other is considered a rotor. If the two CT gantries rotate at the same angular velocity, the net angular momentum is zero. As another example, a first CT gantry can be sandwiched between two smaller CT gantries, which rotate in the opposite direction to the first CT gantry. For example, if the smaller CT gantries each have half the mass of the first CT gantry and are rotated at the same angular velocity, zero net angular momentum can be achieved.

[0022] According to one embodiment, at least one of the rotors is a ring layer, positioned outside, adjacent to, and coaxial with one of the rotating components. Because the rotor has a larger radius than the rotating components it surrounds, the rotor's relatively low mass may be sufficient to achieve a sufficiently large moment of inertia so that the angular momentum of the rotating components can be compensated at reasonable angular velocities. This may also lead to a thin rotor, particularly if a high-density material is used for the rotor. As an example, the rotor may be a thin ring surrounding the CT gantry.

[0023] According to one embodiment, at least one of the rotors is arranged axially on one of the rotating components. The rotor may be arranged on the same rotation axis as the rotating components. In particular, two rotors are arranged symmetrically, one on each axial side of one rotating component. The rotating components are therefore sandwiched between the rotors. As an example, two rotors may be arranged on both sides of the CT gantry.

[0024] When the rotating component and rotor share a common axis of rotation, the rotating component and rotor may accelerate and / or decelerate relative to each other, i.e., a torque is applied to the rotor to accelerate or decelerate the rotating component, and vice versa, and therefore little or no torque acts on the vehicle.

[0025] In another aspect of the present invention, a base vehicle for a medical vehicle is provided. The medical vehicle includes a compartment for a medical imaging system, or the base vehicle is adapted to be connected to a compartment having a medical imaging system. The medical imaging system includes at least one rotating component, and the base vehicle includes a counter-rotation device with at least one rotor. The counter-rotation device is configured to operate so that the sum of the angular momentum of the rotational component and the angular momentum of the counter-rotation device is approximately equal to zero. Thus, the base vehicle may be used with different medical imaging systems, and the counter-rotation device compensates for the angular momentum of the medical imaging system so that the angular momentum of the medical imaging system does not adversely affect the motion of the base vehicle. The base vehicle can be connected to the medical imaging system, for example, by a wired or wireless connection, to receive data related to the angular momentum of the medical imaging system, such as the angular velocity of the rotating component, and control the angular velocity of the rotor to compensate for the angular momentum. Further details and advantages are provided in the description of the medical vehicle above.

[0026] In yet another aspect of the present invention, a medical imaging system for a medical vehicle is provided. The medical imaging system includes at least one rotating component and a counter-rotation device having at least one rotor. The counter-rotation device is configured to operate such that the sum of the angular momentum of the rotational component and the angular momentum of the counter-rotation device is approximately equal to zero. Therefore, the medical imaging system can be used in the medical vehicle without adversely affecting the motion of the medical vehicle due to gyroscopic forces. Furthermore, the cancellation of angular momentum increases the safety of the medical imaging system. Further details and advantages are provided in the description of the medical vehicle above.

[0027] In yet another aspect of the present invention, a method for operating a medical vehicle according to the above description is provided. According to this method, the angular momentum of a rotational component is determined, and the angular velocity of the rotor is controlled so that the sum of the angular momentum of the rotational component and the angular momentum of the counter-rotator is approximately equal to zero. Determining the angular momentum of the rotational component may be performed by providing the moment of inertia of the rotational component, e.g., by user input, and determining the angular velocity of the rotational component, e.g., by measurement. Furthermore, the moment of inertia of the rotor may be provided, e.g., by user input. Using this information, the angular velocity of the rotor required to compensate for the angular momentum of the rotational component can be easily calculated. Further details and advantages are provided in the description of the medical vehicle above.

[0028] According to one embodiment, the angular velocity of the rotor is dynamically controlled: in particular, the angle of the rotational component can be periodically determined and the angle of the rotor adjusted accordingly.

[0029] According to one embodiment, control of the angular velocity of the rotor is synchronized with control of the angular velocity of the rotating component. As one example, control information provided to change the angle of the rotating component may be provided directly to the counter-rotation device, such that control of the rotor angle can be synchronized with control of the angle of the rotating component, for example, when a scan is started or stopped. As another example, control information provided by the base vehicle that causes a change in the angular velocity of the rotating component, for example, a decrease in angular velocity due to an approaching curved road, may be provided directly to the counter-rotation device. As yet another example, control information indicating an accident may be provided by the base vehicle, so that the rotating component and rotor are synchronized with each other and stopped as quickly as possible. This is particularly efficient when deceleration of the rotating component is performed relative to the rotor, and vice versa. Thus, breakout of the rotating component(s), e.g., the CT gantry, and the rotor(s), from their bearings may be prevented.

[0030] It is to be understood that a preferred embodiment of the invention can also be any combination of the dependent claims with the respective independent claim.

[0031] These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.

[0032] Preferred embodiments of the invention will now be described, by way of example only, with reference to the drawings in which: [Brief explanation of the drawings]

[0033] [Figure 1a] 1 shows a longitudinal cross-sectional view of an embodiment of a medical vehicle. [Figure 1b] 1 shows a cross section of the medical imaging system of the medical vehicle of FIG. 1a. [Figure 2] 1 shows a longitudinal cross-sectional view of another embodiment of a medical vehicle. [Figure 3] 13 shows a longitudinal cross section of yet another embodiment of a medical vehicle. [Figure 4] 13 shows a longitudinal cross section of yet another embodiment of a medical vehicle. [Figure 5] 13 shows a longitudinal cross section of yet another embodiment of a medical vehicle. [Figure 6] 1 shows a longitudinal cross section of an embodiment of a base vehicle. [Figure 7] 1 shows a longitudinal cross section of a medical imaging system. DETAILED DESCRIPTION OF THE INVENTION

[0034] In the drawings, elements corresponding to elements already described may have the same reference numerals. Examples, embodiments, or optional features, whether non-limiting or not, should not be understood as limiting the claimed invention.

[0035] 1a shows a schematic longitudinal cross-sectional view of a medical vehicle 1. The medical vehicle 1 comprises a base vehicle 2. Although the base vehicle 2 is shown as a truck, the base vehicle 2 may also be a train, an airplane, a helicopter, a spacecraft, an autonomous flying object and / or a ship.

[0036] The medical vehicle 1 further comprises a compartment room 3 having a medical imaging system 4 and a compartment room 5. The compartment 3 may be part of the base vehicle 2 or may be attached to the base vehicle 2. In other words, the compartment 3 may be a virtual compartment defined by the volume of an existing compartment of the base vehicle 2, or may comprise physical walls. In the latter case, the compartment 3 may be permanently attached to the base vehicle 2, or may be removable so that it can be located separately from the base vehicle 2 and / or so that a different compartment 3 can be attached to the base vehicle 2. The compartment 3 may be just large enough to fit the medical imaging system 4, such that the compartment room 5 is very small. The compartment 3 can also be provided with a larger compartment room 5, for example to provide extra space next to the medical imaging system 4 for medical staff.

[0037] The primary purpose of the medical vehicle 1 may be medical imaging, i.e., performing medical scans using the medical imaging system 4. Here, the medical vehicle 1 may be optimized to perform medical scans while the medical vehicle 1 is in operation, and / or may be optimized to perform medical scans when the medical vehicle 1 is stopped while configured to perform medical scans while the medical vehicle 1 is in operation. Alternatively, or additionally, the primary purpose of the medical vehicle 1 may be non-medical, such as a cruise ship having the medical imaging system 4 as part of its medical equipment.

[0038] The medical imaging system 4 includes at least one rotating component 6. The medical imaging system 4 may be a computed tomography (CT) system, a positron emission tomography-computed tomography (PET-CT) system, or an X-ray system. However, the medical imaging system 4 may be any medical imaging system that includes a rotating component 6. In the case of a CT system or a PET-CT system, one rotating component 6 may be a CT gantry, and another rotating component may be an X-ray anode. In the case of an X-ray system, one rotating component is an X-ray anode. A cross-section of the medical imaging system 4 is shown in FIG. 1b.

[0039] The medical vehicle 1 further comprises a counter-rotation device 7 comprising at least one rotor 8. In this embodiment, the rotor 8 is a thin ring layer arranged outside, adjacent to and coaxial with the rotating component 6.

[0040] Counter-rotation device 7 is particularly configured to operate by controlling the angular speed of rotor 8 so that the sum of the angular momentum of rotational component 6 and the angular momentum of counter-rotation device 7, i.e., the angular momentum of rotor 8, is approximately equal to zero. In this context, "approximately equal to zero" means a significant reduction in the total angular momentum; for example, the sum of the angular momentum of rotational component 6 and counter-rotation device 7 may be less than 10% of the angular momentum of rotational component 6, preferably less than 5% of the angular momentum of rotational component 6, and most preferably less than 1% of the angular momentum of rotational component 6. To achieve said compensation of angular momentum, rotor 8 must be rotated in the opposite direction to the rotation of rotational component 6, as indicated by the dashed arrow.

[0041] Thus, the angular momentum of the rotational component 6 is compensated and the net angular momentum is reduced (or neutralized) to enable and provide safe medical imaging during transport. In particular, gyroscopic forces that may arise when the medical imaging system is rotated, for example, when traveling around a curve, are minimized.

[0042] 2 shows a cross section of another embodiment of the medical vehicle 1. In this embodiment, two rotors 8 of the counter-rotation device 7 are symmetrically arranged, one on each axial side of the rotating component 6. To provide patient clearance and achieve the maximum ratio of moment of inertia per mass, the rotors 8 may be ring-shaped rotors. In another embodiment (not shown here), only one rotor 8 may be arranged on one axial side of the rotating component (6).

[0043] 3 shows a cross section of yet another embodiment of the medical vehicle 1. In this embodiment, the rotor 8 is an active imaging rotor located axially on one side of the rotating component 6. By way of example, the rotor 8 may be a CT gantry, with the rotating component 6 and the rotor 8 taking images alternately so as not to disturb each other.

[0044] 4 shows a cross section of yet another embodiment of the medical vehicle 1. In this embodiment, the counter-rotation devices 7 are located in the compartment 5. Information about the angular velocity of the rotating component 6 may be transmitted to the counter-rotation devices 7 via a wired or wireless connection. This placement of the counter-rotation devices 7 can be done when the medical imaging system 4 does not provide enough space to fit the rotor 8 or when the counter-rotation devices 7 are retrofitted to the medical imaging system 1. If the rotation axis of the rotating component 6 can be adjusted, e.g., tilted, the rotation axis of the rotor 8 should also be adjustable.

[0045] 5 shows a cross section of yet another embodiment of a medical vehicle 1. In this embodiment, a counter-rotation device 7 is assigned to the base vehicle 2. This is particularly useful if different medical imaging systems 4 may be installed on the base vehicle 2 and angular momentum compensation is performed for each of said medical imaging systems 4. As in the previous embodiment, an adjustable rotation axis of the rotor 8 allows adaptation to different rotation axes of the rotating component 6.

[0046] 6 shows a cross section of a base vehicle 2. The base vehicle 2 is adapted to be connected to different medical imaging systems and comprises a counter-rotation device 7 adapted to compensate for the angular momentum of the medical imaging systems. As mentioned above, the adjustable rotation axis of the rotor 8 allows adaptation of the rotating component 6 to different rotation axes.

[0047] 7 shows a cross section of a medical imaging system 4 having a rotating component 6 and a counter-rotation device 7. Here, rotors 8 of the counter-rotation device 7 are arranged symmetrically on each axial side of the rotating component 6, although other arrangements are possible. When the rotor 8 shares a rotation axis with the rotating component 6, the gyroscopic forces applied to the bearings supporting the rotation axis when the medical imaging system 4 is rotated can be reduced.

[0048] While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive, and the invention is not limited to the disclosed embodiments.

[0049] Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be interpreted as limiting the scope. The following describes embodiments of the present invention. (Appendix 1) A medical vehicle comprising a base vehicle and a compartment having a medical imaging system and a compartment room, wherein the compartment is part of the base vehicle or the compartment is attached to the base vehicle, the medical imaging system comprises at least one rotating component, and the medical vehicle further comprises a counter-rotation device having at least one rotor, the counter-rotation device configured to operate so that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately or exactly equal to zero. (Appendix 2) 2. The medical vehicle of claim 1, wherein the base vehicle is a truck, train, airplane, helicopter, spacecraft, autonomous flying object, and / or watercraft. (Appendix 3) 3. The medical vehicle of claim 1 or 2, wherein the medical imaging system is a computed tomography system, a positron emission tomography-computed tomography system, or an X-ray system, and the rotating component is a CT gantry and / or an X-ray anode. (Appendix 4) 4. The medical vehicle of any one of claims 1 to 3, wherein at least one moment of inertia of the rotor is adjustable. (Appendix 5) A medical vehicle as described in any one of appendices 1 to 4, wherein at least one of the rotors is assigned to the base vehicle and / or the compartment room. (Appendix 6) 6. The medical vehicle of claim 5, wherein at least one rotation axis of the rotor is adjustable. (Appendix 7) 7. The medical vehicle of claim 1, wherein at least one of the rotors is assigned to the medical imaging system. (Appendix 8) 8. The medical vehicle of claim 7, wherein at least one of the rotors is an active imaging rotor. (Appendix 9) 9. The medical vehicle of claim 7 or 8, wherein at least one of the rotors is a ring layer and is positioned outside one of the rotating components, adjacent to one of the rotating components, and coaxial with one of the rotating components. (Appendix 10) 10. A medical vehicle as described in any one of appendices 7 to 9, wherein at least one of the rotors is positioned axially on one of the rotating components, and in particular, two of the rotors are positioned symmetrically, one on each axial side of one of the rotating components. (Appendix 11) A base vehicle for a medical vehicle, the medical vehicle comprising a compartment for a medical imaging system or the base vehicle configured to be connected to a compartment for the medical imaging system, the medical imaging system comprising at least one rotating component, the base vehicle comprising a counter-rotation device comprising at least one rotor, the counter-rotation device configured to operate so that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately or exactly equal to zero. (Appendix 12) A medical imaging system for a medical vehicle, the medical imaging system having at least one rotating component and a counter-rotation device having at least one rotor, the counter-rotation device configured to operate such that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately or exactly equal to zero. (Appendix 13) 11. A method for operating a medical vehicle as described in any one of claims 1 to 10, wherein the angular momentum of the rotating component is determined and the angular velocity of the rotor is controlled so that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately or exactly equal to zero. (Appendix 14) 14. The method of claim 13, wherein the angular velocity of the rotor is dynamically controlled. (Appendix 15) 15. The method of claim 14, wherein control of the angular velocity of the rotor is synchronized with control of the angular velocity of the rotating component. [Explanation of symbols]

[0050] 1 Medical vehicle 2 Base vehicle 3 compartments 4 Medical Imaging Systems 5 Compartment Room 6 Rotational Components 7. Reverse rotation device 8 rotors

Claims

1. A medical vehicle comprising a base vehicle (but not including a spacecraft) and a compartment having a medical imaging system and a compartment room, wherein the compartment is part of the base vehicle or the compartment is attached to the base vehicle, the medical imaging system comprises at least one rotating component, and the medical vehicle further comprises a counter-rotation device having at least one rotor, the counter-rotation device configured to operate so that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately or exactly equal to zero.

2. The medical vehicle of claim 1 , wherein the base vehicle is a truck, a train, an airplane, a helicopter, an autonomous flying object, and / or a watercraft.

3. 3. The medical vehicle of claim 1 or 2, wherein the medical imaging system is a computed tomography system, a positron emission tomography-computed tomography system, or an X-ray system, and the rotating component is a CT gantry and / or an X-ray anode.

4. 3. The medical vehicle of claim 1, wherein at least one moment of inertia of the rotor is adjustable.

5. 3. A medical vehicle according to claim 1 or 2, wherein at least one of the rotors is assigned to the base vehicle and / or the compartment.

6. The medical vehicle of claim 5 , wherein at least one axis of rotation of the rotor is adjustable.

7. 3. The medical vehicle of claim 1, wherein at least one of the rotors is assigned to the medical imaging system.

8. The medical vehicle of claim 7 , wherein at least one of the rotors is an active imaging rotor.

9. 8. The medical vehicle of claim 7, wherein at least one of the rotors is a ring layer and is positioned outside one of the rotating components, adjacent to one of the rotating components, and coaxially with one of the rotating components.

10. 8. The medical vehicle of claim 7, wherein at least one of the rotors is arranged axially on one of the rotating components, and in particular, two of the rotors are arranged symmetrically, one on each axial side of one of the rotating components.

11. A base vehicle (but not including a spacecraft) for a medical vehicle, the medical vehicle comprising a compartment for a medical imaging system or the base vehicle configured to be connected to a compartment for the medical imaging system, the medical imaging system comprising at least one rotating component, the base vehicle comprising a counter-rotation device comprising at least one rotor, the counter-rotation device configured to operate so that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately or exactly equal to zero.

12. 1. A medical imaging system for a medical vehicle (but not including a spacecraft), the medical imaging system having at least one rotating component and a counter-rotation device having at least one rotor, the counter-rotation device configured to operate such that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately or exactly equal to zero.

13. 3. A method for operating a medical vehicle as described in claim 1 or 2, wherein the angular momentum of the rotating component is determined and the angular velocity of the rotor is controlled so that the sum of the angular momentum of the rotating component and the angular momentum of the counter-rotation device is approximately or exactly equal to zero.

14. The method of claim 13 , wherein the angular velocity of the rotor is dynamically controlled.

15. The method of claim 14 , wherein control of the angular velocity of the rotor is synchronized with control of the angular velocity of the rotating component.

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