System and method for moving a patient on a movable patient couch

Abstract

Robotic mobility system for moving a patient on a movable patient couch is presented, the robotic mobility system comprising a robotic mobility platform comprising a plurality of wheels, the movable patient couch, a remote control configured for receiving user instructions relating to a desired spatial position of the robotic mobility system, a processing unit, wherein the movable patient couch is mounted at the robotic mobility platform, wherein the remote control is configured to send received user instructions to the processing unit, and wherein the processing unit is configured to control – based on the user instructions received from the remote control – the robotic mobility platform and the movable patient couch.

Description

[0001] medPhoton GmbH

[0002] Attorney’s File: B19285WO

[0003] SYSTEM AND METHOD FOR MOVING A PATIENT ON A MOVABLE PATIENT COUCH

[0004] FIELD OF THE INVENTION

[0005] The present invention relates to a robotic mobility system for moving a patient and to a method of controlling a robotic mobility system.

[0006] TECHNICAL BACKGROUND

[0007] In the past, medical imaging devices had been used in a stationary mode, i.e. the medical imaging devices themselves were not movable in the imaging room. However, since several years mobile robotic imaging devices are available like e.g. the Loop-X of the Brainlab AG. The mobile imaging robot Loop-X offers advantageous 2D and 3D intraoperative image quality across various clinical disciplines ranging from spinal surgery to orthopaedic, ENT, CMF, vascular surgery and functional neurosurgery. Similarly, Loop-X provides a solid imaging solution in brachytherapy and teletherapy (e.g. particle therapy). By automating workflows, Loop-X is advancing mobile imaging and robotics with functionality that sets it apart from conventional imaging devices. Moreover, nowadays stationary patient couches are used in the medical context, which allow to choose between different poses, i.e., configurations, e.g. whether the patient is lying or sitting. Thus, these patient couches are stationary in the sense that they are fixed at the floor of the medical treatment room.

[0008] It is in this medical imaging context that the inventors of the present invention have identified the need for improving the movability and / or controllability of movable patient couches relative to other objects in the imaging room like e.g. the imaging device.

[0009] Thus, an object underlying the subject-matter of the present disclosure is to address this challenge, in particular, to provide for a robotic mobility system for moving a patient and to provide for a method of controlling a robotic mobility system, as will be detailed hereinafter.

[0010] The present invention can be used in combination with e.g. several different imaging devices like e.g. the Loop-X of the Brainlab AG. Aspects of the present invention, examples and exemplary steps and their embodiments are disclosed in the following. Different exemplary features of the invention can be combined in accordance with the invention wherever technically expedient and feasible. GENERAL DESCRIPTION OF THE INVENTION

[0011] In this section, a description of the general features of the present invention is given for example by referring to possible embodiments of the invention.

[0012] The present invention provides a method, (medical) system, computer program product, computer- readable medium, (other claim categories) according to the independent claims. Preferred embodiments are provided in the dependent claims.

[0013] According to a first aspect of the present invention, a robotic mobility system for moving a patient on a movable patient couch, the robotic mobility system comprising

[0014] - a robotic mobility platform comprising a plurality of wheels,

[0015] - the movable patient couch,

[0016] - a remote control configured for receiving user instructions relating to a desired spatial position of the robotic mobility system,

[0017] - a processing unit, wherein the movable patient couch is mounted at the robotic mobility platform, wherein the remote control is configured to send received user instructions to the processing unit, and wherein the processing unit is configured to control - based on the user instructions received from the remote control - the robotic mobility platform and the movable patient couch.

[0018] As will be appreciated by the skilled reader, the present invention relates to a robotic mobility system, comprising a robotic mobility platform, a movable patient couch, a remote control and a processing unit. The robotic mobility system presented herein is of particular beneficial use in a medical environment, e.g. in an operating room, an imaging room of a hospital, like a CT room, an MR room or a hybrid OR as will be detailed hereinafter. This robotic mobility system allows for a mobilization of a movable patient couch, which is used in the prior art in a stationary way. This is achieved by attaching the movable patient couch to the robotic mobility platform, allowing for maneuvering the movable patient couch safely and flexibly in the room. The movable patient couch typically allows for different poses of the patient like e.g. upright sitting or lying entirely horizontally, see for example Figures 4a and 4b. The movable patient couch can thus move between these different poses or configurations, but cannot relocate itself in lateral direction parallel to the floor on which it stands, i.e., cannot move in x-Zy-direction incl. rotation about the z- axis, which is why it is, without the movability of the robotic mobility platform presented herein, stationary. The coordinate system is shown and explained in the context of Figure 1. Note that a stationary couch as is used in the prior art may be able to move the patient, lying or sitting on the couch top, slightly in lateral or longitudinal direction by moving the couch top, but it cannot relocate the complete movable couch. But due to the combination of this couch with the robotic mobility platform of the present invention, the movable patient couch becomes mobile, i.e., it can relocate the complete movable couch, preferably in x-, y- and z-direction. Therefore, the robotic mobility system presented herein creates a mobile and movable patient couch. Thus, a simultaneous motion of the platform with an imaging device and preferably with a gantry can be achieved.

[0019] Such a couch or system can advantageously cooperate with a mobile imaging device like e.g. a mobile Cone Beam CT, CT, such as an Imaging Ring / Loop-X and may form a “controllable team" regarding its position and movement to optimize imaging and other related medical workflows. As will be described hereinafter in the context of particular embodiments comprising also such a movable imaging device and / or medical treatment device, with this robotic mobility platform, it is possible that reciprocal awareness of the spatial position of the subsystems like the imaging device, the couch, and possibly other devices such as medical treatment devices and / or surgical robots in relation to each other through tracking can be achieved.

[0020] Moreover, this system provides the possibility to control with the remote control the movement of the couch and the separate movement of the robotic mobility platform. In other words, the remote control can control the robotic mobility platform and the movable patient couch independently from one another regarding their respective movement. The robotic mobility system receives the user instructions via the remote control and the robotic mobility system is then able to control both the platform and the couch based on these received user instructions. Thus, the user may trigger a movement of the robotic mobility platform, or of the moveable patient couch, or of both of them by using the remote control of the system. For example, with the remote control the user can input a desired spatial position of the robotic mobility system. In other words, the user can input an instruction into the remote control about the desired spatial position of the robotic mobility platform, or of the movable patient couch, of both, or he / she can input an instruction about the desired spatial position of the patient and the system then triggers the necessary movements of the robotic mobility platform, or of the movable patient couch, or of both. This will be explained in more detail hereinafter.

[0021] Note that an input of the user into the remote control of the robotic mobility system can be realized in several different forms. For example, the user may input coordinates into the remote control, e.g. x-, y- and / or z-coordinates, and / or he / she may select a pre-stored or pre-defined spatial position, spatial pose and / or spatial configuration of the robotic mobility system and / or of its components. But also inputting steering commands via e.g. a touchpad and / or the remote control panel of the mobile imaging device, or a joystick by the user is comprised by this robotic mobility system.

[0022] The remote control of the robotic mobility system may be configured to send received user instructions to the processing unit. This may be done without any further processing of the user instructions. Alternatively, the remote control may carry out a digital processing of the user instructions and may then send these pre-processed user instructions in e.g. a different format to the processing unit. After such a pre-processing the user instructions may be seen as control signals that are generated by the remote control and that are sent from the remote control to the processing unit. In this case, the remote control is configured to generate such control signals for the processing unit based on user instructions received by the remote control. In other words, the processing unit is configured for receiving user instructions from the remote control and / or control signals from the remote control. When the processing unit is configured to generate and provide control signals to the robotic mobility platform and also to the movable patient couch the user is provided with a fully integrated system regarding the control of the movements of both subsystems.

[0023] Moreover, it should be noted that the processing unit can be located in the robotic mobility platform, or in the couch, or in the remote control, or even somewhere remote in a cloud or a server using a communication link / channel. Further, the processing unit is configured to control - based on the user instructions received from the remote control - the movement of the robotic mobility platform and the movement of the movable patient couch. It may thus create respective control signals for the two movable components of the system, i.e. one or more control signals for the movement of the robotic mobility platform and / or one or more control signals for the movement of the movable patient couch.

[0024] In a preferred embodiment the remote control is a single handheld device, which makes it very pragmatic for the medical personnel for controlling the spatial positions and / or spatial poses of the robotic mobility platform and of the movable patient couch, respectively.

[0025] As was explained hereinbefore, the movable patient couch is mounted onto the robotic mobility platform. Therefore, the robotic mobility platform described herein is a robotic mobility platform for receiving a movable patient couch. In other words, the robotic mobility platform may be used as a base onto which the movable patient couch is to be mounted. Thus, the couch can be mounted or secured at the robotic mobility platform or can be provided on the robotic mobility platform. This will also be elucidated with particular embodiments hereinafter. The robotic mobility system can also be used in the highly optimized particle therapy as a - possibly autonomous - "patient shuttle", i.e. for transporting patients back and forth between the treatment room and the preparation room.

[0026] As is clear to the skilled reader, the robotic system disclosed herein may use in particular embodiments sensors that enable environmental perception, helping the system understand its surroundings. This will be explained in more detail hereinafter in the context of particular embodiments.

[0027] The platform comprises a plurality of wheels for making the platform movable. With the remotecontrol movements caused by rotations of one or more of said wheels can be controlled, preferably in x-, y- and z-direction. In a preferred embodiment each of said wheels are powered, respectively and can be independently controlled with the remote control. In another particular embodiment a plurality of powered double-wheels are provided. This will be explained in more detail hereinafter in the context of particular embodiments.

[0028] Moreover, alternatively or in addition, the robotic system disclosed herein may also incorporate in particular embodiments a degree of autonomy, i.e., rather than the user controlling each individual axis and parameter they may provide high-level commands, e.g. defining a kinematic target within a room coordinate system, also integrating the axes of the robotic mobility platform and movable patient couch. Based on these commands and sensor input, the robotic mobility system of an embodiment may autonomously adjust its actuators, e.g. the traction of individual wheels to optimally achieve the desired tasks. As will be appreciated by the skilled reader, in contrast to a non-robotic system, the system of the present invention allows for the ability to control high-level system behavior through an integration of sensors, decision-making capabilities, and user input. This integration allows the system to operate with greater autonomy and adaptability. This will be explained in more detail hereinafter.

[0029] According to an exemplary embodiment, the processing unit is configured to generate and provide at least one control signal to the robotic mobility platform, or to the movable patient couch, or to both the robotic mobility platform and to the movable patient couch.

[0030] In this embodiment the processing unit also generates the one or more control signals, which is / are needed for causing the desired movement of one or both of the robotic mobility platform and to the movable patient couch. In this way, the system can get into the desired spatial position or spatial pose which is required or desired according to the received user instructions. As is appreciated by the skilled reader said control signals and any other control signal mentioned herein may then be transmitted wirelessly and / or wire-bound to the component or subsystem of the robotic mobility system such that the necessary movement is triggered and carried out.

[0031] According to an exemplary embodiment, the robotic mobility platform comprises an electronic interface to the movable patient couch, and the electronic interface of the robotic mobility platform is configured to propagate control signals for the movable patient couch to a movement mechanism of the movable patient couch for causing the movable patient couch to move according to said control signal.

[0032] This embodiment ensures that the robotic mobility platform has an electronic interface to the couch with which then generated control signals can be sent to the couch for controlling the movement mechanism of the couch. In other words, in this embodiment, the remote control or the processing unit is configured to send control signals to the robotic mobility platform and via the interface the control signals which are addressed to the movable patient couch, i.e. which are to be received by the movable patient couch are forwarded or propagated to the movable patient couch. In this way, the user can control with his / her input into the remote control the movable patient couch through the interface of the robotic mobility platform.

[0033] According to an exemplary embodiment, the robotic mobility platform has several movement degrees of freedom, and the movable patient couch has several movement degrees of freedom regarding its movement.

[0034] In this embodiment it is made clear that both the platform and the couch do each have several degrees of freedom with respect to their moveability. The movable patient couch typically allows for different poses of the patient like e.g. upright sitting or lying entirely horizontally. The movable patient couch can thus move between these different poses or configurations, but cannot relocate itself in lateral direction parallel to the floor on which it stands, i.e., cannot move in x- / y-direction and cannot rotate about the z-axis, which is why it is, without the movability of the robotic mobility platform with which it is combined, stationary. Note that a stationary couch of the prior art may be able to move the patient, lying or sitting on the couch top, slightly in lateral or longitudinal direction by moving the couch top, but it cannot relocate the complete movable couch. On the other hand, the movability of the robotic mobility platform of the present invention may allow for e.g. a rotation around the z-axis, i.e. perpendicular to the x- / y-plane that is parallel to the floor in which the system is standing and also allows for a desired relocation in the room the couch is to be used, i.e., relocate in x- and / or y-direction.

[0035] In a particular embodiment, the movement degrees of freedom of the robotic mobility platform and of the movable patient couch are independent from another. The robotic mobility platform may thus move within its movement degrees of freedom without triggering or necessitating a movement of the movable patient couch. In the same way, the movable patient couch may thus move within its movement degrees of freedom without triggering or necessitating a movement of the robotic mobility platform. Thus, said degrees of freedom are independent from another.

[0036] According to an exemplary embodiment of the present invention, the robotic mobility platform is configured to be rotatable around a virtual vertical z-axis of the movable patient couch, and the robotic mobility platform is configured to be translatable in an x-y-plane which is parallel to a floor on which the robotic mobility platform is to stand.

[0037] In other words, the robotic mobility platform can be remotely controlled such that a rotation of the platform and hence also of the movable patient couch mounted on the platform around the vertical z axis is caused. Preferably, this rotatability of the platform is realized by controlling said plurality of wheels robotic mobility platform. In particular, four double wheels can be used, each of which may pe powered, and by controlling said four powered double wheels of the robotic mobility platform the rotation of the platform is achieved. It should be noted that in the context of the present disclosure the term “double wheel” is used synonymously with the term “dual wheel”.

[0038] Further, regarding the translation in an x-y-plane which is parallel to the floor on which the robotic mobility platform is to stand, the robotic mobility platform can be remotely controlled such that a translation of the robotic mobility platform and hence also of the movable patient couch mounted at or on the platform relative to the floor on which the platform stands / is positioned is achieved. Preferably, this translation in x- and / or y-direction of the platform is realized by controlling said plurality of wheels of the robotic mobility platform. In particular, four double wheels can be used, each of which may pe powered, and by controlling said four powered double wheels of the robotic mobility platform the translation of the platform is achieved.

[0039] It should be noted that this movements of the robotic mobility platform around the z-axis and within the x- / y-plane being perpendicular to the z-axis, can be combined, if desired with movements of the movable patient couch. For example, the movable patient couch itself may make translation movements relative to the robotic mobility platform.

[0040] According to an exemplary embodiment of the present invention, the robotic mobility system, preferably the movable patient couch, comprises one or more angle sensors for determining a rotational angle of the robotic mobility platform relative to said vertical z-axis. Due to the one or more angle sensors the robotic mobility system knows the rotational angle of the robotic mobility platform within the room in which the system is used. As is clear to the skilled reader, a three-dimensional coordination system may be used by the system, in which the robotic mobility system, the robotic mobility platform and / or the movable patient couch are registered. Moreover, different types of angle sensors may used in different embodiments. For example, one Hall sensor per dual wheel of the robotic mobility platform may be used for this purpose and for determining how the overall system is articulated. Another possibility is to use one or more gyros sensors, which is / are also installed in the system, and to measure the rotation angle of the mobility system via the gyro sensor. In another embodiment, the rotational angle of the robotic mobility platform relative to said vertical z-axis is determined by using optical sensors, e.g. IR markers attached to the system, or by inside-out tracking setups utilizing RGB, RGB-D, stereo cameras, or LiDAR systems on the robotic mobility platform and / or movable patient couch, and by using a SLAM algorithm.

[0041] According to an exemplary embodiment of the present invention, the robotic mobility platform comprises four double-wheels, preferably four powered double-wheels, and each double-wheel comprises at least one Hall-sensor. Moreover, the robotic mobility system is configured to determine the rotational angle of the robotic mobility platform relative to said vertical z-axis based on values of said Hall-sensors of the said four double-wheels along with traction values of the wheels.

[0042] In this embodiment at least one Hall sensor per double-wheel, i.e . , dual wheel, is provided in order to determine the rotational angle of the robotic mobility platform relative to said vertical z- axis. From these values of each of the Hall-sensors of each double-wheel, traction information and calibration information, the robotic mobility system can calculate the rotational angle of the robotic mobility platform relative to said vertical z-axis, i.e. how the robotic mobility system / the overall system is articulated. Traction information describes the total rotation since the beginning of the wheel movement of each wheel. The robotic mobility platform is thus preferably configured to use this information for determining the rotational angle of the robotic mobility platform relative to said vertical z-axis.

[0043] According to an exemplary embodiment of the present invention, the robotic mobility platform and the movable patient couch are registered in one coordinate system.

[0044] In contrast to prior art, in this embodiment the platform and the couch are registered in one coordinate system. This facilitates using a collision avoidance when a mobile imaging device and / or a mobile medical treatment device are being part of the system. This will be explained in more detail in particular embodiments hereinafter. According to an exemplary embodiment of the present invention, the robotic mobility system further comprises a movable imaging system for generating images of a patient being positioned on the movable patient couch.

[0045] With this embodiment, the system can be configured to decide whether the imaging system or the robotic mobility system must be moved for the purpose of imaging or other associated workflows. More specifically, the system can be configured to decide which of imaging system, the robotic mobility platform, and the moveable patient couch must be moved for the purpose of imaging or other associated workflows. This decision making can depend on the use case. There may be a common control unit for the imaging system, the robotic mobility platform, and the moveable patient couch and this control unit is configured to make this decision. For example, topograms can be acquired along the patient axis at higher speed if both systems "move towards each other”.

[0046] As is clear to the skilled reader, such a couch or robotic mobility system can advantageously be controlled together with the mobile imaging device. In other words, such a couch or robotic mobility system can cooperate with the mobile imaging device like e.g. an Imaging Ring / Loop-X and may form a “controllable team" regarding its position and movement to optimize imaging and other related medical workflows. With this robotic mobility platform, it is possible that reciprocal awareness of the spatial position of the subsystems like the (imaging ring, couch, possibly other devices such as surgical robots) in relation to each other through tracking can be achieved. Thus, in particular embodiments a tracking system comprised. Several different ways of tracking may be used like e.g. infrared tracking system, position estimation through Ultra-Wide-Band trackers, an optical tracking system using (RGB, RGB-D, stereo) cameras in the room, or on the imaging system, on tablets, on HMDs (feature or marker detection of known objects).

[0047] In a further developed embodiment, spatial position in regard to the physical and peripheral environment of the system not tracked by above mentioned sensors (obstacles, walls, doors) may be captured through optical tracking system using (RGB, RGB-D, stereo) cameras in the room, or on the imaging system, on tablets, on HMDs to generate a real-time 3D collision model for the collision avoidance model.

[0048] In a further developed embodiment, also internal coordinate systems of the individual subsystems can be continued for the time periods in which no tracking is available. Note that both the imaging system and the couch may have their own 3D spatial coordinate system, which can be used for this purpose. According to an exemplary embodiment of the present invention, themovable imaging system, the robotic mobility platform and the movable patient couch are registered in one coordinate system.

[0049] According to an exemplary embodiment of the present invention, the movable imaging system is a movable 2D imaging system, a movable 2D X-ray imaging system, a C-arm, movable 3D or 4D computed tomography system, a movable 3D or 4D cone-beam computed tomography system, a movable 4D imaging system, a movable MR system, a movable ImagingRing system, a movable endoscope, 2D ultrasound system, and / or a 3D ultrasound system.

[0050] According to an exemplary embodiment of the present invention, the robotic mobility system further comprises a collision avoidance module, wherein the collision avoidance module is configured to slow down, redirect, or stop a movement a movement of the robotic mobility platform, of the movable patient couch and / or of the movable imaging system in case an upcoming collision between any of these components is detected by the robotic mobility system.

[0051] As is apparent to the skilled reader, this collision avoidance module can also be understood as a collision prevention module. It may be embodied as a configuration of the control unit and / or may be embodied as a computer program element or software stored in the robotic mobility system and ensures that upon one or more movements of the movable imaging system, of the robotic mobility platform and / or of the movable patient couch no collision between these elements / components occurs.

[0052] According to an exemplary embodiment of the present invention, the collision avoidance module comprises a unified kinematic model of the movable patient couch, of the movable imaging system and of the robotic mobility platform for detecting an upcoming collision.

[0053] In this embodiment the robotic mobility system uses a unified kinematic model in order to avoid a collision between at least two elements out of the movable patient couch, the movable imaging system and of the robotic mobility platform. This unified kinematic model thus ensures that during the controlling of the robotic mobility system with the remote control by the user no collision between the components of the system mentioned herein happens. Thus, the collision avoidance module may be configured upon detecting a future collision between any of those system components to trigger or issue one or more control signal that stops a corresponding movement. As will be appreciated by the skilled reader from this disclosure, it may be desirable that all elements or subsystems of the robotic mobility system are defined, i.e. registered, in the same coordinate system. In a particular embodiment thereof, the unified kinematic model comprises a kinematic model of the movable patient couch, a kinematic model of the movable imaging system and a kinematic model of the robotic mobility platform. In other words, the unified kinematic model of the collision avoidance module comprises all kinematic models of the subsystems, i.e. the patient couch, the mobility platform and of the imaging device. In case a medical treatment device is part of the robotic mobility platform, the unified kinematic model of the collision avoidance module preferably also comprises the kinematic model of the medical treatment device such that a collision also with this medical treatment device can be avoided by the collision avoidance module. As will become apparent from detailed embodiments explained hereinafter, the medical treatment device comprised by the robotic mobility are preferably a radiotherapy device, an RF ablation device, or a histotripsy device. Moreover, a surgical robot may be part of the robotic mobility system, which can be taken into account additionally by the collision avoidance module.

[0054] In a particular embodiment thereof, all subsystems of the robotic mobility system, i.e., the movable patient couch, the movable imaging system and the robotic mobility platform, are defined / registered in the same coordinate system, and all kinematic models of said subsystems (patient couch, mobility platform, imaging device) are known, and the knowledge of the kinematic status (e.g. normally Joint values"; e.g., for a 6-axes robot, 6 joint values) along with e.g. the corresponding 3D CAD models of the subsystems the robotic mobility system is configured to unambiguously derive the positions and / or poses of the subsystems reflecting the current real-world situation.

[0055] According to an exemplary embodiment of the present invention, the collision avoidance module is configured to detect an upcoming collision between any of the robotic mobility platform, the movable patient couch and the movable imaging system without using one or more sensors.

[0056] As was mentioned hereinbefore, this embodiment does not need further external tracking systems or room (depth) cameras to track the robotic mobility system subsystems' current pose and / or position in the room. The robotic mobility system of this embodiment can simply derive this information from the kinematic status and corresponding 3D models. Additional sensors are thus not necessarily required for this task. While in other embodiments additional sensors could be used in addition for improving accuracy, i.e. measuring versus modeling, but as was explained before this is not required necessarily in the present embodiment. Due to the reasons explained before and due to the use of said unified kinematic model, the robotic mobility system of this embodiment facilitates a sensor-less collision detection.

[0057] According to an exemplary embodiment of the present invention, the robotic mobility system further comprises a medical treatment device, preferably a radiotherapy device, an RF ablation device, or a histotripsy device. According to an exemplary embodiment of the present invention, the robotic mobility system further comprises a collision avoidance module, wherein the collision avoidance module is configured to slow down, redirect, or stop a movement a movement of the robotic mobility platform, of the movable patient couch and / or of the movable imaging system in case an upcoming collision between any of these components and the medical treatment device is detected by the robotic mobility system.

[0058] The embodiment may use the unified kinematic model as was explained hereinbefore but may alternatively use other means for detecting a future collision between any of the subsystems of the robotic mobility systems. In any case, the robotic mobility systems will be configured to generate one or more corresponding control signals for stopping a movement of one or more of said subsystems.

[0059] In a particular further embodiment, which could be used in addition or alternatively to the previously mentioned collision avoidance module, a patient surface model is provided and used, which in turn is placed on the “movable patient couch”. The patient surface model can either be selected from a library based on certain metadata known about the patient, such as age, gender, height, weight or alternatively BMI. Alternatively, the patient surface model can also be determined live, e.g. using a 3D camera, e.g. time-of-flight cam, depth cam, structured light cam, or by using a photogrammetry approach.

[0060] According to an exemplary embodiment of the present invention, the robotic mobility platform comprises four double-wheels, wherein all four double-wheels are powered.

[0061] The concept of using in the robotic mobility platform four double-wheels all being powered has particular advantages. With the four double-wheel driven platform, the movable patient couch can be precisely and very flexibly maneuvered in the room the patient needs care. While the movable patient couch typically allows for different poses of the patient like e.g. upright sitting or lying entirely horizontally, see for example Figures 4a and 4b. As was explained hereinbefore, the movable patient couch can thus move between these different poses or configurations, but cannot by itself move in lateral direction parallel to the floor on which it stands, i.e., cannot move in x- / y-direction, see also the coordinate system 108-110 in Figure 1. Due to the combination of this couch with the robotic mobility platform using as a movability mechanism the four powered double-wheels, the movable patient couch becomes mobile in a very precise manner and allows for precise rotations around the vertical z-axis being perpendicular to the floor, see also the coordinate system 108-110 in Figure 1 . Such a rotation around the z-axis is schematically shown in Figure 6 showing a single powered double-wheel with a first and second wheel each being controllably rotatable. Note that a double-wheel has a first wheel and a second wheel as is apparent from e.g. Figures 2 and 6 showing particular embodiments of double-wheels. And as will be understood by the skilled reader, a powered double-wheel can be controlled by the robotic mobility system / by the user independently from the other double-wheels of the platform. Moreover, with this platform each double-wheel can be controlled with respect to the rotation of the first and second wheel causing the desired movement of the platform and thus of the attached patient couch.

[0062] As was already mentioned before in another context, each double-wheels may comprise as Hallsensor, wherein the robotic mobility system is configured to determine the rotational angle of the robotic mobility platform relative to said vertical z-axis based on values of said Hall-sensors along with information about the wheels’ traction.

[0063] According to an exemplary embodiment of the present invention, the four double-wheels comprise a slip ring for facilitating infinite rotations.

[0064] Preferably each of the four double-wheels comprise at least one slip ring, respectively, for facilitating infinite rotations. As will be appreciated by the skilled reader, slip ring enables the transfer of electrical power and signals between a stationary and a rotating component in a system like a double-wheel.

[0065] According to an exemplary embodiment of the present invention, the robotic mobility platform comprises a tiltable base with telescopic actuators configured to compensate for an uneven floor.

[0066] With the tiltable base of this robotic mobility platform, uneven floors can be compensated for such that the stability of the movable couch is facilitated. Preferably, unintended shaking of the couch, and the patient placed thereon, is avoided) despite an uneven floor. Such a base may also be called “Swivel Base”. In a particular embodiment thereof, telescopically extendable supports like “accentuators” are used, as can be gathered from the particular embodiment of Figure 7.

[0067] In a preferred embodiment thereof, the robotic mobility platform comprises four telescopically extendable supports, i.e. “accentuators”, that can align the robotic mobility platform horizontally and stably with four contact points despite the uneven ground. Preferably, one force sensor per support is comprised, mainly to detect when a support starts to touch the ground, so that the four supports can generally be extended to different lengths and maximum stability. Note that in normal cases >= 3 double-wheels also touch the ground together with the supports. These force sensors can also be used to estimate the patient's weight. Alternatively own sensors on the dual wheel suspensions could be installed. According to an exemplary embodiment of the present invention, the tiltable base comprises one or more force sensors on wheel suspension or on the telescopic actuators for estimating patient weight and / or for identifying a risk of tipping over, preferably at high floor gradients.

[0068] According to an exemplary embodiment of the present invention, the processing unit is configured to decide, depending on the user instructions received from the remote control, whether at least one control signal for the robotic mobility platform is to be generated, or whether at least one control signal for the movable patient couch is to be generated, or whether at least one control signal for both the robotic mobility platform and for the movable patient couch is to be generated.

[0069] In this embodiment the processing unit is able or configured to decided - based on the user instructions received from the remote control requesting a particular desired movement and / or a desired position change of the system, which control signal has to be generated and sent to the couch, the platform or both of them for causing the necessary movement. The processing unit is thus able to decide which movement mechanism of which subsystem of the robotic mobility platform has to be triggered, e.g. which first and / or second wheel of which double wheel, see e.g. the particular embodiment of Figure 2, has to be rotated to achieve the necessary or desired movement. In other words, in this embodiment, the processing unit is configured to determine, based on user instructions received from the remote control requesting a specific movement or position change of the system, which control signal should be generated and sent to the couch, the platform, or both, to execute the requested movement.

[0070] According to an exemplary embodiment of the present invention, the robotic mobility system is configured for positioning the patient at a desired spatial position and / or in a desired spatial pose, preferably relative to a medical imaging system and / or a medical treatment device.

[0071] According to an exemplary embodiment of the present invention, the remote control is a single remote control for controlling both movements of the robotic mobility platform and movements of the movable patient couch.

[0072] In this embodiment the remote control is a single handheld device, which makes it very pragmatic for the medical personnel for controlling the spatial positions and / or spatial poses of the robotic mobility platform and of the movable patient couch, respectively.

[0073] According to an exemplary embodiment of the present invention, the robotic mobility platform comprises an inductive receiver for being inductively wirelessly charged by an inductive sender, and / or the movable patient couch comprises an inductive receiver for being inductively wirelessly charged by an inductive sender.

[0074] This embodiment provides the inductive wireless charging option. Actually, multiple devices, preferably each having an inductive receiver, of the system could be charged with one inductive sender. This may also comprise the mobile imaging device and the medical treatment device mentioned hereinbefore.

[0075] According to a second aspect of the present invention, a method of controlling a robotic mobility system for moving a patient on a movable patient couch is presented. The method comprises the steps of providing a robotic mobility platform on which a movable patient couch is mounted (S 1 ), providing a processing unit (S2), providing a remote control (S3), receiving by the remote-control user instructions relating to a desired spatial position of the robotic mobility system (S4), sending received user instructions from the remote control to the processing unit (S5), and controlling - based on the user instructions received from the remote control - the robotic mobility platform and the movable patient couch by the processing unit (S6).

[0076] The method may comprise computer-implemented and non-computer implemented method steps. In detail, while the steps S1 to S3 relating to the provision of the robotic mobility platform, the processing unit, and of the remote control are not computer implemented method steps, the steps S4 to S6 may be seen as being computer implemented.

[0077] According to an embodiment of the present invention, the method further comprises the step of deciding by the processing unit, depending on the user instructions received from the remote control, whether at least one control signal for the robotic mobility platform is to be generated, or whether at least one control signal for the movable patient couch is to be generated, or whether at least one control signal for both the robotic mobility platform and for the movable patient couch is to be generated.

[0078] In another embodiment, a head-Mounted-Display (MHD) with collision avoidance with modeled and / or real detected (i.e. not modeled) objects may be part of the system as presented herein.

[0079] DEFINITIONS In this section, definitions for specific terminology used in this disclosure are offered which also form part of the present disclosure.

[0080] Computer implemented method

[0081] The method in accordance with the present disclosure is for example a computer implemented method. For example, all the steps or merely some of the steps (i.e. less than the total number of steps) of the method in accordance with the present disclosure can be executed by a computer (for example, at least one computer). An embodiment of the computer implemented method is a use of the computer for performing a data processing method. An embodiment of the computer implemented method is a method concerning the operation of the computer such that the computer is operated to perform one, more or all steps of the method.

[0082] The computer for example comprises at least one processor and for example at least one memory in order to (technically) process the data, for example electronically and / or optically. The processor being for example made of a substance or composition which is a semiconductor, for example at least partly n- and / or p-doped semiconductor, for example at least one of II-, III-, IV-, V-, VI- semiconductor material, for example (doped) silicon and / or gallium arsenide. The calculating or determining steps described are for example performed by a computer. Determining steps or calculating steps are for example steps of determining data within the framework of the technical method, for example within the framework of a program. A computer is for example any kind of data processing device, for example electronic data processing device. A computer can be a device which is generally thought of as such, for example desktop PCs, notebooks, netbooks, etc., but can also be any programmable apparatus, such as for example a mobile phone or an embedded processor. A computer can for example comprise a system (network) of "sub-computers", wherein each sub-computer represents a computer in its own right. The term "computer" includes a cloud computer, for example a cloud server. The term "cloud computer" includes a cloud computer system which for example comprises a system of at least one cloud computer and for example a plurality of operatively interconnected cloud computers such as a server farm. Such a cloud computer is preferably connected to a wide area network such as the world wide web (WWW) and located in a so-called cloud of computers which are all connected to the world wide web. Such an infrastructure is used for "cloud computing", which describes computation, software, data access and storage services which do not require the end user to know the physical location and / or configuration of the computer delivering a specific service. For example, the term "cloud" is used in this respect as a metaphor for the Internet (world wide web). For example, the cloud provides computing infrastructure as a service (laaS). The cloud computer can function as a virtual host for an operating system and / or data processing application which is used to execute the method of the present disclosure. The cloud computer is for example an elastic compute cloud (EC2) as provided by Amazon Web Services™. A computer for example comprises interfaces in order to receive or output data and / or perform an analogue-to-digital conversion. The data are for example data which represent physical properties and / or which are generated from technical signals. The technical signals are for example generated by means of (technical) detection devices (such as for example devices for detecting marker devices) and / or (technical) analytical devices (such as for example devices for performing (medical) imaging methods), wherein the technical signals are for example electrical or optical signals. The technical signals for example represent the data received or outputted by the computer. The computer is preferably operatively coupled to a display device which allows information outputted by the computer to be displayed, for example to a user. One example of a display device is a virtual reality device or an augmented reality device (also referred to as virtual reality glasses or augmented reality glasses) which can be used as "goggles" for navigating. A specific example of such augmented reality glasses is Google Glass (a trademark of Google, Inc.). An augmented reality device or a virtual reality device can be used both to input information into the computer by user interaction and to display information outputted by the computer. Another example of a display device would be a standard computer monitor comprising for example a liquid crystal display operatively coupled to the computer for receiving display control data from the computer for generating signals used to display image information content on the display device. A specific embodiment of such a computer monitor is a digital lightbox. An example of such a digital lightbox is Buzz®, a product of Brainlab AG. The monitor may also be the monitor of a portable, for example handheld, device such as a smart phone or personal digital assistant or digital media player.

[0083] The disclosure relates to a program which, when running on a computer, causes the computer to perform one or more or all of the method steps described herein and / or to a program storage medium on which the program is stored (in particular in a non-transitory form) and / or to a computer comprising said program storage medium and / or to a (physical, for example electrical, for example technically generated) signal wave, for example a digital signal wave, carrying information which represents the program, for example the aforementioned program, which for example comprises code means which are adapted to perform any or all of the method steps described herein.

[0084] Within the framework of the present disclosure, computer program elements can be embodied by hardware and / or software (this includes firmware, resident software, micro-code, etc.). Within the framework of the present disclosure, computer program elements can take the form of a computer program product which can be embodied by a computer-usable, for example computer-readable data storage medium comprising computer-usable, for example computer-readable program instructions, "code" or a "computer program" embodied in said data storage medium for use on or in connection with the instruction-executing system. Such a system can be a computer; a computer can be a data processing device comprising means for executing the computer program elements and / or the program in accordance with the present disclosure, for example a data processing device comprising a digital processor (central processing unit or CPU) which executes the computer program elements, and optionally a volatile memory (for example a random access memory or RAM) for storing data used for and / or produced by executing the computer program elements. Within the framework of the present disclosure, a computer-usable, for example computer-readable data storage medium can be any data storage medium which can include, store, communicate, propagate or transport the program for use on or in connection with the instruction-executing system, apparatus or device. The computer-usable, for example computer- readable data storage medium can for example be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, apparatus or device or a medium of propagation such as for example the Internet. The computer-usable or computer-readable data storage medium could even for example be paper or another suitable medium onto which the program is printed, since the program could be electronically captured, for example by optically scanning the paper or other suitable medium, and then compiled, interpreted or otherwise processed in a suitable manner. The data storage medium is preferably a non-volatile data storage medium. The computer program product and any software and / or hardware described here form the various means for performing the functions of the present disclosure in the example embodiments. The computer and / or data processing device can for example include a guidance information device which includes means for outputting guidance information. The guidance information can be outputted, for example to a user, visually by a visual indicating means (for example, a monitor and / or a lamp) and / or acoustically by an acoustic indicating means (for example, a loudspeaker and / or a digital speech output device) and / or tactilely by a tactile indicating means (for example, a vibrating element or a vibration element incorporated into an instrument). Forthe purpose of this document, a computer is a technical computerwhich for example comprises technical, for example tangible components, for example mechanical and / or electronic components. Any device mentioned as such in this document is a technical and for example tangible device.

[0085] Imaging methods

[0086] In the field of medicine, imaging methods (also called imaging modalities and / or medical imaging modalities) are used to generate image data (for example, two-dimensional or three-dimensional image data) of anatomical structures (such as soft tissues, bones, organs, etc.) of the human body. The term "medical imaging methods" is understood to mean (advantageously apparatus-based) imaging methods (for example so-called medical imaging modalities and / or radiological imaging methods) such as for instance computed tomography (CT) and cone beam computed tomography (CBCT, such as volumetric CBCT), x-ray tomography, magnetic resonance tomography (MRT or MRI), conventional x-ray, sonography and / or ultrasound examinations, and positron emission tomography. For example, the medical imaging methods are performed by the analytical devices. Examples for medical imaging modalities applied by medical imaging methods are: X- ray radiography, magnetic resonance imaging, medical ultrasonography or ultrasound, endoscopy, elastography, tactile imaging, thermography, medical photography and nuclear medicine functional imaging techniques as positron emission tomography (PET) and Single-photon emission computed tomography (SPECT), as mentioned by Wikipedia. The image data thus generated is also termed “medical imaging data”. Analytical devices for example are used to generate the image data in apparatus-based imaging methods. The imaging methods are for example used for medical diagnostics, to analyse the anatomical body in order to generate images which are described by the image data. The imaging methods are also for example used to detect pathological changes in the human body. However, some of the changes in the anatomical structure, such as the pathological changes in the structures (tissue), may not be detectable and for example may not be visible in the images generated by the imaging methods. A tumour represents an example of a change in an anatomical structure. If the tumour grows, it may then be said to represent an expanded anatomical structure. This expanded anatomical structure may not be detectable; for example, only a part of the expanded anatomical structure may be detectable. Primary / high-grade brain tumours are for example usually visible on MRI scans when contrast agents are used to infiltrate the tumour. MRI scans represent an example of an imaging method. In the case of MRI scans of such brain tumours, the signal enhancement in the MRI images (due to the contrast agents infiltrating the tumour) is considered to represent the solid tumour mass. Thus, the tumour is detectable and for example discernible in the image generated by the imaging method. In addition to these tumours, referred to as "enhancing" tumours, it is thought that approximately 10% of brain tumours are not discernible on a scan and are for example not visible to a user looking at the images generated by the imaging method.

[0087] Medical Workflow

[0088] A medical workflow comprises a plurality of workflow steps performed during a medical treatment and / or a medical diagnosis. The workflow steps are typically, but not necessarily performed in a predetermined order. Each workflow step for example means a particular task, which might be a single action or a set of actions. Examples of workflow steps are capturing a medical image, positioning a patient, attaching a marker, performing a resection, moving a joint, placing an implant and the like.

[0089] BRIEF DESCRIPTION OF THE DRAWINGS

[0090] In the following, the invention is described with reference to the appended figures which give background explanations and represent specific embodiments of the invention. The scope of the invention is however not limited to the specific features disclosed in the context of the figures, wherein

[0091] Fig. 1 schematically illustrates an intervention room in a hospital with a robotic mobility system according to an exemplary embodiment of the present disclosure;

[0092] Fig. 2 schematically illustrates a robotic mobility platform for use in a robotic mobility system according to an exemplary embodiment of the present disclosure;

[0093] Fig. 3 schematically illustrates a robotic mobility system according to an exemplary embodiment of the present disclosure;

[0094] Figs 4a and 4b schematically illustrate different poses of a movable patient couch, which can be arranged on a robotic mobility platform according to an exemplary embodiment of the present disclosure;

[0095] Figs 5a to 5c schematically illustrate different embodiments of a robotic mobility system according to exemplary embodiments of the present disclosure;

[0096] Fig. 6 schematically illustrates a double-wheel being part of a robotic mobility platform according to an exemplary embodiment of the present disclosure; and

[0097] Fig. 7 schematically illustrates a telescopically extendable support that can align the robotic mobility platform horizontally according to an exemplary embodiment of the present disclosure.

[0098] DESCRIPTION OF EMBODIMENTS

[0099] Figure 1 schematically illustrates an intervention room in a hospital with a robotic mobility system 100 for moving a patient on a movable patient couch according to an exemplary embodiment of the present disclosure. The robotic mobility system 100 comprises a robotic mobility platform 101 , which in turn comprises a plurality of wheels for making the platform movable. The wheels are not shown in Figure 1 , but can bee seen e.g. from the particular embodiments shown in Figures 2 and 6. The wheels of the platform 101 allow a movement and thus a relocation of the movable patient couch 102 within the horizontal x-Zy-plane being parallel to the floor or ground of the intervention room. Furthermore, with said wheels of the platform 101 a rotation of the platform around vertical z-axis 110 can be carried. Note that Figure 1 shows the corresponding coordinate system with x- axis 108, y-axis 109 and z-axis 110. The robotic mobility system 100 further comprises a movable patient couch 102 which is mounted onto the robotic mobility platform 101. The robotic mobility system 100 also comprises a remote control 106 configured for receiving user instructions relating to e.g. a desired spatial position of the robotic mobility system 100 and comprises a processing unit like a CPU, which is integrated in this embodiment in the robotic mobility platform 101 . Note that as an alternative or additionally, also the RCP (tablet) docked on the ImagingRing gantry can be used as remote control. The remote control 106 is mounted in this embodiment at the wall of the intervention room and is configured to send received user instructions to the processing unit 107 of the platform. Furthermore, the processing unit 107 is configured to control - based on the user instructions received from the remote control 106 - the robotic mobility platform 101 with its wheels and also control the movable patient couch 102. The processing unit 107 is configured to generate and provide control signals to the robotic mobility platform 102 and also to the movable patient couch 102 such that the user is provided with a fully integrated system regarding the control of the movements of both subsystems. As is apparent to the skilled reader, the robotic mobility platform

[0100] 101 has several movement degrees of freedom, and the movable patient couch 102 has several movement degrees of freedom regarding its movement, wherein the movement degrees of freedom of the robotic mobility platform and of the movable patient couch are independent from another. Thus, if needed and desired a movement of the movement mechanism of only the couch 102 can be caused by using the remote control 106, and a movement of the movement mechanism, i.e. the wheels, of only the platform 101 can be caused by using the remote control 106. But if needed and desired the system 100 of course allows triggering a movement of both subsystems simultaneously.

[0101] The robotic mobility system 100 also comprises a movable imaging system 104 for generating images of a patient being positioned on the movable patient couch 102. The movable imaging system 104, the robotic mobility platform 101 and the movable patient couch 102 are registered in one coordinate system. This facilitates using a collision avoidance module such that during a movement of the mobile imaging device and / or of the platform 101 and / or of the couch 102 a collision can be avoided by stopping particular movements or by not allowing particular instructions from the user. Regarding the collision avoidance module is referred to detailed explanations presented hereinbefore. Moreover, the system 100 and its subsystems may be configured for wireless charging. In a particular embodiment, the robotic mobility platform 101 comprises an inductive receiver for being inductively wirelessly charged by an inductive sender, and also the movable patient couch 102 comprises an inductive receiver for being inductively wirelessly charged by said inductive sender. Actually, multiple devices, preferably each having an inductive receiver, of the system could be charged with one inductive sender. This may also comprise the mobile imaging device 104 and a medical treatment device.

[0102] With the movable imaging system 104 and the robotic mobility system 100 two fully mobile robots are provided. The imaging system generally can be any 2D, 3D CBCT and 4D imaging device and system 100 provides a Patient Positioning System (couch, transformable to chair). Both systems can be integrated in one Motion Control System with an interface to a particle therapy room’s Gantry Control System. A synchronized motion of the imaging system 104, the system 100 with the couch

[0103] 102 and also with a particle therapy gantry 111 of the LINAC is possible to enable fast, efficient and safe workflows, in isocenter imaging, highest precision (all components can also be optically tracked) and prospective and real time collision avoidance, as was detailed hereinbefore.

[0104] Figure 2 schematically illustrates a robotic mobility platform 200 for use in a robotic mobility system according to an exemplary embodiment of the present disclosure. The platform 200 comprises a top housing 201 with a couch recess 202 into which a movable patient couch is to be brought and fixed to the structural component 203. The platform 200 further comprises a structural component

[0105] 203 at which four double-wheels 204 can be mounted. In this embodiment all four double-wheels

[0106] 204 are powered. According to this embodiment each double-wheel comprises a Hall-sensor and the robotic mobility platform 200 is configured to determine the rotational angle of the robotic mobility platform relative to said vertical z-axis (see Figure 1) based on values of said Hall-sensors along with the wheels’ traction values. The concept of using in the robotic mobility platform 200 four double-wheels 204 all being powered has particular advantages. With the four double-wheel driven platform 200, a movable patient couch can be precisely and very flexibly maneuvered in the room where the patient needs care. While the movable patient couch typically allows for different poses of the patient like e.g. upright sitting or lying entirely horizontally, see for example Figures 4a and 4b. As was explained hereinbefore, the movable patient couch can thus move between these different poses or configurations, but cannot by itself move in lateral direction parallel to the floor on which it stands, i.e., cannot move in x-Zy-direction by larger distances, see also the coordinate system 108-110 in Figure 1. Due to the combination of this couch with the robotic mobility platform using as a movability mechanism the four powered double-wheels, the movable patient couch becomes mobile in a very precise manner and allows for precise rotations around the vertical z- axis being perpendicular to the floor, see also the coordinate system 108-110 in Figure 1. Such a rotation around the z-axis is schematically shown in Figure 6 showing a single powered doublewheel with a first and second wheel each being controllably rotatable. Preferably each of the four double-wheels 204 comprise at least one slip ring, respectively, for facilitating infinite rotations. Such a slip ring enables the transfer of electrical power and signals between a stationary and a rotating component in a system like a double-wheel. The platform 200 of Figure 2 can be combined e.g. with the movable patient couch shown in Figures 4a and 4b.

[0107] Thus, a robotic mobility platform 200 can be beneficially used for surgical applications and hybrid ORs. The four double-wheels provide fast motion and fast direction changes along robotic motion trajectories. It is capable of being inductively charged (no cables on floor) and can provide an integrated in motion control system. Thus, a simultaneous motion of the platform 200 with an imaging device and preferably with a gantry 111 of a LINAC (see Figure 1) like can be achieved.

[0108] Figure 3 schematically illustrates a robotic mobility system 300 according to an exemplary embodiment of the present disclosure. The system 300 comprises a movable patient couch 301 and a robotic mobility platform 302, which comprises a tiltable base configured to compensate for an uneven floor. The base comprises one or more force sensors on wheel suspension for estimating patient weight and / or for identifying a risk of tipping over at high floor gradients. In this embodiment of Figure 3 the processing unit is located remotely in a cloud or in a server using a communication link / channel to the platform 302 and the couch 301. This processing unit is configured to decide, depending on the user instructions received from the remote control which is not shown, whether at least one control signal for the robotic mobility platform 302 is to be generated, or whether at least one control signal for the movable patient couch 301 is to be generated, or whether at least one control signal for both the robotic mobility platform 302 and for the movable patient couch is to be generated 301. As has become clear from the previous explanations, the robotic mobility system 300 is configured for positioning the patient at a desired spatial position and / or in a desired spatial pose, preferably relative to a medical imaging system and / or a medical treatment device.

[0109] Figures 4a and 4b schematically illustrate different poses of a movable patient couch 400 and 401 , which can be arranged on a robotic mobility platform according to an exemplary embodiment of the present disclosure. For example, the couch 401 and 401 can be combined with the robotic mobility platform 200 shown in Figure 2.

[0110] Figures 5a to 5c schematically illustrate different embodiments of a robotic mobility system 500 according to exemplary embodiments of the present disclosure. In Figure 5a the robotic mobility system 500 is presented with a single handheld remote control 503 which sends control signals 505 for causing movements of both the robotic mobility platform 502 and of the movable patient couch 501 to the platform 502. In the platform 502 a processing unit is comprised, which is configured to send received user instructions to said processing unit. Further, the processing unit is configured to control - based on the user instructions received from the remote control 503 - the robotic mobility platform 502 and the movable patient couch 501 . Thus, the robotic mobility platform 502 comprises an electronic interface 504 to the movable patient couch 501 , wherein the electronic interface 504 of the robotic mobility platform 502 is configured to propagate control signals 505 for the movable patient couch 501 to a movement mechanism of the movable patient couch for causing the movable patient couch 501 to move according to said control signal 505.

[0111] In contrast thereto, in the embodiment of Figure 5b the single handheld remote control 503 sends control signals 505 for causing movements separately to the robotic mobility platform 502 and to the movable patient couch 501 . Both the robotic mobility platform 502 and to the movable patient couch 501 each comprise a processing unit configured to control - based on the user instructions and control signals 505 received from the remote control 503 - the robotic mobility platform 502 and the movable patient couch 501 , respectively.

[0112] Moreover, in Figure 5c the processing unit 506 is located outside the platform 502 and outside of the couch 501 in a cloud or in a server using a communication link / channel to the platform 502 and the couch 501 to transmit respective control signals 505. The remote control 503 sends user instructions or control signals 505 to said processing unit 506.

[0113] According to another embodiment, a robotic mobility system may make use of the double-wheel 600 shown in Figure 6, which is part of a robotic mobility platform. Two powerful torque motors are comprised by the double-wheel 600. Hall sensors for highest positioning precision are used. The double-wheel 600 comprises a first wheel on the left side which can independently rotate from a rotation the second wheel on the right side is carrying out. With the control mechanism described herein a robotic mobility system using such double-wheel driven platform, the movable patient couch can be precisely and very flexibly maneuvered in the room the patient needs care. Due to contrary rotations of the first and second wheels, as is indicated in Figure 6 by the different arrows, a desired rotation 602 around the z-axis 603 of the platform can be achieved. Such double-wheels or dual-wheels can preferably be combined with the following components. A cycloidal gearbox may be used with two cycloidal discs with a 180° offset. It has been shown that stainless steel rollers with center axle are cheap and have a very good wear resistance and a high compressive strength. This allows for tolerance compensation by using rollers with different outer diameter.

[0114] Figure 7 schematically illustrates a telescopically extendable support / actuator 700 that can align the robotic mobility platform horizontally according to an exemplary embodiment of the present disclosure. One actuator can be used on each corner of the platform, preferably as close as possible to the wheels and the edges of the platform. The purpose is stabilizing the entire assembly when a firm stand is required. The lifting capability may be 250 kg per actuator and it might have an integrated force sensor. This provides a swivel base to compensate for uneven floors and has a very small form factor. A FlexiForce A201 force sensor (up to 455 kg) may be used and the swivel base may be tiltable up to 6°. The system also provides a spring-loaded sensor relief and an internal sensor cable routing. The actuator 700 has a flexible base housing (3d printed) and provides floor protection and dust and dirt protection.

[0115] While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered exemplary and not restrictive. The invention is not limited to the disclosed embodiments. In view of the foregoing description and drawings it will be evident to a person skilled in the art that various modifications may be made within the scope of the invention, as defined by the claims.

Claims

medPhoton GmbHAttorney’s File: B19285WOCLAIMS1 . Robotic mobility system for moving a patient on a movable patient couch, the robotic mobility system comprising- a robotic mobility platform comprising a plurality of wheels,- the movable patient couch,- a remote control configured for receiving user instructions relating to a desired spatial position of the robotic mobility system,- a processing unit, wherein the movable patient couch is mounted at the robotic mobility platform, wherein the remote control is configured to send received user instructions to the processing unit, and wherein the processing unit is configured to control - based on the user instructions received from the remote control - the robotic mobility platform and the movable patient couch.

2. Robotic mobility system according to claim 1 , wherein the processing unit is configured to generate and provide at least one control signal to the robotic mobility platform, or to the movable patient couch, or to both the robotic mobility platform and to the movable patient couch.

3. Robotic mobility system according to claim 1 or 2, wherein the robotic mobility platform comprises an electronic interface to the movable patient couch, and wherein the electronic interface of the robotic mobility platform is configured to propagate control signals for the movable patient couch to a movement mechanism of the movable patient couch for causing the movable patient couch to move according to said control signal.

4. Robotic mobility system according to any of the preceding claims, wherein the robotic mobility platform has several movement degrees of freedom, and wherein the movable patient couch has several movement degrees of freedom regarding its movement.

5. Robotic mobility system according to claim 4, wherein the movement degrees of freedom of the robotic mobility platform and of the movable patient couch are independent from another.

6. Robotic mobility system according to any of the preceding claims, wherein the robotic mobility platform is configured to be rotatable around a virtual vertical z-axis of the movable patient couch, and wherein the robotic mobility platform is configured to be translatable in an x-y-plane which is parallel to a floor on which the robotic mobility platform is to stand.

7. Robotic mobility system according to claim 6, wherein the robotic mobility system, preferably the movable patient couch, comprises one or more angle sensors for determining a rotational angle of the robotic mobility platform relative to said vertical z-axis.

8. Robotic mobility system according to claim 7 wherein the robotic mobility platform comprises four double-wheels, preferably four powered double-wheels, and wherein each double-wheels comprises as Hall-sensor, and wherein the robotic mobility system is configured to determine the rotational angle of the robotic mobility platform relative to said vertical z-axis based on values of said Hall-sensors along with traction values of the wheels.

9. Robotic mobility system according to any of preceding claims, wherein the robotic mobility platform and the movable patient couch are registered in one coordinate system.

10. Robotic mobility system according to any of the preceding claims, the robotic mobility system further comprising a movable imaging system for generating images of a patient being positioned on the movable patient couch.11 . Robotic mobility system according to claim 10, wherein the movable imaging system is at least one of a movable 2D imaging system, a movable 2D X-ray imaging system, a C-arm, movable 3D or 4D computed tomography system, a movable 3D or 4D cone-beam computed tomography system, a movable 4D imaging system, a movable MR system, a movable imaging ring system, a movable endoscope, 2D ultrasound system, and / or a 3D ultrasound system.

12. Robotic mobility system according to any of claims 10 or 11 , wherein the movable imaging system, the robotic mobility platform and the movable patient couch are registered in one coordinate system.

13. Robotic mobility system according to any of claims 10 to 12, the robotic mobility system further comprises a collision avoidance module, wherein the collision avoidance module is configured to slow down, redirect, or stop a movement of the robotic mobility platform, of the movable patient couch and / or of the movable imaging system in case an upcoming collision between any of these components is detected by the robotic mobility system.

14. Robotic mobility system according to claim 13, wherein the collision avoidance module comprises a unified kinematic model of the movable patient couch, of the movable imaging system and of the robotic mobility platform for detecting an upcoming collision.

15. Robotic mobility system according to claim 13 or 14, wherein the collision avoidance module is configured to detect an upcoming collision between any of the robotic mobility platform, the movable patient couch and the movable imaging system without using one or more sensors.

16. Robotic mobility system according to any of the preceding claims, the robotic mobility system further comprising a medical treatment device, preferably a radiotherapy device, an RF ablation device, or a histotripsy device, or a surgical robot.

17. Robotic mobility system according to according to claim 16, the robotic mobility system further comprising a collision avoidance module, wherein the collision avoidance module is configured to slow down, redirect, or stop a movement of the robotic mobility platform, of the movable patient couch and / or of the movable imaging system in case an upcoming collision between any of these components and the medical treatment device is detected by the robotic mobility system.

18. Robotic mobility system according to any of the preceding claims, wherein the robotic mobility platform comprises four double-wheels, and wherein all four double-wheels are powered.

19. Robotic mobility system according to claim 18, wherein of the four double-wheels comprises a slip ring for facilitating infinite rotations.

20. Robotic mobility system according to any of the preceding claims,wherein the robotic mobility platform comprises a tiltable base with telescopic actuators configured to compensate for an uneven floor.21 . Robotic mobility system according to claim 20, wherein the base comprises one or more force sensors on wheel suspension or on the telescopic actuators for estimating patient weight and / or for identifying a risk of tipping over, preferably at high floor gradients.

22. Robotic mobility system according to any of the preceding claims, wherein the processing unit is configured to decide, depending on the user instructions received from the remote control, whether at least one control signal for the robotic mobility platform is to be generated, or whether at least one control signal for the movable patient couch is to be generated, or whether at least one control signal for both the robotic mobility platform and for the movable patient couch is to be generated.

23. Robotic mobility system according to any of the preceding claims, wherein the robotic mobility system is configured for positioning the patient at a desired spatial position and / or in a desired spatial pose, preferably relative to a medical imaging system and / or a medical treatment device.

24. Robotic mobility system according to any of the preceding claims, wherein remote control is a single remote control for controlling both movements of the robotic mobility platform and movements of the movable patient couch.

25. Robotic mobility system according to any of the preceding claims, wherein the robotic mobility platform comprises an inductive receiver for being inductively wirelessly charged by an inductive sender, and / or wherein the movable patient couch comprises an inductive receiver for being inductively wirelessly charged by an inductive sender.

26. Method of controlling a robotic mobility system for moving a patient on a movable patient couch, the method comprising providing a robotic mobility platform on which a movable patient couch is mounted, providing a processing unit, providing a remote control, receiving by the remote-control user instructions relating to a desired spatial position of the robotic mobility system, sending received user instructions from the remote control to the processing unit, andcontrolling - based on the user instructions received from the remote control - the robotic mobility platform and the movable patient couch by the processing unit.

27. Method according to claim 26, the method further comprising the step deciding by the processing unit, depending on the user instructions received from the remote control, whether at least one control signal for the robotic mobility platform is to be generated, or whether at least one control signal for the movable patient couch is to be generated, or whether at least one control signal for both the robotic mobility platform and for the movable patient couch is to be generated.

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