System and method for moving an X-ray imaging system
阅读说明:本技术 用于移动x射线成像系统的系统和方法 (System and method for moving an X-ray imaging system ) 是由 卡洛斯·马丁内斯费雷拉 琼-米歇尔·马尔图 朱利安·马科特 赫夫·布法德 塞巴斯蒂安·罗昆德 于 2019-08-14 设计创作,主要内容包括:本发明题为“用于移动X射线成像系统的系统和方法”。本发明提供了用于移动x射线成像系统的各种方法和系统。在一个实施方案中,系统包括:机架,该机架具有彼此相对地安装在其上的x射线源和x射线检测器;支架,该支架联接到机架并被配置成使机架相对于支架旋转;和机械臂,该机械臂将支架联接到基部,机械臂包括至少三个连杆和四个接头。(The invention provides a system and method for a mobile X-ray imaging system. Various methods and systems are provided for a mobile x-ray imaging system. In one embodiment, a system comprises: a gantry having an x-ray source and an x-ray detector mounted thereon opposite to each other; a mount coupled to the frame and configured to rotate the frame relative to the mount; and a robotic arm coupling the stand to the base, the robotic arm including at least three links and four joints.)
1. A system, comprising:
a gantry having an x-ray source and an x-ray detector mounted thereon opposite to each other;
a mount coupled to the frame and configured to rotate the frame relative to the mount; and
a robotic arm coupling the stand to a base, the robotic arm including at least three links and four joints.
2. The system of claim 1, wherein the base comprises a moving base, and further comprising a set of wheels driven by one or more motors, the set of wheels coupled to the moving base.
3. The system of claim 1, further comprising a torque balancing system for resisting static torques generated by the configuration of the at least three links of the robotic arm, the frame, and the base.
4. The system of claim 3, wherein the torque balancing system comprises a plurality of springs, each spring configured to apply a balancing torque proximate the corresponding rotational joint of the at least three links of the robotic arm, the frame, and the moving base.
5. The system of claim 1, wherein the at least three links of the robotic arm are movable in a first plane relative to the motion base, wherein a joint of the robotic arm between a link of the robotic arm and the support is configured to rotate the support relative to the link in a plane perpendicular to the first plane, and wherein the support is configured to rotate the gantry relative to the support along a track of the gantry.
6. The system of claim 1, further comprising a controller and a user interface, wherein the controller receives a desired isocenter position via the user interface, and wherein the controller controls one or more of the at least three links of the robotic arm to adjust an isocenter of the gantry to the desired isocenter position.
7. The system of claim 6, wherein the controller simultaneously controls one or more of the at least three links of the robotic arm to adjust the isocenter to the desired isocenter position.
8. The system of claim 1, wherein a vertical height of a coupling between the second robotic arm and the mobile base is inversely related to a length of the first robotic arm and the second robotic arm.
9. A method for moving an x-ray imaging system, comprising:
receiving an indication of a desired isocenter position;
calculating a positional adjustment to one or more components of the mobile x-ray imaging system; and
controlling one or more motors to adjust a position of the one or more components to align an isocenter of the mobile x-ray imaging system with the desired isocenter position.
10. A system, comprising:
a C-shaped gantry having an x-ray source and an x-ray detector mounted thereon;
a bracket coupled to the C-shaped gantry and configured to translate the C-shaped gantry relative to the bracket;
a first link of a robotic arm coupled to the carriage at a first joint, the carriage rotatable relative to the first link in a first plane at the first joint;
a second link of the robotic arm coupled to the first link at a second joint, the first link rotatable relative to the second link at the second joint in a second plane perpendicular to the first plane;
a third link of the robotic arm coupled to the second link at a third joint, the second link rotatable relative to the third link in the second plane at the third joint;
a moving base coupled to the third link at a fourth joint, the third link being rotatable relative to the moving base in the second plane at the fourth joint; and
a controller configured by instructions in a non-transitory memory that, when executed, cause the controller to:
receiving a desired isocenter position; and
controlling one or more of the support, the first link, the second link, the third link, and the moving base to adjust an isocenter of the x-ray source and the x-ray detector to the desired isocenter position.
Technical Field
Embodiments of the subject matter disclosed herein relate to x-ray imaging systems, and in particular to moving an x-ray imaging system gantry.
Background
It is often desirable to x-ray a patient from several different positions, and it is often preferable to do so without having to reposition the patient. Mobile C-arm x-ray imaging systems have been developed to meet these needs and are now well known in the medical and surgical arts. The C-arm x-ray imaging system is particularly useful because it is small enough and has sufficient mobility to appear under operational or examination conditions without requiring the physician to move repeatedly or requiring the patient to change positions to obtain a suitable image.
The term "C-arm" refers to a generally C-shaped gantry of a machine to which an x-ray source and an x-ray detector are mounted on opposite ends of the C-arm such that x-rays emitted by the x-ray source are incident on and detected by the x-ray detector. The x-ray source and the x-ray detector are positioned such that, for example, when a human body tip is interposed between the x-ray source and the x-ray detector and irradiated with x-rays, the x-ray detector generates data representing characteristics of the interposed object. The generated data is typically displayed on a monitor and stored electronically.
Disclosure of Invention
In one embodiment, a system comprises: a gantry having an x-ray source and an x-ray detector mounted thereon opposite to each other; a mount coupled to the frame and configured to rotate the frame relative to the mount; and a robot arm coupling the stand to the moving base and configured to adjust a position of the stand relative to the moving base, wherein the robot arm includes three links and four joints. In this manner, the mobile x-ray imaging system may have an increased isocenter displacement and range of motion.
It should be appreciated that the brief description above is provided to introduce in simplified form a selection of concepts that are further described in the detailed description. It is not meant to identify key or essential features of the claimed subject matter, the scope of which is defined uniquely by the claims that follow the detailed description. Furthermore, the claimed subject matter is not limited to implementations that solve any disadvantages noted above or in any part of this disclosure.
Drawings
The invention will be better understood by reading the following description of non-limiting embodiments with reference to the attached drawings, in which:
FIG. 1 shows a block diagram illustrating components of an example mobile x-ray imaging system, according to an embodiment;
fig. 2 shows a schematic diagram of an example mobile x-ray imaging system in a first articulated configuration, in accordance with an embodiment;
fig. 3 shows a simplified diagram illustrating an example mobile x-ray imaging system in a first articulated configuration, in accordance with an embodiment;
fig. 4 shows a schematic diagram of an example mobile x-ray imaging system in a second articulated configuration, in accordance with an embodiment;
fig. 5 shows a schematic diagram of an example mobile x-ray imaging system in a third articulated configuration, in accordance with an embodiment;
FIG. 6 shows a simplified diagram illustrating a maximum angular extension of a mobile x-ray imaging system according to an embodiment;
fig. 7 shows a simplified diagram illustrating different articulation configurations for providing the same C-arm position, in accordance with an embodiment;
FIG. 8 shows a schematic diagram of a torque balancing system for a mobile x-ray imaging system, according to an embodiment;
FIG. 9 illustrates a high-level flow diagram of an example method for adjusting a position of a mobile x-ray imaging system, according to an embodiment;
FIG. 10 shows a schematic diagram depicting an example mobile x-ray imaging system moving from a first articulated configuration to a second articulated configuration;
11-13 depict different example trajectories for adjusting components of a mobile x-ray imaging system from a first articulated configuration to a second articulated configuration;
fig. 14 shows a side pictorial view of an example mobile x-ray imaging system, in accordance with an embodiment;
FIG. 15 shows a top pictorial view of the example mobile x-ray imaging system of FIG. 14;
FIGS. 16 and 17 show perspective pictorial views of the example mobile x-ray imaging system of FIG. 14;
FIG. 18 shows a simplified set of diagrams illustrating an example hinge configuration for adjusting the isocenter position;
FIG. 19 shows a simplified set of diagrams illustrating dynamic rotation around a point different from the isocenter, according to an embodiment;
20-25 depict example trajectories for performing cone-beam computed tomography by a mobile x-ray imaging system, according to embodiments; and
fig. 26 depicts an example trajectory for performing linear tomosynthesis by moving an x-ray imaging system, according to an embodiment.
Detailed Description
The following description relates to various embodiments of a mobile x-ray imaging system. As depicted in fig. 1-3, the mobile x-ray imaging system may include a robotic arm having at least three links and four joints for adjusting the position of the C-arm support and thus the C-arm coupled thereto relative to the mobile base. The configuration of the links of the robotic arms enables an increased range of motion to achieve a desired isocenter position, as depicted in fig. 4-7. The mobile x-ray imaging system may include a torque balancing system, such as the spring-based torque balancing system depicted in fig. 8, for reducing the load on the motor of the robotic arm. A method for controlling a mobile x-ray imaging system, such as the method depicted in fig. 9, includes determining a positional adjustment to one or more components of the mobile x-ray imaging system to align an isocenter of the imaging system with a desired isocenter position. To adjust the isocenter of a mobile x-ray imaging system from a first position to a second position (as depicted in fig. 10), a number of different trajectories, as depicted in fig. 11-13, may be used depending on various considerations, such as weight balance, obstructions within the room, length of links of the robotic arm, and so forth. Example mobile x-ray imaging systems having different wheel configurations are depicted in fig. 14-17. Fig. 18 depicts an example articulation configuration of a robotic arm for adjusting the isocenter position. Meanwhile, fig. 19 depicts an example articulation configuration for rotating the C-arm frame about a point other than the isocenter. Dynamically rotating the x-ray source and x-ray detector during imaging around a point other than the isocenter allows for different isocenter trajectories and thus various x-ray imaging modes, as depicted in fig. 20-26.
Fig. 1 shows a block diagram illustrating components of an example mobile
The
The C-
The mobile
The moving
The mobile
The mobile
As discussed further herein, a user of the mobile
The mobile
Non-active solutions to torque balancing, such as counterweights, springs (including gas-based springs), cables, and pulleys may be preferred over motor-based torque balancing. In one example, the
The mobile
Fig. 2 shows a schematic diagram of an exemplary mobile
Specifically, the
The C-
Further, as depicted, the C-
In addition, the
The
In addition, the
Accordingly, the robotic arm 220 of the mobile
The mobile
The
In some examples, the mobile
The mobile
In other examples, the links of the robotic arm 220 comprise long links to provide reach of the robotic arm and thus of the C-
Further, the tether 288 may couple the mobile
In some examples, the C-
Further, in some examples, an onboard generator, heat exchanger, and battery may be provided at the
The robotic arm 220 and the C-
For example, fig. 4 shows a schematic view of the mobile
Additionally, fig. 6 shows a hinge configuration 610 of the mobile
Fig. 7 shows the mobile
Fig. 8 shows a schematic diagram of a torque balancing system 801 for moving an x-ray imaging system 800. The torque balancing system 801 includes a plurality of springs for each joint of the robotic arm 820, and thus includes a first spring 802, a second spring 804, and a third spring 806. It should be noted that the torque balancing system 801 does not include a spring for the first joint between the first link 821 of the robotic arm and the C-arm mount 812, but in some examples, the torque balancing system 801 may also include a fourth spring for the first joint between the first link 821 and the C-arm mount 812.
The torque balancing system 801 further includes a plurality of rods extending from the joints of the arm assembly, including a first rod 831 extending from a second joint 825 between the first and second links 821, 824, a second rod 832 extending from a third joint 827 between the second and third links 824, 828, and a third rod 833 extending from the second joint 827. The first lever 831 is coupled to the second lever 832 via a first mechanical link 841, and the third lever 833 is coupled to the moving base 840 via a second mechanical link 842.
As depicted, first spring 802 couples first link 821 to first stem 831 to provide a first counterbalancing torque, second spring 804 couples second link 824 to second stem 832 to provide a second counterbalancing torque, and third spring 806 couples third link 828 to moving base 840 to provide a third counterbalancing torque.
The configuration of the torque balancing system 801, particularly the configuration of the levers and mechanical linkages as depicted, enables multiple springs to counteract the torque applied to the robotic arms and the moving base, depending on the articulated configuration of the robotic arms and the C-arm frame.
Further, third link 828 is coupled to moving base 840 via fourth joint 830 such that third link 828 can rotate relative to moving base 840 about third joint 830. As discussed above, the second link 824 and the third link 828 are long links, as compared to the links of the robotic arm 220 depicted in fig. 2. In such an example, the fourth joint 830 may be positioned closer to the floor such that the fourth joint 830 is vertically lower than the isocenter of the C-arm gantry 810.
FIG. 9 illustrates a high-level flow chart of an example method 900 for adjusting the position of a moving x-ray imaging system. In particular, method 900 involves controlling one or more components of a mobile x-ray imaging system (such as mobile
Method 900 begins at 905. At 905, method 900 receives an indication of a desired isocenter position. An indication of a desired isocenter position may be received, for example, via a user interface, such as
At 907, method 900 evaluates the current positional configuration of the mobile x-ray imaging system. For example, the method 900 evaluates the positional configuration of each component of the mobile x-ray imaging system relative to each other component, as well as the positional configuration of the components of the mobile x-ray imaging system relative to the environment (e.g., room) in which the mobile x-ray imaging system is located. The method 900 evaluates the current positional configuration of the mobile x-ray imaging system to determine positional adjustments to one or more components of the mobile x-ray imaging system that align the isocenter of the mobile x-ray imaging system with the desired isocenter position received at 905. In one example, the method 900 determines a vector between a current isocenter and a desired isocenter position of a mobile x-ray imaging system. As discussed further herein, the method 900 then determines a positional adjustment to one or more components of the mobile x-ray imaging system to move the isocenter along a vector to a desired isocenter position.
Thus, continuing at 910, the method 900 determines whether the desired isocenter position is within range of the mobile base. If the desired isocenter position can be achieved without adjusting the position of the mobile base, the desired isocenter position is within the range of the mobile base. That is, if the isocenter of the mobile x-ray imaging system can be aligned with a desired isocenter position without driving the wheels of the mobile base to translate and/or rotate the mobile base, the desired isocenter position is within the range of the mobile base.
If the desired isocenter position is not within range of the mobile base ("NO"), then method 900 continues to 915, where method 900 determines a position adjustment to the position of the mobile base. The position adjustment may include a rotation and/or translation of the position of the moving base relative to the current position of the moving base.
After determining the position adjustment for the position of the mobile base at 915, or if the desired isocenter position is within range of the mobile base at 910 ("yes"), the method 900 continues to 920. At 920, method 900 determines whether the desired isocenter position is within range of the robot arm. If the isocenter can be aligned with a desired isocenter position by adjusting the position of one or more links of the robotic arm, the desired isocenter position is within the range of the robotic arm. The range of the robotic arm may be considered in accordance with the positional adjustment of the moving base determined at 915. If the desired isocenter position is not within range of the robotic arm ("NO"), then method 900 continues to 925 where method 900 determines a position adjustment for one or more links of the arm.
After determining the position adjustment for one or more links of the robotic arm at 925, or if the desired isocenter position is within range of the motion base at 920 ("yes"), the method 900 continues to 930. At 930, method 900 determines whether the desired isocenter position is within a range of C-arm gantry orientations. If moving the isocenter of the x-ray imaging system can be aligned with the desired isocenter position by rotating the C-arm gantry relative to the C-arm support and/or sliding the C-arm gantry along a track relative to the C-arm support as discussed above, the desired isocenter position is within the range of C-arm gantry orientations. If the desired isocenter position is not within the range of C-arm gantry orientations ("NO"), then method 900 continues to 935 where method 900 determines a position adjustment to the C-arm gantry orientation.
After determining the position adjustment to the C-arm gantry orientation at 935, or if the desired isocenter position is within the range of the C-arm gantry orientation at 930 ("yes"), method 900 continues to 940 where method 900 determines whether the desired isocenter position is within the range of the detector arm or detector lift. If the desired isocenter position is not within range of the detector riser ("NO"), then method 900 continues to 945. At 945, method 900 determines a position adjustment for the detector elevator.
After determining the position adjustment for the detector riser at 945, or if the isocenter is expected to be within range of the detector riser at 940 ("yes"), the method 900 continues to 950. At 950, method 900 controls one or more motors of the mobile x-ray imaging system according to the determined position adjustments. For example, the method 900 may control one or more motors to drive wheels that move the base to reposition the base, control one or more motors of a robotic arm to provide different articulated configurations of links, control a support to adjust an orientation of a C-arm relative to the support, and/or control a detector arm system to adjust a position of an x-ray detector. Method 900 may control one or more motors simultaneously such that the determined position adjustments are applied simultaneously. For example, the method 900 may simultaneously adjust the positions of the motion base, one or more links of the robotic arm, the gantry, and the detector arm such that the isocenter is aligned with the desired isocenter position.
It should be appreciated that a set of positional adjustments to components of the mobile x-ray imaging system can be determined such that the isocenter of the mobile x-ray imaging system is aligned with a desired isocenter position while maintaining overall balance of the mobile x-ray imaging system. As an illustrative example, the isocenter of the mobile x-ray imaging system may be aligned with a desired isocenter position by adjusting the position of a second link of the robotic arm relative to a third link. However, if the method 900 only controls the second link to adjust the isocenter position to the desired isocenter position, the mobile x-ray imaging system will be out of balance and may tip over. To avoid this, the method 900 may determine positional adjustments to the links and gantry of the robotic arm that, when applied, will align the isocenter with the desired isocenter position without causing the mobile x-ray imaging system to tip over. That is, as discussed above, the range of motion of each component of the robotic arm depicted in fig. 2 is theoretical. The restrictions on the positional adjustment of the links of the robot arm can be designed and implemented such that even in the most extreme articulated positions balance can be ensured by margin. Thus, method 900 may adjust the position of each component only within such determined limits.
After applying the position adjustment, the isocenter of the mobile x-ray imaging system is aligned with the desired isocenter position. The method 900 then returns.
As an illustrative example of how components of a mobile x-ray imaging system may be controlled to align an isocenter of the mobile x-ray imaging system with a desired isocenter position, fig. 10 depicts a
To illustrate how the mobile
However, in some cases, the linear trajectory depicted in fig. 11 may be disadvantageous or simply impossible. For example, the C-
As an illustrative example, fig. 12 shows a set of graphs 1200 showing how components of a mobile x-ray imaging system may transition from a
As shown in fig. 12, the set of graphs 1200 includes a plot 1210 of the second link angle over time, a plot 1220 of the third link angle over time, a plot 1230 of the stent track position over time, and a plot 1240 of the stent rotation angle over time. Similarly, as shown in fig. 13, the set of
Fig. 14 shows a side pictorial view of an example mobile
As an example of repositioning the isocenter relative to the table 1505, fig. 18 shows a simplified set of diagrams illustrating an example articulation configuration for adjusting the location of the isocenter. As depicted by
It should be appreciated that in addition to adjusting the isocenter of the mobile x-ray imaging system, the robotic arm also allows the C-arm gantry to rotate about a point other than the isocenter. As an illustrative example, fig. 19 shows a simplified set of diagrams showing dynamic rotation around a
The ability to adjust the position of the C-arm gantry relative to the isocenter through different trajectories allows for moving the x-ray imaging system for cone beam computed tomography. As a schematic example of the reasons why a mobile x-ray imaging system may rotate around a point different from the isocenter, fig. 20 to 25 depict an example trajectory for performing Cone Beam Computed Tomography (CBCT) by the mobile x-ray imaging system according to an embodiment. In particular, fig. 20 shows a
As yet another example of how the extended isocenter trajectory implemented by the mobile x-ray imaging systems described herein can be used for different imaging scenarios, fig. 24 and 25 depict
Finally, fig. 26 depicts an
Fig. 1-8, 10, and 14-18 illustrate example configurations with relative positioning of various components. If shown directly in contact with each other or directly coupled, such elements may be referred to as being in direct contact or directly coupled, respectively, at least in one example. Similarly, elements shown as abutting or adjacent to each other may abut or be adjacent to each other, respectively, at least in one example. By way of example, components that are in coplanar contact with each other may be referred to as being in coplanar contact. As another example, in at least one example, elements that are positioned apart from one another and have only space therebetween without other components may be so referenced. As yet another example, elements shown as being located above/below each other, on opposite sides of each other, or left/right of each other may be so referenced with respect to each other. Additionally, as shown, in at least one example, a topmost element or point of an element may be referred to as a "top" of a component, and a bottommost element or point of an element may be referred to as a "bottom" of a component. As used herein, top/top, up/down, above/below may be with respect to a vertical axis of the drawings and are used to describe the positioning of elements of the drawings with respect to each other. Thus, in one example, elements shown above other elements are positioned vertically above the other elements. As yet another example, the shapes of elements depicted within the figures may be referred to as having those shapes (e.g., such as being circular, linear, planar, curved, rounded, chamfered, angled, etc.). Further, in at least one example, elements shown as intersecting one another may be referred to as intersecting elements or intersecting one another. Further, in one example, elements shown as being within another element or external to another element may be so referenced.
Technical effects of the present disclosure include increased displacement of a C-arm gantry for an x-ray imaging system. Another technical effect of the present disclosure includes simultaneously controlling multiple components of a mobile x-ray imaging system to adjust an isocenter of the mobile x-ray imaging system.
In one embodiment, a system comprises: a gantry having an x-ray source and an x-ray detector mounted thereon opposite to each other; a mount coupled to the frame and configured to rotate the frame relative to the mount; and a robotic arm coupling the stand to the base, the robotic arm including at least three links and four joints.
In a first example of the system, the base includes a moving base, and the system further includes a set of wheels driven by one or more motors, the set of wheels being coupled to the moving base. In a second example of the system, optionally including the first example, the system further comprises a torque balancing system for resisting static torques generated by the configuration of the at least three links, the frame and the base of the robotic arm. In a third example of the system, optionally including one or more of the first example and the second example, the torque balancing system comprises a plurality of springs, each spring configured to apply a balancing torque proximate the corresponding revolute joints, the frame, and the moving base of the at least three links of the robotic arm. In a fourth example of the system, which optionally includes one or more of the first through third examples, the torque balancing system includes a counterweight system. In a fifth example of the system, which optionally includes one or more of the first through fourth examples, the at least three links of the robotic arm are movable in a first plane relative to the moving base, wherein a joint of the robotic arm between the link of the robotic arm and the support is configured to rotate the support relative to the link in a plane perpendicular to the first plane, and wherein the support is configured to rotate the gantry relative to the support along a track of the gantry. In a sixth example of the system, optionally including one or more of the first through fifth examples, the system further comprises a high voltage generator positioned and housed within the mobile base for providing a high voltage to the x-ray source. In a seventh example of the system, which optionally includes one or more of the first through sixth examples, the gantry is C-shaped, and the x-ray source and the x-ray detector are mounted at opposite ends of the C-shaped gantry. In an eighth example of the system, which optionally includes one or more of the first through seventh examples, the system further includes a controller and a user interface, wherein the controller receives the desired isocenter position via the user interface, and wherein the controller controls one or more of the at least three links of the robotic arm to adjust the isocenter of the gantry to the desired isocenter position. In a ninth example of the system, which optionally includes one or more of the first through eighth examples, the controller simultaneously controls one or more of the at least three links of the robotic arm to adjust the isocenter to a desired isocenter position. In a tenth example of the system, optionally including one or more of the first through ninth examples, a vertical height of the coupling between the second robotic arm and the mobile base is inversely related to a length of the first robotic arm and the second robotic arm.
In another embodiment, a method for moving an x-ray imaging system, comprises: receiving an indication of a desired isocenter position; calculating a positional adjustment to one or more components of a mobile x-ray imaging system; and controlling the one or more motors to adjust a position of the one or more components to align an isocenter of the mobile x-ray imaging system with a desired isocenter position.
In a first example of the method, one or more motors are simultaneously controlled to simultaneously adjust the position of one or more components. In a second example of the method, optionally including the first example, the position adjustment is calculated from a current isocenter position and a desired isocenter position. In a third example of the method optionally including one or more of the first example and the second example, controlling the one or more motors to adjust the position of the one or more components includes controlling the moving base, a bracket coupled to the C-shaped frame, a first link coupled to the bracket, a second link coupled to the first link, and one or more motors coupling the second link to a third link of the moving base. In a fourth example of the method, which optionally includes one or more of the first through third examples, the system further includes controlling the one or more motors to adjust the position of the one or more components to dynamically rotate the one or more components about a different point than the isocenter during imaging.
In yet another embodiment, a system comprises: a C-gantry having an x-ray source and an x-ray detector mounted thereon; a support coupled to the C-shaped gantry and configured to translate the C-shaped gantry relative to the support; a first link of a robotic arm coupled to a carriage at a first joint, the carriage rotatable in a first plane relative to the first link at the first joint; a second link of the robotic arm coupled to the first link at a second joint, the first link rotatable relative to the second link at the second joint in a second plane perpendicular to the first plane; a third link of the robotic arm coupled to the second link at a third joint, the second link rotatable in a second plane relative to the third link at the third joint; a moving base coupled to a third link at a fourth joint, the third link rotatable in a second plane relative to the moving base at the fourth joint; and a controller configured by instructions in a non-transitory memory that, when executed, cause the controller to: receiving a desired isocenter position; and controlling one or more of the support, the first link, the second link, the third link, and the moving base to adjust the isocenter of the x-ray source and the x-ray detector to a desired isocenter position.
In a first example of the system, the system further comprises a user interface communicatively coupled to the controller, wherein the controller receives the desired isocenter position via the user interface. In a second example of the system, which optionally includes the first example, the controller is further configured to calculate a position adjustment for one or more of the carriage, the first link, the second link, the third link, and the mobile base to align the isocenter with a desired isocenter position. In a third example of the system, which optionally includes one or more of the first example and the second example, the controller simultaneously controls one or more of the bracket, the first link, the second link, the third link, and the moving base to adjust the isocenter.
As used herein, an element or step recited in the singular and proceeded with the word "a" or "an" should be understood as not excluding plural said elements or steps, unless such exclusion is explicitly recited. Furthermore, references to "one embodiment" of the present invention are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. Moreover, unless explicitly stated to the contrary, embodiments "comprising," "including," or "having" an element or a plurality of elements having a particular property may include additional such elements not having that property. The terms "comprising" and "under … … are used as the plain-language equivalents of the respective terms" comprising "and" wherein ". Furthermore, the terms "first," "second," and "third," etc. are used merely as labels, and are not intended to impose numerical requirements or a particular positional order on their objects.
This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the relevant art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those of ordinary skill in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.
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