阅读说明：本技术 用于移动医疗设备驱动平台的系统和方法 (System and method for moving a medical device drive platform ) 是由 G·S·萨姆帕斯·库马尔 于 2021-04-22 设计创作，主要内容包括：本发明题为“用于移动医疗设备驱动平台的系统和方法”。本发明提供了用于控制移动医疗设备驱动平台的移动的方法和系统。在一个示例中,移动平台包括：底盘,该底盘被配置为容纳一个或多个医疗设备；全向车轮系统,该全向车轮系统包括联接到底盘的全向车轮；电池,该电池容纳在底盘中,该电池被配置为供应电力以驱动全向车轮系统和/或供应电力以操作一个或多个医疗设备；以及电池充电系统,该电池充电系统容纳在底盘中,其中该电池充电系统被配置为有利于电池的有线和/或无线充申。(The invention provides a system and method for an ambulatory medical device driver platform. The invention provides a method and system for controlling movement of an ambulatory medical device drive platform. In one example, a mobile platform includes: a chassis configured to house one or more medical devices; an omni-directional wheel system including omni-directional wheels coupled to a chassis; a battery housed in the chassis, the battery configured to supply power to drive the omnidirectional cart system and/or to supply power to operate one or more medical devices; and a battery charging system housed in the chassis, wherein the battery charging system is configured to facilitate wired and/or wireless charging of the battery.)

1. A mobile platform, the mobile platform comprising:

a chassis configured to house one or more medical devices;

an omni-wheel system comprising omni-wheels coupled to the chassis;

a battery housed in the chassis, the battery configured to supply power to drive the omnidirectional cart system and/or to supply power to operate the one or more medical devices; and

a battery management system housed in the chassis, wherein the battery management system is configured to facilitate wired and/or wireless charging of the battery.

2. The mobile platform of claim 1, wherein the omni-wheel system is a first omni-wheel system of at least two omni-wheel systems, and wherein the chassis includes a drive controller configured to automatically control the at least two omni-wheel systems.

3. The mobile platform of claim 2, wherein the drive controller is configured to automatically control the at least two omni-directional wheel systems to move the mobile platform to a charging station.

4. The mobile platform of claim 1, further comprising a controller configured to receive input from a user and to control operation of the omni-wheel system in response thereto.

5. The mobile platform of claim 4, wherein the controller comprises instructions stored in memory that are executable to determine a currently configured stability parameter of the mobile platform and limit the output of the omni-wheel system in response to the determined stability parameter.

6. The mobile platform of claim 1, further comprising a rotating post.

7. The mobile platform of claim 6, wherein the mobile platform comprises a front set of wheels and a rear set of wheels, and the omni-wheel system is part of the front set of wheels or the rear set of wheels, and wherein the battery is positioned between the front set of wheels and the rear set of wheels and rearward of the rotating column.

8. The mobile platform of claim 7, further comprising a rear suspension system comprising a bracket and a single centrally located coil spring.

9. The mobile platform of claim 8, wherein the omni traction wheel system comprises a motor drive housed below the suspension bracket and a wheel motor driving the omni traction wheel via a split drive shaft.

10. The mobile platform of claim 1, further comprising:

a handle having a first force sensing region and a second force sensing region positioned along the handle to engage each hand of a user;

a controller configured to receive input from the user's hand through one or more of the force sensing areas on the handle and to control operation of the omni-directional wheel system in response thereto.

11. The mobile platform of claim 10, wherein the rotation of the omni-directional wheel in the omni-directional wheel system and the angle of the drive torque of the omni-directional wheel are both responsive to the sensed forces from the first and second force sensing regions of the handle.

12. A method of operating a mobile platform driven by an omni-wheel system having a chassis configured to house one or more medical devices, the method comprising:

moving the mobile platform by driving one or more omni-directional wheels with electric motors and batteries in response to user input physically interacting with the mobile platform;

wirelessly charging the battery; and

controlling the movement of the mobile platform based on a configuration of a medical device coupled to the mobile platform.

13. The method of claim 12, wherein the controlling of the motion comprises limiting motion based on the determined stability parameter of the mobile platform, and wherein the moving of the mobile platform is responsive to the sensed force from the handle, the moving comprising driving the omni-directional wheel to move simultaneously longitudinally and laterally.

14. The method of claim 13, wherein the medical device comprises an arm, wherein controlling motion comprises limiting a speed of the mobile device platform in a specified direction based on an arm position.

15. A mobile platform, the mobile platform comprising:

a chassis configured to house one or more medical devices;

a front set of wheels coupled to the chassis;

a rear set of wheels coupled to the chassis and including two omni-wheel systems, each omni-wheel system including an omni-wheel;

a battery housed in the chassis, the battery configured to supply power to drive each omni-directional wheel and to supply power to operate the one or more medical devices;

rotating the column;

a battery management system housed in the chassis, wherein the battery management system is configured to facilitate wired and/or wireless charging of the battery;

a hybrid UIF handle with multi-directional sensing;

a drive controller configured to automatically control the two omni-directional wheel systems, wherein the battery is positioned between the front set of wheels and the rear set of wheels and rearward of the rotating column, the drive controller further configured to receive input from the hybrid UIF handle and control operation of the two omni-directional wheel systems in response thereto; and

a rear suspension system including a bracket and a single centrally located coil spring, wherein each of the two omni-wheel systems has a motor drive housed beneath the suspension bracket and a wheel motor driving the corresponding omni-wheel via a split drive shaft.

Technical Field

Embodiments of the subject matter disclosed herein relate to ambulatory medical device systems.

Background

Mobile medical device systems, such as mobile x-ray devices, are typically mounted on a motorized cart that is driven to a patient location. The cart generally has two main wheels at the rear, which are driven to move the system. The front of the cart is often provided with two turning wheels. In addition, medical equipment components (such as x-ray sources or tubes) may be mounted on a rotating column near the front of the unit.

In these ambulatory medical device systems, the mobile platform or cart has independently driven wheels that allow for some degree of steering. A drive handle may be provided at the rear of the cart to allow the operator to push hard on one side or the other of the handle to rotate the cart in one direction or the other. However, some wards are very small and/or the available area of the mobile platform is limited, such as because of other patient monitoring equipment and machinery.

Disclosure of Invention

In one embodiment, the present disclosure provides a mobile platform comprising: a chassis configured to house one or more medical devices; an omni-directional wheel system including omni-directional wheels coupled to a chassis; a battery housed in the chassis, the battery configured to supply power to drive the omnidirectional cart system and/or to supply power to operate one or more medical devices; and a battery management system housed in the chassis, wherein the battery management system is configured to facilitate wired and/or wireless charging of the battery.

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 is a front view of an exemplary mobile imaging system.

Fig. 2 is a block diagram of components of the rotation-based drive of the system of fig. 1.

Fig. 3A, 3B, and 3C illustrate an exemplary ambulatory medical device platform.

Fig. 4A and 4B illustrate an exemplary proximity sensor mounted on an ambulatory medical device platform.

Fig. 5A and 5B illustrate an exemplary wired charging system for an ambulatory medical device platform.

Fig. 6A and 6B illustrate an exemplary wireless charging system for an ambulatory medical device platform.

Fig. 7 illustrates an exemplary ambulatory medical device platform viewed from the side.

Fig. 8 shows an exemplary ambulatory medical device platform viewed from the front.

Fig. 9 illustrates an exemplary suspension system in a rear omni-directional wheel system.

Fig. 10 shows an exemplary ambulatory medical device platform viewed from above.

FIG. 11 is a flow chart illustrating an exemplary method for deploying an ambulatory medical device platform from a charging station to a desired location.

FIG. 12 is a flow chart illustrating an exemplary method for moving an ambulatory medical device platform via a handle.

FIG. 13 is a flow chart illustrating an exemplary method for determining limits within which an ambulatory medical device platform may accelerate and/or rotate.

Figure 14 is a block diagram showing the components involved in powering omni-directional wheels.

Fig. 15 illustrates an exemplary pairing of drive handle input ends with corresponding wheel motions of a Mecanum (Mecanum) or bi-conical omni-directional wheel.

FIG. 16 is a flow chart illustrating an exemplary method for automated navigation of an ambulatory medical device platform.

Figure 17 shows examples of different skateboard chassis configurations.

Fig. 3A, 3B, 3C, 5B and 7-10 and 17 are shown to scale, but other relative dimensions may be used if desired.

Detailed Description

The present disclosure relates to a mobile platform, such as an ambulatory medical device platform, that includes a chassis configured to house one or more medical devices, such as an imaging system (e.g., an x-ray imaging system), ultrasound, infant warmer, mobile surgical system, or anesthesia delivery system. To achieve enhanced navigation in tight spaces, the chassis may include an omni-wheel system that includes omni-wheels and corresponding wheel motors, motor drives, encoders, wheel and/or motor sensors, or other related components coupled to the chassis. The chassis may also include a battery housed in the chassis, wherein the battery is configured to supply power to drive the omnidirectional cart system and/or to supply power to operate one or more medical devices. The chassis may include a battery management system housed in the chassis, wherein the battery management system is configured to facilitate wired and/or wireless charging of the battery. The mobile platform may include a drive controller configured to automatically control the omni-wheel system, for example, to automatically move the mobile platform to a charging station to charge the battery and/or to a requested or target location (e.g., a patient room).

The drive controller may include a tangible and non-transitory computer readable medium (memory) having programming instructions stored therein. As used herein, the term tangible computer readable medium is expressly defined to include various types of computer readable storage and to exclude only propagating signals. Additionally or alternatively, the example methods and systems may be implemented using coded instructions (e.g., computer readable instructions) stored on a non-transitory computer readable medium such as a flash memory, a read-only memory (ROM), a random-access memory (RAM), a cache, or any other storage medium in which stored information is stored for any duration (e.g., for an extended period of time, permanently, brief instances, for temporarily buffering, and/or for caching of the information).

The memory and processor as referred to herein may be separate or integrally constructed as part of various programmable devices (e.g., computers). The computer memory of a computer-readable storage medium as referred to herein may include volatile and non-volatile or removable and non-removable media for storing information in an electronic format, such as computer-readable program instructions or modules of computer-readable program instructions, data or the like, which may be stand-alone or be part of a computing device. Examples of computer memory may include, but are not limited to, RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store information in a desired electronic format and that can be accessed by at least a portion of one or more processors or computing devices.

Fig. 1 illustrates an exemplary ambulatory medical device system in the form of an ambulatory imaging system 10 that may be used in the medical or other fields. The system 10 has an ambulatory medical device platform 12 (wheeled motorized drive assembly) and an operator console 14 that may be supported by the ambulatory medical device platform 12. Operator control station 14 may provide a user interface for operating the ambulatory platform and/or for operating or communicating with medical devices coupled to the ambulatory medical device platform and for operating medical devices coupled to ambulatory medical device platform 12. The ambulatory medical device platform 12 includes a frame 13 (also referred to herein as a mobile chassis), two rear drive wheels 18 (one wheel shown) coupled to the frame at a rear end 26 of the mobile platform 12, and two front drive wheels 20 (one wheel shown) coupled to the frame at a front end 28 of the mobile platform 12.

A post 16 or other support member is attached to and extends upwardly from the frame of the ambulatory medical device platform 12 and rotates or swivels relative to the ambulatory medical device platform 12. In some examples, the post 16 is collapsible and thus may be comprised of a plurality of nesting segments that can telescope outward from the frame in response to user manipulation. The sensor 46 may detect the amount of rotation or movement of the column 16 relative to the ambulatory medical device platform 12. The arm 32 is fixed to the post 16 at a predetermined rotational position. The arm 32 is vertically adjustable relative to the frame. For example, the post may be collapsible (as described above), and the arm 32 may move vertically as the post extends or collapses. Additionally or alternatively, the arm may be configured to translate vertically along the post 16, for example, in response to user manipulation. The arm 32 may also telescope relative to the post 16, allowing components mounted at the outer end of the arm 32 to move closer to or further away from the post 16. In one embodiment, the arm 32 may have an additional degree of freedom relative to the post 16. An imaging assembly, here in the form of a radiation source 34 including an x-ray source assembly 15, is attached to the outer end of the arm 32 and has an x-ray tube housing 22 containing an x-ray source (not shown). The collimator 24 is attached to the tube housing 22 and is rotatable relative to the tube housing 22. A sensor 48 may be provided to detect the amount of rotation or movement of the collimator 24 relative to the ambulatory medical device platform 12 and/or the column 16. The X-ray detector 36 detects X-ray data and may communicate with the imaging controller 27 wirelessly or through a cable 37.

One or more sensors are positioned to detect relative movement of the arm 32, for example relative movement with respect to the column 16. As shown, the push sensor 62 may detect inward movement of the arm 32 toward the post 16, and the pull sensor 64 may detect outward movement of the arm 32 away from the post 16. The push sensor 62 may be positioned proximate to the column 16 (e.g., closer to the column than the imaging assembly), while the pull sensor 64 may be positioned proximate to the imaging assembly (e.g., closer to the radiation source 34 than the column 16). However, the placement of the sensors is exemplary, and other locations are possible, such as pushing the sensors to be positioned near the imaging assembly and pulling the sensors to be positioned near the post.

Both the push sensor 62 and the pull sensor 64 may be mechanical switches that indicate the end of travel of the arm. In other examples, the push sensor 62 and the pull sensor 64 may be optical sensors, magnetic sensors, pressure/force sensors, Inertial Measurement Units (IMUs), or any variation of these sensors. If the sensor is a potentiometer or encoder, the extent of extension of the arm may be measured continuously, with the end-of-travel position being defined by a predefined value within the extension range. It should be noted that the sensors of various embodiments may be one or more suitable types of sensors. For example, one or more sensors may operate based on sensing distance changes using optical, magnetic, electrical, or other mechanisms.

A first manually actuatable interface, here in the form of a drive handle 38 disposed on the rear end 26 of the mobile platform 12 (such as coupled to the frame of the mobile medical device platform 12), is disposed on the mobile platform 12. The drive controller 50 senses or receives signals based on manipulation (e.g., user manipulation) of the drive handle 38, and thus the mobile platform 12 can be driven to different positions to image the subject 29 based on multi-directional sensing via the force sensors. The ambulatory medical device platform 12 may have at least one motor (shown in fig. 2) and may be capable of driving rear drive wheels 18 and front drive wheels 20, respectively.

The subject 29 typically lies on a bed or table 30. Once the mobile platform 12 is positioned proximate the table 30, the column 16 is rotated or spun (e.g., via user manipulation) to position the x-ray source assembly 15 over the subject 29. The x-ray detector 36 is positioned on the opposite side of the subject 29.

A user interface 44 may be provided proximate the rear end 26 of the mobile platform 12. Optionally, the user interface 44 may be integral with the drive handle 38 or operator console 14, or it may be configured as a remote control that may be held in the operator's hand away from the mobile platform 12. The user interface 44 may communicate with the drive controller 50 wirelessly or through a wired connection. The user interface 44 may be one or a combination of buttons, joysticks, toggle switches, power assist handles, configured as keys on a keypad or selections on a touch screen, etc.

In some examples, the user interface 44 may be in the form of a drive handle 38. In such examples, manipulating the drive handle 38 may cause a signal to be sent to the drive controller 50 to control the movement of the mobile platform 12. In some examples, the signal sent by the drive handle 38 may be different than the signal sent by the user interface 44. For example, the user interface 44 may send signals to switch drive modes, turn power to the mobile platform 12 on or off, etc., while the drive handle 38 may send direction and force signals to instruct the drive controller 50 how to power the wheels. An exemplary method for how to drive the vehicle using the drive handle 38 and/or the user interface 44 is shown and described in greater detail in fig. 12 and 15.

The drive controller 50 receives angular information from the sensors 46 and 48 indicative of the position of the column 16, the arm 32, the collimator 24, and/or the x-ray source assembly 15. In addition, the drive controller 50 receives arm movement information from the sensors 62 and 64 indicating the extension/movement of the arm (and associated movement of the imaging assembly coupled to the arm). When the operator moves the imaging assembly and/or the arm to an end-of-travel position (e.g., where the telescoping motion of the arm is stopped and further movement of the arm is transferred to the column), the mobile platform 12 may be moved based on, for example, the angle of rotation of the column 16 relative to the mobile medical device platform 12 and the direction of movement of the arm. In another embodiment, the collimator 24 may be rotated or adjusted relative to the x-ray tube housing 22. Thus, the angular relationship between the collimator 24 and the ambulatory medical device platform 12 will also change. The drive controller 50 may then move the mobile platform 12 (e.g., engage a motor within the mobile medical device platform 12 to move the rear drive wheels 18 and/or the front drive wheels 20 and/or rotate the column 16) based on the angle of rotation of the collimator 24 relative to the mobile medical device platform 12. It should be understood that different angles of rotation relative to the ambulatory medical device platform 12 may be used. Additionally, the drive controller 50 may be configured to automatically drive the wheels to operate the mobile platform 12 in a self-navigation mode, wherein the system is automatically moved to a wired and/or wireless charging station and/or other target location.

Thus, via the user interface 44, the operator may raise and lower the collapsible column and/or extend and/or rotate the portion of the arm mounted on the fixed or collapsible column on which the medical device has been mounted. Further, via the user interface 44, the operator may send instructions to the communicatively coupled medical device mounted on the platform in order to coordinate movement of the platform, column, or arm with the device settings. For example, to position a patient within the frame of reference of a platform-mounted x-ray apparatus, an operator may move the wheels of the mobile platform forward, rotate the column 16, extend the arm 32, and adjust the settings of the collimator 24 all via the user interface 44. How the platform and its components can be moved, rotated and positioned is described in more detail in figures 11 to 15.

FIG. 2 is a block diagram of components used to drive the ambulatory medical device platform 12 of FIG. 1. As previously described, when moving to another room and during initial positioning, the drive controller 50 receives drive input from the drive handle 38 (and/or user interface 44) via the force sensor by multi-directional sensing. Based on the drive inputs, the drive controller 50 outputs speed information to the motor drivers 110, 112, 114, and 116 to drive one or more of the first drive wheel 100, the second drive wheel 102 (in one embodiment, the rear drive wheel 18 shown in fig. 1), the third drive wheel 104, and the fourth drive wheel 106 (in one embodiment, the front drive wheel 20 shown in fig. 1) via the first motor 101, the second motor 103, the third motor 105, and the fourth motor 107, respectively. In some examples, each of first drive wheel 100, second drive wheel 102, third drive wheel 104, and fourth drive wheel 106 may be an omni-directional wheel, including rollers positioned around the circumference of the wheel. Further, in some examples, each of first drive wheel 100, second drive wheel 102, third drive wheel 104, and fourth drive wheel 106 may additionally or alternatively be a mecanum or a full or multi-directional wheel. At any time during operation, the drive controller 50 may be configured to receive input from and act upon one or more emergency stop mechanisms 52, which may include one or more of buttons, sensors, buffers, and the like.

In one embodiment, the bottom of the post 16 is connected to a shaft 54 extending from the ambulatory medical device platform 12. Sensor 46 is connected to shaft 54 to detect rotation of post 16. The sensor 46 provides rotational information to the drive controller 50. The sensor 46 may be an optical sensor, a magnetic sensor, a hall effect sensor, or other suitable sensor adapted to detect the degree of rotation of the column 16. It should be understood that other encoder or sensor configurations may be used to sense the rotation of the column 16. A sensor 48 mounted to the collimator 24 or near the collimator 24 senses the rotation of the collimator 24 and provides rotation information to a drive controller 50. The push sensor 62 and the pull sensor 64 are located on or within the arm 32 and sense movement of the arm (and associated imaging components) and provide arm extension/movement information to the drive controller 50. In one example, the push sensor 62 may provide an output to the drive controller 50 that the drive controller 50 may use to determine whether the arm has reached the first end of travel position. The pull sensor 64 may provide an output to the drive controller 50 that the drive controller 50 may use to determine whether the arm has reached the second end of travel position. The sensor 46, the sensor 48, the push sensor 62, and the pull sensor 64 may communicate with the drive controller 50 wirelessly or through a wired connection.

When the drive controller 50 receives inputs from the push sensor 62 and/or the pull sensor 64, the rotation-based drive module 56 of the drive controller 50 may determine the speed at which each of the drive wheels drives the wheel based on the rotation information provided by one or both of the sensors 46 and 48 and the specific inputs from the sensors 62 and 64 indicating the direction of movement of the arm/radiation source (e.g., toward or away from the operator).

Ambulatory medical device platforms such as the ambulatory platform 12 described above may be used in a variety of medical environments. These medical environments may include a patient bedside environment, where an operator of the mobile medical device platform may wish to move the mobile platform from a home/parking lot or other location to the patient bedside. Further, in some examples, the ambulatory medical device platform may be moved throughout a medical facility, such as from one patient/examination room to another patient/examination room. Correctly positioning and/or navigating an ambulatory medical device platform in tight spaces, such as at a patient's bedside, while avoiding collisions with objects in the environment can be challenging. Further, such ambulatory medical device platforms may include batteries that may be recharged periodically. Conventional wired charging mechanisms that include a charging cable may be susceptible to degradation (e.g., cable degradation and/or cable wind-up problems). The attention and time spent by the operator to carefully navigate the ambulatory medical device platform to various locations where imaging is to be performed, as well as to navigate the ambulatory medical device platform to an original location for battery charging and ensure that battery charging occurs without undue stress on the charging cable, can lead to operator/clinician resources being caught in the elbow, increased cognitive load on the care provider, and/or lead to premature degradation of the ambulatory medical device platform.

Thus, according to embodiments disclosed herein, an ambulatory medical device platform (e.g., the ambulatory medical device platform 12 of the system 10 of fig. 1 and 2) may include a mobile chassis on which medical device components (e.g., radiation source, x-ray detector, etc.) may be mounted. The mobile chassis may include highly steerable wheels (e.g., omni-directional wheels as described above with respect to fig. 1 and 2) and a hybrid user interface via which an operator may move the mobile medical device platform, providing the mobile medical device platform with the ability to turn in any direction (e.g., at any of the 360 ° possible angles of rotation), thereby supporting flexible position changes and facilitating navigation along the shortest path to the destination. In addition, a position sensor (such as an optical sensor) may be positioned along a surface (e.g., a forward facing surface) of the mobile chassis. The position sensor may detect an object in the path of the ambulatory medical device platform, and when an object is detected, the ambulatory medical device platform may be slowed or stopped to avoid a collision.

The mobile chassis may also include one or more batteries configured to provide power to the motor driving the wheels and to provide power for operating components of the ambulatory medical device platform. The charging/discharging of the battery may be controlled by a battery management system also included in the mobile chassis. The battery management system may perform charge/discharge algorithms for the battery, may convert the charger's AC to DC for supply to charge the battery, and/or may monitor battery performance (e.g., voltage, current, temperature).

The battery may be recharged via wired and/or wireless charging. In some examples, the mobile chassis may include a cableless wired charging docking mechanism positionable at a charging station to charge the battery. In some examples, the mobile chassis may be configured to self-navigate to a charging station using a search sensor (e.g., LiDAR, optical sensor, infrared sensor). The charging station may be configured with a trigger sensor that may be used to detect when the mobile chassis/mobile imaging system is positioned at the charging station so that charging may begin. To initiate self-navigation to the charging station, the user may make an input to the ambulatory medical device platform, such as an input to a user interface of the ambulatory medical device platform. In this way, via simple user input to the ambulatory medical device platform, the ambulatory medical device platform can self-navigate to, dock with, and be charged without additional action by the user. Fig. 5A, 5B, 6A, and 6B illustrate in more detail how the mobile medical device platform may be docked with a charging station.

The mobile chassis may be configured as a platform for moving and supplying power to an imaging system, such as the x-ray system described above. However, the mobile chassis may be used to move and supply power to other imaging systems, such as ultrasound systems, or to move and supply power to non-imaging systems, such as anesthesia systems.

Fig. 3A illustrates an exemplary mobile platform 300 that may be used with the systems of fig. 1-2, including a medical device platform 302 mounted on a mobile chassis 306. Mobile platform 300 also includes a drive handle 308 (e.g., drive handle 38 of ambulatory medical device platform 12 in fig. 1), two front wheels (including front wheel 310), and two rear wheels (including rear wheel 312). The mobile chassis 306 includes a battery 316 and a battery management system 314. While fig. 3A shows one battery and a corresponding battery management system, it should be understood that the mobile chassis 306 may include additional batteries and/or battery management systems, such as another battery and a corresponding battery management system on the opposite side of the mobile chassis.

The mobile platform 300 includes a hybrid User Interface (UIF) drive handle 308 (e.g., drive handle 38 shown in fig. 1) for operating, for example, a drive mobile platform. The hybrid user interface drive handle is capable of sensing a direction with 360 degrees of freedom along the ground plane, sensing an intended (operational) motion direction as a vector, and providing input to the motion control system. As previously described, the handle 308 may include two or more force sensing handle regions (e.g., pressure sensors) that may be located on each side of the handle for interpreting user input in the form of pressure differences or motions of the right and left sides of the handle. For example, the mobile platform 300 may interpret user input in the form of forward pressure (e.g., pushing) on both sides of the handle as instructing the mobile platform to power the wheels to produce forward motion. Alternatively, the mobile platform 300 may interpret a forward pressure on one side of the handle and a rearward pressure on the other side of the handle as indicating that the mobile platform is rotated into place, or it may interpret a lateral pressure on the handle as indicating that the mobile platform is moving in a lateral direction. The sensors may be magnetic sensors, optical sensors, force transducer arrangements, Inertial Measurement Units (IMUs), or any variation of these sensors that support linear movement in X, Y space with 360 degree rotation. An illustrative illustration of how pressure on the drive handle may be translated into wheel motion is shown in fig. 15 below. In one example, the handle may include two handle regions (e.g., on the left and right sides of a common handle bar), each having its own multi-directional force sensor. In an exemplary configuration, each multi-directional force sensor may sense a forward/backward force, as well as the magnitude of the force vector in that direction. Thus, if the user's left force vector is directed downward and forward at a 45 degree angle and the right force vector from the user is directed forward at a 45 degree angle, each sensor senses the forward component of the force vector, respectively. The wheel motors may then be adjusted to provide a speed proportional to the sensed force vector. In one example, the left and right sensed force vectors in the forward/rearward direction are summed together from the direction vector magnitude and angular direction to control the wheel command and provide a desired speed proportional to the sensed combined force and in the direction of the combined force vector. As further shown with reference to fig. 15, for example, the magnitudes of the sensed left/right force vectors may be combined to form a rotational direction that is proportional to the difference in the left/right force vectors. In one example, the scaling determination may be based on a gain multiplied by a parameter, which may be a linear gain or may be a gain that is a function of a parameter, such as the weight of the mobile platform.

The mobile platform 300 may also have a user interface 320 (e.g., the user interface 44 of the mobile imaging system 10 in fig. 1) as part of an operator console (such as the operator console 14 of the mobile imaging system 10 in fig. 1), which may include alternative interfaces for operating or driving the mobile platform, such as a touch display, joystick, or similar control device located on the back side of the mobile platform near the drive handle. In one embodiment, the user interface 320 may include a touch screen 332 with one or more selectable elements (e.g., buttons) that, when selected, instruct the mobile platform to move or rotate in a given direction to an appropriate position. For example, the touch screen 332 may include rotation buttons 322 and 324 for instructing the mobile platform to rotate counterclockwise or clockwise, respectively, into position. The rotation buttons 322 and 324 may be surrounded by directional movement buttons 326, which are indicated by arrows which, when selected, indicate that the mobile platform is moving in a forward, backward, sideways or diagonal direction, so that the operator may guide the mobile platform to a certain position by sequentially selecting the relevant buttons. In some embodiments, the mobile platform may support the simultaneous selection of multiple directional buttons in order to more precisely define how the mobile platform may move. For example, the operator may select two adjacent directional arrows simultaneously in order to instruct the mobile platform to move in a direction representing the sum of its vectors.

Alternatively, the user interface 320 may include a joystick that similarly allows the operator to instruct the mobile platform to move linearly in any direction (e.g., 360 degrees). In some embodiments, the joystick may be operated based on a tactile or force feedback sensor such that pressure applied to the joystick indicates a desired velocity or acceleration of the mobile platform. In other embodiments, the joystick may operate based on a magnetic sensor (e.g., a hall effect sensor) or any other type of sensor that supports linear movement in X, Y space with 360 degree rotation. For exemplary and non-limiting purposes, reference is made to an alternative drive mechanism such as a touch screen or joystick, wherein another similar functional user interface may be substituted. In addition, other types of information displays or navigation controls may be incorporated into the graphical user interface 320 of the mobile platform 300. For example, a floor plan or similar two-dimensional layout may be displayed in which the location of the mobile platform 300 may be depicted. In other embodiments, a video display may be incorporated into the graphical user interface 320. For example, when operating a mobile platform in which the medical device being transported is too large to obstruct the driver's view of the mobile platform above or around it, one or more cameras 304 located on the front side of the mobile platform may display real-time video images to the driver via a graphical user interface 320 that displays the path of the mobile device and any obstacles on its way.

Alternatively or in addition, the mobile platform 300 may include one or more collision detection sensors 330 mounted on the front of the mobile platform 300 that may automatically stop the platform if the platform collides with an object in its path. In one embodiment, the collision detection sensor may be a pressure sensor located on a bumper that extends horizontally and/or vertically across the front of the ambulatory medical device platform, the pressure sensor being activated when the platform contacts or is impacted by an object in its path. The collision detection sensors may also include ultrasonic sensors or similar proximity sensors, or any other type of sensor capable of being triggered upon collision or proximity within a given threshold (e.g., a threshold distance of 6 inches from the front of the mobile platform), as described in more detail with respect to fig. 4A and 4B. The mobile platform 300 may also include an emergency stop button 334 in the user interface 320 or similar control for immediately stopping the mobile platform in place to avoid obstacles or similar impending risks.

Mobile platform 300 may include omni-directional rear drive wheels 312, such as drive wheels 100 and 102 of fig. 1. The omni-directional drive wheels may be mecanum (e.g., double cone) wheels or another omni-directional wheel, as described below with respect to fig. 3C. Mobile platform 300 may include additional omni-directional drive wheels 310 at the front of the mobile platform for increased power, responsiveness, or ease of movement. Other embodiments may include non-powered wheels (e.g., casters) at the front of the mobile platform.

Mobile platform 300 may include an adjustable post base 328 at the front of the mobile medical device platform on which a post, such as post 16 of mobile device mobile platform 12 in fig. 1, may be mounted for mounting components of a medical device transported by the mobile platform. For example, the x-ray equipment transported by the mobile platform 300 may include a C-arm on the front supported by a column mounted on the column base 328, such that the mobile platform 300 may rotate the x-ray equipment directly up the wheels to the patient.

FIG. 3B illustrates a 3-D rendering 350 of one example of the mobile chassis 306 of FIG. 3A with the medical device frame removed. The mobile chassis 306 may include modular compartments 318 and 320 for housing batteries and battery management systems on either or both sides of the ambulatory medical device platform, such that the batteries and battery management systems may be easily removed (e.g., replaced upon degradation) and flexible to use. For example, in some environments, an ambulatory medical device platform may be parked and/or charged in a location where the compartment 318 or 320 may be blocked and visual verification or replacement of a battery or battery management system may not be possible. Alternatively, center of gravity considerations may favor weighting one side or the other. For example, if the platform-mounted device extends laterally outward over one side of the mobile platform, one or more batteries and battery management systems may be positioned on the opposite side of the mobile platform to offset the weight.

As shown in fig. 3B, compartments 318 and 320 may be located in the center of the ambulatory medical device platform, between the front and rear wheels, and at the bottom of the mobile chassis 306. A low center location may be advantageous to facilitate wireless charging on ground-mounted charging stations to provide stability during handling and/or to reduce the overall height of the platform for more efficient access to medical devices mounted on the ambulatory medical device platform. Furthermore, the centralized compact battery stack arrangement may reduce the footprint of the ambulatory medical device platform, allowing for more efficient storage and maneuverability.

In other embodiments, more efficient placement of ambulatory medical device platform components can be achieved by using a sled chassis that, as described later, includes a flat platform on which components can be flexibly mounted according to customized needs.

Mobile platform 300 may include omni-directional wheels for agile, easy-to-drive maneuverability, as the omni-directional wheels may power the mobile platform in any direction without a minimum wheel radius (i.e., 360 degree mobility). Fig. 3C illustrates an exemplary selection 380 of omni-directional wheels, including mecanum (e.g., biconic) wheels 382 and exemplary omni-directional wheels 384, 386, and 388 in a variety of wheel configurations. It should be understood that fig. 3C is for illustrative purposes only and should not be construed as limiting the type, wheel configuration, number or shape of rollers or other related characteristics.

To help avoid collisions, the mobile chassis described herein may include a plurality of proximity sensors positioned on a forward facing surface of the mobile chassis, as described above with respect to the collision detection sensors 330 of the mobile platform 300. Fig. 4A and 4B illustrate an exemplary proximity sensor that may be mounted on a mobile chassis. Fig. 4A illustrates an exemplary ambulatory medical device platform 400 including a medical device housing 402 (containing medical device components) coupled to an ambulatory chassis 404, such as frame 13 of fig. 1. One or more cameras of mobile platform 300, such as camera 304, may be mounted on mobile chassis 404 to facilitate manual or automatic navigation, as described above with respect to mobile platform 300. Two proximity sensors are mounted on the moving chassis 404, as generally indicated by the circled area 406.

Fig. 4B schematically illustrates the ambulatory medical device platform 400 in a top view, with a plurality of proximity sensors 408 disposed on a forward-facing surface of the ambulatory medical device platform/mobile chassis. The forward facing surface may be the most likely forward facing surface when the ambulatory medical device platform is moved by the user, and thus may be on the opposite side of the ambulatory medical device platform from the drive handle. As schematically shown at 410, four proximity sensors may be spaced along the forward facing surface of the moving chassis, providing overlapping detection zones with little or no blind spots. The proximity sensor may be mounted on a front cover of the moving chassis. The proximity sensor may be an optical sensor (e.g., camera, LiDAR, laser sensor) that provides longer distance sensing than other sensors. However, in some examples, the proximity sensor may be a bumper sensor, an ultrasonic sensor, or other suitable proximity sensor.

The proximity sensor may work in conjunction with a drive controller or other element of the mobile platform to facilitate navigation-type and ease-of-use for operation and parking in tight sections. Feedback from the proximity sensor may be used to control the speed of the ambulatory medical device platform. For example, if the signal output from the proximity sensor indicates that an object is present within a distance threshold range in the path of the ambulatory medical device platform (e.g., if the object is 1-2m away from the mobile imaging platform), the speed of the ambulatory medical device platform may be automatically reduced (e.g., to half the current travel speed). The ambulatory medical device platform may be automatically stopped if the signal output from the proximity sensor indicates that an object is present within a second distance threshold range (e.g., less than 1m) in the path of the ambulatory medical device platform. In addition, the proximity sensor may function in conjunction with other types of sensors mounted on the ambulatory medical device platform to dynamically adjust the speed of the ambulatory medical device platform based on the size, weight, or extension of the ambulatory device on the ambulatory medical device platform footprint. For example, when the ambulatory medical device platform has a C-arm mounted thereon that extends beyond the edge of the platform, thereby affecting its center of gravity, the system can adjust the motion control parameters in navigation. For example, the drive controller may combine this information with proximity sensor information to determine limits to be imposed on the speed, acceleration, and/or turn radius for navigation to a desired location. The method of how the acceleration limit and the rotation limit may be calculated and used to adjust the user input is described in more detail with reference to fig. 12 and 13.

Thus, the drive handle, drive controller, proximity sensor, battery management sensor, device configuration sensor (such as sensor 46), push sensor 62 and pull sensor 64 of the ambulatory medical device platform 12 of fig. 1 and 2, and other sensors, may be used together as an integrated system to optimize movement for ease of use, travel time, or other factors.

The mobile chassis described herein may be configured for wired and/or wireless charging stations for batteries with self-navigation capability to the charging stations. Fig. 5A schematically illustrates an exemplary wired charging system 500 for moving a chassis, such as the frame 13 of the mobile platform 12 in fig. 1. As shown in fig. 5A, the mobile chassis 502 (e.g., configured to support an x-ray imaging system) includes a battery 506, a battery management system 508, one or more docking mechanisms 514 and 516, and a charging port/component 510. In some implementations, the charging port/component 510 may be located within or as part of the docking mechanisms 514 and 516. In other embodiments, charging/component 510 may be housed outside docking mechanisms 514 and 516, as shown in fig. 5A. Via the docking mechanism, the charging port of the mobile chassis may be in contact/positioned with the charging station 504 for wired charging of the batteries of the mobile chassis. The charging station 504 may initiate wired charging of the battery 506 via a sensor 512 located in front of the charging station 504 that indicates when the mobile chassis is in place and electrically connected to the charging station 504. The sensor 512 may be an optical sensor (e.g., camera, LiDAR, laser sensor), infrared sensor, buffer sensor, ultrasonic sensor, or other suitable sensor. In FIG. 5A, the battery 506 and battery management system 508 are shown as being central to the ambulatory medical device platform; it should be understood that other embodiments may house these components on one side or the other of the platform for weight, center of gravity, access, or other considerations, as previously described.

The ambulatory medical device platform may include one or more additional docking sensors 518 located in front of the ambulatory medical device platform that specifically assist the drive controller in navigating automatically to the charging station or automatic docking procedure. The automatic docking sensor 518 may also work in conjunction with docking mechanisms, proximity sensors, drive handles, posts, arm or device sensors (such as sensors 46 and 48), or other sensors to optimize functionality for smooth access to the charging station, safe docking and start-up of the charge. The docking sensor 518 may be a vision sensor, LiDAR, infrared sensor, or any other suitable type of vision sensor.

The battery 506 may be a lithium ion battery (e.g., about 12AH to 15AH), a lead acid battery (about 20AH), a lead crystal battery (about 20AH), or any functionally similar battery designed in the future. The battery management system may include a rectifier or other component to regulate the alternating current of the power source (e.g., from the power grid via a medical facility) to direct the current to be supplied to charge the battery. The battery management system may also include sensors/algorithms for monitoring the voltage, current, and temperature of the battery to assess the health, state of charge, etc. of the battery. The charging station may be configured to supply 230V or 120V AC. The battery management sensors may be connected to the drive controller so that voltage, current, temperature or other data may be used as input to an algorithm that the wheels power to move the mobile platform. For example, the maximum speed of the ambulatory medical device platform can be reduced in order to conserve charge in the battery in the event the battery state of charge is low (such as 30% charge or less). The battery management system 508 may also include a charge/discharge algorithm for charging the battery. For example, depending on the type, size, or configuration of the battery installed on the mobile platform, selection of charging options may be available at the wired charging station. The battery management system may determine and select which charging option is best suited for a given mobile platform setting by applying pre-established rules, and/or monitor the current into the battery and the battery cell voltage to determine when the battery has been sufficiently charged.

As described above, the battery and battery management components may be modular units that may be removed, replaced, or exchanged for a new or different model in the future to facilitate customization. Thus, the ambulatory medical device platform provides a universal chassis design that can accommodate a variety of battery configurations and arrangements based on evolving needs and an ever-increasing and diverse set of portable medical devices being transported.

In fig. 5B, a series of exemplary images 520 illustrate a process for docking a moving chassis via docking mechanisms 514 and 516. As shown in the first image 522, the docking mechanism 516 of the mobile chassis may include a housing surrounding a charging port (not visible in the first image 522), a top hook 530, and/or a bottom hook (not visible in the first image 522). The mobile chassis may be moved (whether automatically in a self-navigation mode or under operator control) to align the docking mechanism housing 528 with a complementary docking housing 538 on the charging station.

The complementary docking housing 538 on the charging station may include a protruding docking guide 532 that slides into a similarly sized hole (not visible in the first image 522) on the mobile chassis to ensure proper alignment of the mobile chassis docking housing and the charging station docking housing. The complementary docking housing 538 may include a top docking bar 534 and a bottom docking bar 536 for securing the mobile chassis to a charging station. As shown in the second image 524, the top hook 530 may be secured to the top docking bar 534 of the complementary docking housing 538 of the charging station such that the top hook serves to keep the mobile chassis securely attached to the charging station, as shown in the third image 526. Additionally or alternatively, a bottom hook may be secured below the bottom docking bar 536 such that the bottom hook is used to keep the mobile chassis securely attached to the charging station (not shown in the set of images 520). Once charging is complete and the mobile chassis is moved out of the charging position, the top hook 530 can be actuated upward to release the top hook 530 from the top docking bar 534, or the bottom docking hook can be actuated downward to release the bottom docking hook from the bottom docking bar 536, and the mobile chassis can be moved away from the charging station.

It should be understood that one or more top (or bottom) hooks are shown for illustrative purposes only and may not be considered limiting. Other embodiments of docking mechanisms 514 and 516 may include alternative mechanisms for securing the mobile platform to the charging station. The docking mechanism may also be used as an integrated system in conjunction with a drive handle, drive controls, proximity sensors, battery management sensors, and other sensors to facilitate automatic docking in the event the ambulatory medical device platform is automatically navigated to a charging station. In other embodiments, where the ambulatory medical device platform is not automatically navigated to a charging station but is manually operated, the drive controller may work in conjunction with a docking mechanism, proximity sensors, drive handles, sensors for determining device configuration, and other similar components for assisting the user in docking the platform to the charging station. For example, when a user manually navigates the mobile platform to the charging station, the drive controller may override the manual control of the drive handle when the proximity sensor indicates that the mobile platform is in close proximity to the docking housing of the charging station, navigating itself to the charging station via the sensor.

As an alternative to wired charging via a docking mechanism, fig. 6A and 6B schematically illustrate an exemplary wireless charging and navigation system for a mobile chassis (such as the frame 13 of the mobile platform 12 in fig. 1). As shown in fig. 6A, a first example 600 of a wireless charging and navigation system includes a mobile medical device platform 602 (e.g., including a mobile chassis configured to support an x-ray imaging system) that includes a collapsible column 604 (e.g., on which an imaging component may be mounted), a search sensor 606 positioned on the column (the search sensor 606 may be a vision sensor, LiDAR, infrared sensor, etc.), a battery 610, and a charging component 608 (which may include hardware/software capable of supporting wireless charging of the battery, and in some examples may be included as part of a battery management system). To position the mobile imaging system in proper proximity to the wireless charger 616, the output of the search sensor 606 can be used to navigate the ambulatory medical device platform and position it at the charging station 612. The charging station 612 may be coupled to the wireless charger 616 and/or in a fixed position relative to the wireless charger. Charging station 612 may include a charging trigger sensor 614 (similar to charging sensor 512 of fig. 5A), which may be an ultrasonic sensor, a camera, an infrared sensor, a capacitive sensor, a laser sensor, or other suitable proximity sensor. The output from charging trigger sensor 614 may indicate to charging station 612 that the ambulatory medical device platform is in the appropriate position (e.g., in contact with charging station 612), and the charging station may begin charging via the wireless charger.

In some embodiments, the charging component 608 may be independent of the wireless charger 616 and may be lowered by the drive controller in order to bring the wireless charger and charging component closer to each other. Additionally or alternatively, the wireless charger 616 may be raised so as to bring the wireless charger and charging components closer to each other, as shown in fig. 6B. For example, the drive controller may automatically lower the charging component 608 to the level of the wireless charger 616 when a sensor, such as the search sensor 606, detects that the mobile platform is properly positioned, or the charging station 612 may automatically raise the wireless charger 616 to the level of the charging component 608 when a sensor, such as the charging trigger sensor 614, detects that the mobile platform is in position.

As with the docking process described in fig. 5A, the battery management system, drive controls, proximity sensors, drive handles, device sensors, search sensors, charge trigger sensors, and other related sensors, such as sensors 46 and 48 of the mobile imaging system 10 of fig. 1, may work together as an integrated system to facilitate access to the wireless docking chassis and initiate charging. Furthermore, it should be appreciated that the modular nature of the battery storage component, its low location, and flexibility with respect to different configurations of the battery and battery management system, as depicted in fig. 3B, may facilitate customization of the ambulatory medical device platform for a given wireless charging station, or improve the efficiency of automated or assisted navigation and/or wireless charging.

A user interface (e.g., clickable control buttons) may be positioned on the top cover of the ambulatory medical device platform, for example, as part of the graphical user interface 320 of the ambulatory platform 300 or as part of the operator console 14 of the ambulatory medical device platform 12 in fig. 2. User input to the user interface (e.g., pressing a clickable control button) may cause the ambulatory medical device platform to automatically search for charging stations and navigate to charging stations for charging. In some embodiments, a notification may be displayed via a user interface by a drive controller (such as drive controller 50 of ambulatory medical device platform 12) in response to location data and other information collected by sensors (such as proximity sensor 408, search sensor 606, device sensors, battery sensors, etc.). An exemplary method for automatically navigating to a charging station is shown in FIG. 16.

Fig. 6B shows a second example 601 of a wireless charging and navigation system comprising all the same components as the first example. However, the ambulatory medical device platform 602 shown in fig. 6B includes stationary posts 605 rather than collapsible posts. As will be understood from fig. 6A and 6B, the sensor 606 may be positioned at a location on the collapsible or stationary post that is not altered and is not obstructed by other components of the mobile medical device platform.

Thus, regardless of the specific type or configuration of the tubular string or the type or size of the medical device mounted on the ambulatory medical device platform, the various elements of the ambulatory platform include, but are not limited to, user interfaces, drive controllers, force feedback handles, omni-directional wheels, proximity sensors, search sensors, and other sensors, as well as features including, but not limited to, spatial partitioning, flexible battery layout and wired and/or wireless charging, low and configurable center of gravity, and compact footprint, which work together to provide a versatile, flexible, and customizable solution for performance and efficient transport of one or more medical devices under different usage scenarios. The integrated functionality of these components and features allows for standardization of user experience such that maneuverability of the ambulatory medical device platform and responsiveness of the drive handle remain consistent across different device installations having different sizes and weights. For example, when comparing the deployment of a medical device having a heavy C-arm extending beyond the footprint of the mobile platform with the deployment of a small medical device centrally positioned on the platform, a configuration may be obtained that minimizes any driving differences from the perspective of the user.

Turning to fig. 7, a side view 700 of the mobile platform 300 illustrates the spatial arrangement of the above-described elements from a side view of the mobile platform. The medical device platform 702 provides a location for mounting one or more medical devices, where the connected apparatus may be attached to a fixed or collapsible column at 704 in front of a mobile chassis. For example, a medical device assembly such as the x-ray source assembly 15 of the mobile imaging system 10 may be mounted on a rotating column, as shown in FIG. 1.

The mobile platform is powered by one or more of the omni-rear wheels 312 previously described, as well as the front wheels 310, which may include casters or a second pair of omni-wheels for added power and/or maneuverability. The battery/battery management system storage compartment 708 is shown in the center of the mobile platform, accessed from either side, as previously shown in fig. 3B. The weight of any components of the fixed or collapsible column-mounted medical device mounted on the column base 704 may be partially offset by placing the heaviest components of the battery and/or battery management system, mobile platform, in the storage compartment 708. A drive controller 714 (such as drive controller 50 of ambulatory medical device platform 12 of fig. 1) may be positioned below medical device platform 702, which may be electronically coupled to the rear wheel drive shaft to provide power to the wheels. In some embodiments, the suspension spring mounts 718 may be connected to the chassis via suspension interfaces 716.

In fig. 8, view 800 shows mobile platform 300 from the front. At the center of the front of the mobile platform device, a column base 704 is shown, in which a fixed or collapsible column can be mounted, on which a medical device can be mounted. The encoder 804 may transmit the position and rotation data of the fixed or collapsible column from the bottom of the column base 810 to the drive controller 714 for aggregation with data from a plurality of sensors and control devices (e.g., user interface, drive handle) to generate instructions for powering the wheel according to a configurable algorithm for achieving optimal performance and efficiency, as described in more detail below in method 1200 of fig. 12. The base of the chassis 802 may be positioned as low as possible as height constraints allow to facilitate efficient wireless charging; in the illustrated embodiment, the hanging interface 716 visibly protrudes from the center of the chassis 802. A proximity sensor, such as proximity sensor 408, may also be located in front of the bumper, as depicted in fig. 4B.

Fig. 9 and 10 illustrate the location and positioning of an exemplary suspension system for an ambulatory medical device platform, such as the ambulatory platform 300 and the wheeled motorized ambulatory medical device platform 12 of fig. 1. Fig. 9 illustrates an exemplary rear omni-wheel system 900 that in one embodiment includes a rear suspension system 902 that includes a suspension bracket 904 and a single centrally located coil spring 906 to cushion the weight of a medical device mounted on a device platform directly above it. Each powered wheel of the one or more powered wheels (e.g., omni wheel 312) is part of an omni wheel system that may include, among other components, a motor drive housed below the suspension bracket 904 and a wheel motor 910 that drives the omni wheel via a split drive shaft 912. The motor drive may receive commands for powering the wheels from a drive controller (not shown in fig. 9), such as drive controller 50 of mobile platform 12 in fig. 1. The components of the split drive shaft and omni-wheel system are shown in more detail in fig. 14 below.

In one embodiment, the wheel motor 910 may be an Electronically Commutated (EC) synchronous DC motor (e.g., a brushless DC motor) powered by a 150V DC current supplied by a power source, such as the battery 316 of the mobile platform 300. In some embodiments, the wheel motor 910 may be controlled via a dead-man switch (dead-man switch), thereby preventing motion unless there is continuous user input. For example, to actuate the ambulatory medical device platform, a user may have to activate a control (e.g., a button, trigger handle, etc.) such that releasing the button, trigger, or similar control shuts off power to the wheels. The power source may be regulated by a battery management system, such as battery management system 314 of mobile platform 300. The DC current may be converted to an AC current that sends power pulses to control the speed and torque of the wheel motors. The AC current may be converted from the DC power source by an inverter, which may be a component of a battery management system or a motor drive. It should be understood that the brushless DC motor and related components are mentioned by way of illustration and should not be construed as limiting. In other embodiments, the wheel motor 910 may be any other type of electric motor operable by a portable power source, such as a battery.

A brake (not shown in fig. 9) may also be attached to the split drive shaft 912, which may be communicatively coupled with the motor drive. For example, a user may apply the brake to stop moving the platform via an emergency stop button, such as emergency stop button 334 of platform 300, or apply the brake via a user interface, such as drive handle 308 or user interface 320 of platform 300. The sensors in the drive handle 308 or user interface 320 may be translated into instructions to apply the brakes by the drive controller and then transmitted to the wheel motors 910 via the motor drives. In some embodiments, the brake may be applied when the ambulatory medical device platform is not powered on and when no drive handle input is sensed.

Further, an encoder mounted on the split drive shaft 912 may be used to transmit a Pulse Width Modulated (PWM) signal from the split drive shaft 912 back to the motor drive, which may be transmitted back to the drive controller for display of a notification on the operator console. If an emergency stop button, such as emergency stop button 334 of platform 300, is activated to apply the brakes, the brakes may remain in the locked position until the operator presses an emergency brake release switch on the operator console, sending a command to the drive controller to resume movement. The operation of the split drive shaft and wheel system as a functional operator input is described in more detail in fig. 11-13 and 16 below.

In fig. 10, a top view 1000 of an ambulatory medical device platform shows a platform 702 on which one or more medical devices may be mounted, which is located directly above a rear suspension system 902. The column base 704 allows for the installation of patient-facing components of the medical device such that the weight of the entire platform is balanced, with the heaviest components (e.g., batteries) positioned at the center and bottom of the platform in the storage compartment 708, optionally distributed on one side or the other along with a battery management system. For example, as shown in fig. 1, the x-ray machine may be mounted on an ambulatory medical device platform, with the image processor and device console and/or graphical user interface secured to the platform 702 via a rear wheel mounting bracket 1002. The platform 702 also includes a balancing mass 1004 for counterbalancing the weight of components mounted on the front of the mobile platform, such as an x-ray tube housing with an x-ray source on an arm (such as the arm 32 of the mobile imaging system 10 in fig. 1) mounted to a fixed or collapsible column mounted on a column base 704. The power source for the X-ray machine may be a battery, which may be stored in storage compartment 708 along with a battery management system (such as battery 316 and battery management system 314 of mobile platform 300).

Turning now to fig. 11-13, a process for moving (e.g., manual driving or automated navigation) an ambulatory medical device platform from a wired and/or wireless charging station to a deployment location is illustrated via a series of nested flow diagrams. In fig. 11, an exemplary method 1100 for deploying an ambulatory medical device platform is shown, wherein the mobile platform receives and responds to sensor inputs. The mobile medical device platform can initially park or dock with a charging station, as shown at 1102. At 1104, the ambulatory medical device platform is checked by the user to determine if it is ready for deployment. For deployment, the user verifies that the appropriate device is placed on the platform and that the battery has sufficient charge to power the device. At 1106, it is determined whether the correct device is installed on the platform. If the correct medical device is not installed, the medical device is set up and secured to the platform as appropriate at 1108. If/once the correct device is properly positioned on the platform, the user determines whether the battery has been charged 1110. If not, at 1112, the battery is recharged and the method returns to 1104 for future deployment. If the battery is sufficiently charged, the user deploys the mobile platform to the desired location by manipulating a hybrid UIF drive handle (such as drive handle 308 of mobile platform 300) at 1114. The handle includes two or more sensors, where differences in sensor feedback can be used to specify a vector that indicates a suggested movement of the platform in terms of direction and force. The vector is converted into instructions for powering the omni-wheel and moving the platform, as described in the moving platform 300 of fig. 3 and shown in more detail in the method 1200 of fig. 12 below.

Once movement is initiated via the user interface (e.g., graphical user interface 320, drive handle 308, joystick, touch screen 332, etc.), the ambulatory medical device platform continues to navigate and power the wheels based on continuous user input as a function of pressure on the handle, provided that no obstacles are in its path. At 1116, the mobile platform determines whether an obstruction exists in the path of the mobile platform via a sensor located at the front of the mobile platform (e.g., proximity sensor 408 of fig. 4B). If there is an obstruction 1116, the drive controller applies a brake 1118 to stop the mobile platform and prevent a collision, and the method 1100 returns 1114 to receive further input from the drive handle. If there are no obstacles at 1116, the mobile platform determines if any user input to stop the mobile platform has been received by the user interface at 1120. For example, the operator may activate an emergency stop button, such as emergency stop button 334 of platform 300, or stop providing force to drive handle 308, or communicate his or her intent to stop the mobile device via an operator console, such as operator console 14. If the operator has signaled his or her intent to stop moving the vehicle at 1120, the mobile platform continues to apply the brakes at 1118 and the method 1100 returns to 1114 to receive further input from the driver's handle. If the mobile platform does not receive any signals to apply the brakes and/or stop the mobile platform at 1120, the mobile platform determines whether the destination has been reached. For example, an automated navigation routing run in the software driving the controller may determine that the mobile platform has successfully arrived at the charging station, or the operator may stop providing any further device inputs. If the destination has not been reached, the method 1100 returns to 1114 to receive further requests for movement and navigation. If the mobile platform determines that the destination has been reached at 1122, the operator can locate and/or park the mobile platform at 1124. In some embodiments, as described above, the operator may manually drive the mobile platform via a user interface, such as drive handle 38, until proximate to a charging station, such as wired charging station 504 of fig. 5A or wireless charging station 612 of fig. 6A and 6B, at which time the mobile platform or operator may trigger an automatic or assisted docking process.

The brake may be manually applied by an operator via a user interface. In some embodiments, the brake may be applied automatically as a result of a sensor, such as proximity sensor 408, indicating that the mobile platform is at risk of a collision or tipping over, or in the event that the mobile platform is automatically navigated to a charging station. In some embodiments, physical brakes may not be used, and slowing or stopping the mobile platform may be accomplished by sending a command to a drive controller, such as drive controller 50 of mobile platform 12 in fig. 1, to stop the wheels.

In addition to using normal brakes, the ambulatory medical device platform may include one or more additional features related to the brakes or movement of the wheel system. In some embodiments, the mobile platform may have sensors that measure wheel speed and provide feedback to the drive controller, thereby preventing unintended motion. For example, the drive controller may trigger a hard stop in the event of an internal circuit fault, excessive wheel speed, uncontrolled acceleration, etc. The drive controller may include a wheel rotation control mechanism that prevents rotation of the wheel without establishing traction with the floor surface. The wheel rotation control mechanism may be a software routine executed in the drive controller that reduces wheel speed when a wheel acceleration or speed threshold is exceeded, or the wheel rotation control mechanism may trigger the application of a mechanical device such as a brake. The ambulatory medical device platform may include a physical locking feature whereby a user may prevent accidental movement of the system by locking the wheels. The drive controller may also have a minimum and/or maximum speed threshold that may be defaulted or reprogrammed by the user depending on environmental factors such as the type of terrain, amount of traffic, weight and/or size of the medical device, etc. Further, different minimum and maximum speed thresholds may be established for different directions or for different conditions that may change during operation. For example, if the sensor determines that the floor is wet or traffic is abnormally high, the drive controller may adjust the maximum speed threshold. The mobile platform may also include physical features such as a wheel guard to prevent cables from falling into the wheel gap, or elements to facilitate access to the wheel for maintenance (e.g., cleaning).

Fig. 12 is a flow chart illustrating an example method 1200 for moving an ambulatory medical device platform via a drive handle, such as drive handle 308 of mobile platform 300, from the perspective of a drive controller, such as drive controller 50 of fig. 1. The method 1200 may be performed according to instructions stored in a non-transitory memory of a controller (such as the drive controller 50 of fig. 1 and/or the drive controller 714 of fig. 7).

At 1202, a drive controller receives a request from an operator to deploy (e.g., move) an ambulatory medical device platform to a patient location (e.g., a patient room) via a hybrid UIF drive handle comprising two or more sensors, wherein at least one of the two or more sensors is mounted on a left-hand side and at least one sensor is mounted on a right-hand side. At 1204, the drive controller determines whether an impact detection sensor (e.g., impact detection sensor 330 of mobile platform 300) has detected an object in the path of the ambulatory medical device platform. If the collision detection sensor has detected an object in the path of the moving platform at 1204, the drive controller decelerates the moving platform to stop and then returns to 1202 to receive a further request to move via the drive handle. As long as the collision detection sensor detects an object at 1204, a request for movement is received via the drive handle at 1203 but ignored, whereby the request for movement cannot proceed to 1206 until the collision detection sensor no longer detects the object or until the automatic stopping of the platform has been completed. In some embodiments, the automatic stopping of the mobile platform may be manually deactivated by the user when the obstacle in the path to be taken by the mobile platform has been cleared. In other embodiments, the automatic stopping of the mobile platform may be disabled if/when the sensor indicates that there are no obstacles in the path of the mobile platform. The above examples are for illustrative purposes, and other types of collision detection mechanisms may be included within the scope of the present disclosure in a non-limiting manner.

When the collision detection sensor is deactivated, the drive controller determines a direction vector from the request via the handlebar sensor at 1206. The drive controller converts the data from the left and right hand grip sensors into two-dimensional directional vectors (e.g., direction on the ground plane and magnitude of force to be applied as acceleration). For example, the operator may apply equal force in a forward direction to both sides of the drive handle to indicate forward movement of the mobile platform. Alternatively, the operator may apply a force in a forward direction to one side of the drive handle and an equal force in a rearward direction to the other side of the drive handle to indicate rotation into place. An exemplary explanation of the different pressure combinations on the drive handle is shown in more detail in fig. 15.

Once the user's pressure on the drive handle has been interpreted by the drive controller as a direction vector, at 1208 the drive controller continues to assign a stability parameter to the direction vector that indicates whether executing instructions for movement may destabilize the mobile platform. For example, the application of forceful pressure by the drive control to one side of the drive handle, indicating rapid acceleration and turning to one side, may cause the mobile platform to tip over. It should be understood that the term "acceleration" herein may refer to positive or negative acceleration (e.g., deceleration or braking). In one embodiment, the stability parameter may be a value between-1 and 1, where a negative value indicates that the expected movement is likely to destabilize the mobile platform, a positive value indicates that the expected movement will not destabilize the mobile platform, a magnitude of the parameter may indicate a confidence, and a 0 may indicate that the expected movement is on the boundary between stability and instability.

In one embodiment, the stability parameter may be determined by comparing the direction vector to a first stability threshold that, if exceeded, may cause the mobile platform to become unstable. For example, the drive controller may calculate the stability threshold as a function of the direction vector by evaluating the weight and position factors of the medical device mounted on the mobile platform and looking for acceptable acceleration and rotation parameters for different configurations and velocities (determined by the manufacturer or via testing, etc.). Acceptable first stability thresholds for different mobile platform configurations may be stored in the non-transitory computer memory and calculated by the drive controller as a function of a given direction vector. The weight and position factors may include the weight of the different components of the medical device mounted on the platform, as measured by weight sensors located on the platform, at the wheels, or at any other location on the chassis, and/or any combination of sensor data from the proximity sensors, battery management sensors, device configuration sensors (such as sensor 46, push sensor 62, and pull sensor 64) of the ambulatory medical device platform 12 in fig. 1 and 2, and/or any other sensors of the mobile platform. An exemplary method by which the acceptable first stability threshold and subsequent stability parameters may be determined is shown in more detail in FIG. 13.

At 1210, the drive controller determines whether the stability parameter determined at 1208 exceeds a second stability threshold to determine whether to apply the command to move the omni-wheel based on the direction vector at 1214 or to modify the command to move the omni-wheel at 1212. In one embodiment, the second stability threshold may be preprogrammed into the drive controller based on hospital policy, as described in the examples below.

If the second stability threshold is not exceeded at 1210, then at 1212 the drive controller may reduce the expected acceleration and/or rotation in order to ensure stability of the mobile platform and then return 1208 to calculate new stability parameters. The degree of acceleration and the accuracy of the calculation of the stability parameter, including any transformations used in the first stability threshold function (e.g., sinusoidal transformations, etc.), may be modified in each iteration, and may be configured by the manufacturer or by the user, hospital administrator, or any other relevant institution.

For example, at 1208, the drive controller may determine that the stability parameter value is 0.8 according to the process described in the previous paragraph and described below with respect to fig. 13. A stability parameter of 0.8 may indicate that the combination of expected acceleration and rotation falls within a first stability threshold, which means that expected movement is unlikely to destabilize the mobile platform with a confidence of 0.8 (80%). The drive controller may then compare the stability parameter value of 0.8 calculated at 1208 to a second preprogrammed stability threshold of 0.9, which may indicate that movement of the mobile platform should only be performed if it is determined that the expected movement is stable with a confidence above 0.9 (90%), in accordance with hospital policies. Since the stability parameter (0.8) does not exceed the second stability threshold (0.9), the expected motion may be adjusted by reducing the expected acceleration.

Once the direction vector that results in the stability parameter exceeding the second stability threshold is determined according to the procedure described above, the drive controller converts the direction vector into instructions for powering the omni-directional wheel, 1214, and the drive controller sends instructions to the motor drive of the associated omni-directional wheel to perform movement of the mobile platform accordingly, 1216.

At 1218, the drive controller determines whether a movement request for the mobile platform is still received via pressure on the drive handle. If there is a request to change the speed or direction of the mobile platform (e.g., pressure on the handle continues), the method returns to 1206 to process the user input via the handle sensor. Alternatively, if the user input indicating movement of the mobile platform ceases (e.g., if pressure does not continue), at 1220, the drive controller sends instructions to the motor drive to slow down (e.g., stop) the mobile platform via the wheel motors and/or apply brakes as appropriate to stop the mobile platform.

It should be understood that, as previously described, in some embodiments, the drive controller may receive input from an alternative control device other than a drive handle, such as a graphical user interface, a touch screen, a joystick, or from a computer program executing within the drive controller for automated navigation, or via any other alternative mechanism for moving the mobile platform.

Fig. 13 illustrates an exemplary method 1300 for determining a stability parameter for a given directional vector received from a drive handle, such as drive handle 308 of mobile platform 300, from the perspective of a drive controller, such as drive controller 50 of mobile platform 12 in fig. 1. As discussed above, the stability parameter is a numerical indication of how much the expected movement is likely to destabilize the ambulatory medical device platform when accelerating and/or rotating, as applied as part of the method 1200 described above. The method 1300 may be performed as a subroutine within software running on a drive controller or as a separate software component on a separate processor.

At 1302, the drive controller determines a baseline stability parameter when the mobile platform is stationary. In one embodiment, the baseline stability parameter may be calculated based on a comparison of the center of gravity of the ambulatory medical device platform and the center of gravity of the medical device mounted on the platform. For example, if the x-ray source is mounted on an arm, such as arm 32, on column 16 of mobile imaging system 10 in fig. 1, the center of gravity calculation will vary depending on the rotation and position of the arm and whether column 16 is collapsed or fixed. If the arm extends beyond the periphery of the platform, the distance between the center of gravity of the x-ray source and the center of gravity of the mobile platform may indicate that the mobile platform is not moving efficiently at a particular speed or in a particular direction, or not moving efficiently at all. The baseline stability parameters may also be calculated based on other factors, such as the weight of the medical device, the positioning of the medical device on the platform, the height of the medical device, the distance between the center of gravity and the ground, width or length center measurements, balance mass, symmetry, and the like.

In one embodiment, to determine a baseline stability parameter for the configuration of the mobile platform, the drive controller calculates a center of gravity of the medical device based on the distribution of device elements on the platform, post, and arm, at 1304. In some embodiments, the center of gravity of the medical device in various arm and column configurations may be preprogrammed into the drive controller. The center of gravity may be in a single dimension, two dimensions, or three dimensions (e.g., x, y, and z). Additionally or alternatively, at 1306, the drive controller may measure the weight of the platform and device together at different locations (e.g., at the base of the mobile platform at each wheel), which may help the controller determine the center of gravity of the medical device. For example, the difference in weight measurements between one side of the mobile platform and the other side of the mobile platform may indicate an offset between the center of gravity of the medical device and the center of gravity of the mobile platform in the X-Y plane, while the vertical offset (Z-plane) may be a function of the fixed height of the medical device. The medical device height measurements may be manually entered by an operator in advance, or they may be stored in a computer memory accessible by a processor in the drive controller when calculations are made.

At 1308, the center of gravity of the medical device is compared to the center of gravity of the mobile platform. For example, the distance between the two centers of gravity may be calculated from a reference point of the center of gravity of the ambulatory medical device platform and represented in three dimensions (e.g., X, Y, Z). Thus, the center of gravity comparison may be used to generate a baseline stability parameter, for example by measuring the Euclidean distance between the centers of gravity or similar calculations.

At 1310, based on the drive handle sensor, the drive controller receives a direction vector for the new motion from the drive handle. The direction vector received from the user is split into its two components-the desired rotation and acceleration. At 1312, based on the current velocity of the mobile platform and the given baseline stability parameter determined at 1302, the drive controller determines a first stability threshold for one of the components as a function of the other component. For example, for a mobile platform having a given configuration traveling at a given speed, the drive controller may determine a stability threshold (dependent variable) for acceleration based on a given desired rotation (independent variable), or the drive controller may determine a stability threshold (dependent variable) for rotation given a desired acceleration (independent variable). In one embodiment, the drive controller may determine the first stability threshold by querying a lookup table stored in a non-transitory memory of the drive controller. The lookup table may be pre-created by a mobile platform manufacturer or hospital administrator, standard organization, or similar regulatory agency based on testing, configuration, operating conditions, etc. for different medical devices. In addition to this, the variables used as independent variables and the variables used as dependent variables may differ from case to case, and may also be determined as a result of the test.

For example, at 1302, the drive controller may determine a baseline stability parameter of 0.6 for a given configuration of the mobile platform, indicating that the mobile platform is stable when stationary. The drive controller may determine, via sensors located at motors, wheels, or other locations on the mobile platform, that the current speed of the mobile platform is 0.5 meters/second. At 1310, the drive controller may receive a direction vector from the drive handle that includes an expected rotational component of 45 (e.g., indicating a 45 degree turn to the right) and a anticipatory acceleration component of 0.3 (e.g., indicating a 30% increase in velocity). Thus, the drive controller may determine an acceleration threshold of 0.5 as a function of the other three variables (e.g., baseline stability parameter, moving platform speed, and expected rotation) by querying the first stability threshold lookup table. Since the determined acceleration threshold of 0.5 (e.g., up to 50% of the allowed acceleration) is higher than the expected acceleration of 0.3, the drive controller may determine that it can perform the expected direction vector without tipping over the mobile platform.

At 1314, the drive controller calculates stability parameters specific to the particular mobile platform configuration and speed to be used in the method 1200 of fig. 12. The stability parameter may be based on a difference between the expected acceleration generated at 1314 and a threshold acceleration, and may indicate a confidence that the expected acceleration will or will not tip the mobile platform over. In the above example, the drive controller may determine a stability parameter of 0.95 (e.g., a high confidence level indicating that the mobile platform will not tip over) by subtracting an expected acceleration of 0.3 from an acceleration threshold of 0.5 determined by querying the lookup table and applying a transformation to return a number between-1 and 1.

Turning to fig. 14, a schematic 1400 illustrates an exemplary motor drive architecture for an ambulatory medical device platform, such as the ambulatory medical device platform 12 of fig. 1. As previously described, the drive controller 1402 receives user input from a drive handle, such as the drive handle 308 of the mobile platform 300. The drive controllers convert the inputs into commands that are sent to one or more of the omni-directional wheel systems 1406, 1416, 1418, and 1420. The components of each wheel system are shown in omni-directional wheel system 1406. In each omni-directional wheel system, there is a motor drive 1408 that controls the motors 1414 of the corresponding omni-directional wheels 312. In some embodiments, brake 1412 may be mounted on motor 1414, which may be used to stop moving the platform. In other embodiments, stopping the mobile platform may be accomplished via instructions sent to motor 1414. As described above in fig. 9, the encoder 1410 may also transmit a Pulse Width Modulation (PWM) signal back to the motor driver to better control the motor.

Fig. 15 illustrates an exemplary set of input-wheel motion pairs 1500 detailing how user input, via different combinations of pressure on a drive handle, such as drive handle 308 of mobile platform 300, may be translated into commands to power two or more bi-conical mecanum wheels. The exemplary set of input-wheel motion pairs 1500 includes eight different pairs. These examples are not exhaustive, and further the system may use less than the eight pairings shown. Further, although the example shows an angle of approximately 45 degrees, the actual angle may correspond to an actual commanded force or joystick input.

Pairing 1502 illustrates an exemplary drive handle input for powering the mobile platform forward; pairing 1508 shows an exemplary drive handle input for powering the mobile platform backwards; pair 1510 shows an exemplary drive handle input for rotating the mobile platform in a counter-clockwise direction; pair 1512 shows an exemplary drive handle input for rotating the mobile platform in a clockwise direction; pair 1514 shows an exemplary drive handle input for powering the mobile platform diagonally forward and to the left; pairing 1516 illustrates an exemplary drive handle input for powering the mobile platform diagonally forward and to the right; pairing 1518 illustrates an exemplary drive handle input for powering the mobile platform diagonally backwards and to the left; and pairing 1520 shows an exemplary drive handle input for powering the mobile platform diagonally backwards and to the right.

For example, as shown in input-wheel motion pair 1502, forward pressure applied to both sides of drive handle 1504 may be translated into forward rotation of the four omnidirectional dual-cone mecanum wheels to drive mobile platform 1506 in a forward direction. It should be understood that while the mecanum wheel rotates forward and rearward as a normal wheel, the rotating surface of the wheel also has a plurality of powered rollers oriented diagonally relative to the direction of the wheel such that when the mobile platform moves linearly forward and rearward, the diagonal rollers can cooperate to move the mobile platform in a lateral direction as well. This is achieved by positioning the diagonal rollers in different orientations depending on the wheel, so that the X and Y components of the motion of the different rollers can be added across all wheels to produce motion in any direction in the X-Y plane (e.g., 360 degrees of freedom).

Turning to fig. 16, an exemplary method 1600 is shown to be performed on an ambulatory medical device platform for automatic deployment and navigation to a target location (e.g., a charging station). As described above, in some cases, the ambulatory medical device platform may self-navigate along a given layout (e.g., hospital corridor) to automatically return to a charging station or storage location. Automatic navigation may save medical personnel time, thereby freeing them up time to focus on other healthcare or patient-oriented tasks. Furthermore, some devices may be difficult for an operator to manually drive due to size or weight limitations.

At 1602, the ambulatory medical device platform receives a request to initiate automated navigation. For example, the operator may select an option or activate a button on a user interface (e.g., user interface 44 of medical device system 10 or operator console 14 in fig. 1) to direct the ambulatory medical device platform to search for one or more charging stations, storage areas, or other target locations. The target location may be pre-designated and programmed into a drive controller, such as drive controller 50 of the ambulatory medical device platform 12 in fig. 2, or in other cases, the ambulatory medical device platform may be programmed to identify any target location via signals transmitted by the transceiver at the target location or by other similar means. At 1604, the ambulatory medical device platform determines the location of the charging station (or target location) to which it will navigate. In some embodiments, the ambulatory medical device platform may select the optimal target location from the selection of candidate target locations according to an algorithm programmed into the drive controller. For example, the mobile platform may be configured to select the charging station that is closest to the platform and that has not been used. In other embodiments, the mobile medical device platform may display various candidate target locations as options on a graphical user interface from which the operator may select the most appropriate option.

Once the target location is selected 1604, the ambulatory medical device platform determines a best path for navigating to the target location 1606. In some embodiments, the optimal path (e.g., the most direct path) may be determined by an expert system defined by an algorithm pre-programmed into the drive controller. In other embodiments, the ambulatory medical device platform can dynamically select the optimal path based on sensor input while navigating along the path. For example, the ambulatory medical device platform may select different navigation paths (e.g., hospital corridors) based on human traffic or other time-dependent data received by sensors (including visual sensors, LiDAR, infrared sensors, or any other suitable type) on the ambulatory medical device platform. In other embodiments, the ambulatory medical device platform may receive transmitted radio or other signals from a distance that may be automatically generated or generated by a remote operator assisting the ambulatory medical device platform in selecting an appropriate navigation path.

At 1608, the ambulatory medical device platform can display a notification to the operator on an operator console, such as operator console 14 of ambulatory medical device system 10, requesting confirmation or verification of the selected path. Additionally or alternatively, the ambulatory medical device platform may allow the operator to manually select the optimal path. For example, the ambulatory medical device platform can detect that two wired and/or wireless charging stations at different locations are both available and prompt the operator to determine which location to navigate to for the ambulatory medical device platform. At 1610, the ambulatory medical device platform receives a request from an operator via an operator console to navigate to a target location. Upon receiving the request, at 1612, the drive controller sends the relevant instructions to a motor drive, such as motor drive 1408 of schematic 1400 in fig. 14. At 1614, the motor drive powers the omni-wheel to initiate movement, as shown in fig. 15.

At 1616, the ambulatory medical device platform determines whether any sensors (e.g., proximity sensors 406 of fig. 4) indicate any obstructions in the path. If there is an obstacle at 1616, the ambulatory medical device platform applies the brakes at 1618, and the method 1600 returns to 1612 to receive further instructions to continue its navigation. In some embodiments, an expert system programmed in the drive controller of the ambulatory medical device platform may determine a series of rules to follow when an obstacle is present. For example, the ambulatory medical device platform may delay movement to see if the obstacle has left its path, or may determine a different path to follow to navigate to the target location. If the mobile platform can continue along its path and there are no obstacles at 1616, the ambulatory medical device platform determines whether the mobile platform has reached its destination at 1620. If the mobile platform has reached the intended destination, method 1600 returns. If the mobile platform has not reached its intended destination, method 1600 returns to 1612 to process further navigation instructions.

For example, the mobile platform may self-navigate to a charging station, such as charging station 504 of fig. 5, in order to recharge its battery. Once at the charging station, the mobile platform may self-navigate to the appropriate location, for example, to dock with the station via a docking mechanism, such as docking mechanisms 514 and 516 of fig. 5A. Self-navigation to the docking mechanism may also be facilitated by a docking sensor, such as docking sensor 518. Once the mobile platform has been docked, charging may be initiated. Alternatively, the mobile platform may self-navigate to a park position where it may be placed in a park state (e.g., powered off, brake activated, etc.).

The configuration of the ambulatory medical device platform is highly customizable, depending on the needs of the medical unit or the service in which it is used. Thus, an alternative configuration of a mobile platform based on various skateboard chassis configurations is shown in fig. 17. In contrast to the chassis shown in fig. 7 to 10, the skateboard chassis comprises a flat platform on which components such as the battery and battery management system, the column base, the balance pieces, etc. can be arranged in a flexible and customizable manner.

Fig. 17 shows an image pair of five different skateboard chassis configurations 1702, 1704, 1706, 1708 and 1710, each including a skateboard chassis platform 1716 and the hybrid UIF user interface drive handle 308 of fig. 3 for driving a mobile medical device platform, wherein the drive handle 308 is attached to the skateboard chassis via a triangular bracket 1714. The elevated flat chassis 1702 illustrates a skateboard chassis in which the platform 1716 is elevated to achieve maximum clearance, with the omni-directional wheel system located entirely below the platform. Lowered flat chassis 1704 shows a skateboard chassis in which front skateboard chassis portion 1718 has been lowered relative to rear skateboard chassis portion 1720, for example to reduce the height of elements such as fixed or collapsible posts mounted at the front of the platform. As with the raised flat chassis 1702, all of the full direction wheel systems are located below the skateboard chassis.

In contrast, the skateboard chassis 1706, 1708 and 1710 are skateboard chassis configurations in which some or all of the omni-directional wheels are positioned on the sides of the skateboard chassis platform. The skateboard chassis of the deeper lowered flat chassis 1706 has a front portion that has been lowered below the level of the lowered flat chassis 1704 with both front and rear wheels being inset and extending vertically above the level of the platform as shown by wheel inset 1722. In contrast, the wheel-out flat chassis 1708 has a flat platform with the rear wheels embedded and extending vertically above the level of the platform as the deeper lowered flat chassis 1706, and the front wheels positioned below the platform as the lowered flat chassis 1704. The wheels out and lowered flat chassis 1710 shows the flat skateboard chassis in a low position with all four wheels embedded and extending vertically above the level of the platform. The wheel out and lowered flat chassis 1710 also features a protective wheel shield, such as protective wheel shield 1724, that can prevent cables or other objects from falling into the gap between the wheel and the mobile platform.

Loaded chassis 1730, 1732, 1734, 1736 and 1738 show skateboard chassis 1702, 1704, 1706, 1708 and 1710, respectively, where battery management system 314, battery 316 and post base 328 of fig. 3 are mounted on the skateboard chassis. In this way, the sled chassis design allows for flexible placement of other mobile medical device platform components (e.g., batteries, BMS, drive controllers, counterbalance, etc.). Furthermore, by arranging the wheels under or on the sides of the skateboard chassis, different platform heights can be achieved, including platforms where different portions are at different heights.

Accordingly, there is provided herein an ambulatory medical device drive platform comprising: a battery within the chassis that is flexibly configurable with an omni-directional wheel system; a hybrid user interface that allows a 360 degree range of movement; and wired or wireless charging options. In some embodiments, the ambulatory medical device driver platform may include a battery with a battery management system, with docking options for wired charging and a sensor to identify when the mobile platform reaches a wired charging station. In other embodiments, the ambulatory medical device driver platform may include a battery with a battery management system, with wireless charging and a sensor for identifying when the system reaches a wireless charging station. In other embodiments, the ambulatory medical device driver platform can include an automatic search option to bring out to a wired or wireless charging station using LiDAR technology and return to the requested or target destination (e.g., using artificial intelligence).

The ambulatory medical device drive platform may include an automatic assist mode in which the ambulatory medical device drive platform has a steering assist and collision detection system that facilitates speed control when an obstacle approaches while traveling or parking (reducing the speed to a user acceptable speed and stopping when an object is about to collide). The mobile medical device driven platform may include an Automated Guided Vehicle (AGV) that is operated remotely or via coded guidance paths of AI technology in a hospital corridor, whereby the mobile medical device driven platform is sent by an operator to a desired room via WiFi.

The ambulatory medical device drive platform described herein can provide several advantages, including automatic wired or wireless charging station search and navigation upon triggering, no charging cable problems or wire damage, ease of positioning and parking at the bedside, ease of maneuvering in right turns, left turns, reverse, and side turns, and techniques to avoid collisions during navigation. Further, the platform may be used for one or more medical devices, such as a surgical system, ultrasound, x-ray, anesthesia system, or others. The common platform design for different imaging modalities/medical devices may allow standardization with respect to ambulatory medical systems, which may reduce costs. The automatic charging capability may reduce the user's workflow.

Fig. 1-10, 14, 15, and 17 illustrate exemplary configurations with relative positioning of various components. In at least one example, such elements may be referred to as being in direct contact or directly coupled to each other, if shown as being in direct contact or directly coupled, respectively. Similarly, elements that abut or are adjacent to each other may, at least in one example, abut or be adjacent to each other, respectively. For example, components disposed in coplanar contact with each other may be referred to as coplanar contacts. As another example, in at least one example, elements that are positioned spaced apart from one another and have only space therebetween without other components may be referenced as so described. As another example, elements shown as being above/below one another, on opposite sides of one another, or between left/right sides of one another may be so described with reference to one another. Further, as shown, in at least one example, a topmost element or point of an element can be referred to as a "top" of a component, and a bottommost element or point of an element can be referred to as a "bottom" of the component. As used herein, top/bottom, upper/lower, above/below may be with respect to the vertical axis of the figure and may be used to describe the positioning of elements in the figure with respect to each other. Thus, in one example, an element shown as being above other elements is positioned vertically above the other elements. As another example, the shapes of elements shown in the figures may be referred to as having these shapes (e.g., such as being circular, straight, 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. Additionally, in one example, elements shown as being within another element or shown as being outside another element may be referred to as being so described.

One example provides a mobile platform comprising: a chassis configured to receive one or more medical devices; an omni-directional wheel system coupled to a chassis in which a battery is accommodated; the battery is configured to supply power to drive the omnidirectional cart system and/or to supply power to operate one or more medical devices; and a battery management system housed in the chassis, wherein the battery management system is configured to facilitate wired and/or wireless charging of the battery. In a first example of the mobile platform, wherein the omni-directional wheel system is a first omni-directional wheel system of the at least two omni-directional wheel systems, the chassis includes a drive controller configured to automatically control the at least two omni-directional wheel systems. In a second example of the mobile platform, which optionally includes the first example, the drive controller is configured to automatically control the at least two omni-wheel systems to move the mobile platform to the charging station. In a third example of the mobile platform, optionally including one or both of the first and second examples, the mobile platform includes a controller configured to receive input from a user and to control operation of the omni-directional wheel system in response thereto. In a fourth example of the mobile platform, which optionally includes one or more of each of the first through third examples, the controller includes instructions stored in the memory to determine a currently configured stability parameter of the mobile platform and adjust the output of the omni-directional wheel system in response to the determined stability parameter. In a fifth example of the mobile platform, optionally including one or more of each of the first through fourth examples, the mobile platform includes a rotating column. In a sixth example of the mobile platform, optionally including one or more of each of the first through fifth examples, the mobile platform includes a front wheel set and a rear wheel set, and the omni-wheel system is part of the front wheel set or the rear wheel set, and the battery is positioned between the front wheel set and the rear wheel set and rearward of the rotating column. In a seventh example of the mobile platform, optionally including one or more of each of the first through sixth examples, the mobile platform comprises a rear suspension system comprising a bracket and a single centrally located coil spring. In an eighth example of the mobile platform, optionally including one or more of each of the first through seventh examples, the omni-wheel system comprises a motor drive housed below the suspension mount and a wheel motor driving the omni-wheel via a split drive shaft. In a ninth example of the mobile platform, which optionally includes one or more of each of the first through eighth examples, the mobile platform includes a handle having a first force sensing area and a second force sensing area positioned along the handle to engage each hand of the user. In a tenth example of the mobile platform, optionally including one or more of each of the first through ninth examples, the mobile platform includes a controller that receives input from a user's hand through one or more of the force sensing areas on the handle and controls operation of the omni-directional wheel system in response thereto. In an eleventh example of the mobile platform, optionally including one or more of each of the first through tenth examples, the rotation of the omni-wheel in the omni-wheel system and the angle of the drive torque of the omni-wheel are each responsive to a sensed force from a user interaction with the first and second force sensing regions of the handle.

One example provides a method of operating a mobile platform driven by an omni-wheel system having a chassis configured to house one or more medical devices, the method comprising: moving the mobile platform by driving one or more omni-directional wheels using an electric motor and a battery in response to a user input physically interacting with the mobile platform; wirelessly charging a battery; and controlling movement of the mobile platform based on the configuration of the medical device coupled to the platform. In a first example of the method, the controlling of the motion comprises limiting the motion based on the determined stability parameter of the mobile platform. In a second example of moving the platform, which optionally includes the first example, the stability parameter includes a center of gravity of the combined platform and medical device. In a third example of the mobile platform, optionally including one or both of the first and second examples, movement of the mobile platform is responsive to the sensed force from the handle, the movement including driving the omni-wheel to move in both a longitudinal and a lateral direction. In a fourth example of the mobile platform, which optionally includes one or more of each of the first through third examples, the medical device comprises an arm, wherein controlling the motion comprises limiting a speed of the mobile device platform in a specified direction based on the arm position.

One example provides a mobile platform comprising: a chassis configured to receive one or more medical devices; a front wheel set coupled to the chassis; a rear wheel set coupled to the chassis and including two omni-wheel systems, each omni-wheel system including an omni-wheel; a battery housed in the chassis, the battery configured to supply power to drive each omni-directional wheel and to supply power to operate one or more medical devices; rotating the column; a battery management system housed in the chassis, wherein the battery management system is configured to facilitate wired and/or wireless charging of the battery; a mixing UIF handle having a multi-directional sensing; a drive controller configured to automatically control the two omni-directional wheel systems, wherein the battery is positioned between the front set of wheels and the rear set of wheels and rearward of the rotating column, the drive controller further configured to receive an input from the hybrid UIF handle and control operation of the two omni-directional wheel systems in response thereto; and a rear suspension system including a carrier and a single centrally located coil spring, wherein each of the two omni-wheel systems has a motor drive housed beneath the suspension carrier and a wheel motor driving the corresponding omni-wheel via a split drive shaft. In a first example of a mobile platform, comprising a first force sensing handle region and a second force sensing handle region positioned to engage each hand of a user, wherein the controller comprises instructions for receiving input from the first force sensing handle region and the second force sensing handle region and controlling operation of the two omni-directional wheel systems in response thereto.

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 that "comprise," "include," or "have" an element or a plurality of elements having a particular property may include additional such elements not having that property. The terms "including" and "in. 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.