GB2318266A - Driving a mobile X-ray apparatus - Google Patents

Abstract

The carriage (12, fig. 1) of a mobile X-ray unit (10, fig. 1) is moved by application of force on a force sensing handle 200 engaged with the carriage by two strain gauge assemblies 210, 212. These assemblies provide signals 244, 252 to motor drive control circuits 195, 197 which drive motors 176, 174 to control independently the direction and magnitude of two driven wheels (17, 178, fig. 7), according to the force applied to handle 200 relative to the carriage. Resilient material 222 and apertures 220, 230 allow the beams 216, 226 of strain gauge assemblies 210, 212 to deflect when in contact with the apertures, but prevent over-deflection, and resilient material 222 also biases handle 200 to a neutral position. Should the carriage strike an obstruction, a bumper (260, fig. 1) at the front of the carriage actuates a safety cutoff switch 262 to prevent further forward motion of drive motors 174, 176 through control circuits 195, 197.

Description

2318266 IMPROVED MOBILE X-RAY APPARATUS The present invention generally

relates to mobile x-ray apparatus, and more particularly to an improved mobile x-ray apparatus for obtaining radiographs of bed-ridden patients in hospitals, nursing homes or in other similar situations where the equipment must be brought to the patient.

mobile x-ray apparatus for taking radiographic images of a bed-ridden patient in the patient's hospital room are well known. Such apparatus are particularly beneficial in situations where the risks of moving the patient to stationary radiography apparatus is great. Given the inherent advantages of mobile X-ray apparatus in such situations, the demand for mobile X-ray apparatus is growing and as such there are many mobile X-ray apparatus offered by a variety of manufacturers for taking such x-rays.

The apparatus offered by these manufacturers generally have a large carriage that holds a significant number of heavy lead acid batteries used to power the X-ray tube. Thus, movement of the carriage tends to be awkward due to its large size and heavy weight. Controlled motor drive systems have been used to facilitate movement of the carriage both from the place where the mobile X-ray unit is stored to the location of the patient as well as fine movement often needed to position the X-ray tube over the area of the patient to be radiographed. Whether moving the apparatus forward or backward with the motor control system, it is desirable to have a motor control system that provides the operator with a responsiveness that most nearly simulates the responsiveness of a shopping trolley to the operator's touch. Prior art apparatus have generally failed to provide simple, inexpensive, reliable and responsive drive systems.

It is also desirable to provide a mobile X-ray apparatus in 2 which the X-ray tube is essentially positionable over the entire bed- ridden patient without the need for moving the trolley. Although the prior art offer telescoping and rotating X-ray tube support arms, the prior art apparatus generally fail to provide a system wherein the X-ray tube may be positioned over the patient without the need for moving the trolley. Positioning the X-ray tube by moving the trolley can be awkward and often frustrating at times for the operator who needs to precisely position the X-ray tube over a particular part of the patient.

Accordingly, it is one object of the present invention to provide an improved mobile X-ray apparatus for taking radiographs of patients having medical conditions where it is more prudent to bring the apparatus to the patient than the patient to the apparatus.

This object is accomplished, at least in part, by the provision of a mobile X-ray apparatus having an articulating X-ray tube support arm, formed from a plurality of pivoting support appendages, for supporting and placing the X-ray tube in a predetermined position to take a radiograph of a patient.

This object is also accomplished, at least in part, by the provision of a mobile X-ray apparatus having a mast for supporting an X-ray tube support arm, the mast being formed so as to have flanges connected by a web and a pair of rails on each side of the web where the X-ray tube support arm and a counterweight may be slidably engaged.

The object is further accomplished, at least in part, by the provision of a mobile X-ray apparatus having a handle connected to the carriage of the apparatus by two strain gauges at the ends thereof, where the strain gauges provide electrical signals indicating the direction and degree of force placed on the handle relative to the carriage, a plurality of driven wheels, and a means for controlling the 3 direction and magnitude of rotation of the driven wheels based on the electrical signals provided by the strain gauges.

other objects and advantages of the present invention will become apparent to those skilled in the art from the following detailed description read in conjunction with the attached drawings and claims appended hereto.

The drawings, not drawn to scale, include:

Figure 1 which is a side view of the improved mobile X-ray apparatus principally illustrating the mast and the articulating X-ray tube support arm, and the movement of the arm along mast; Figure 2A which is a top view of the improved mobile X-ray apparatus principally illustrating the pivotable movement of the articulating X-ray tube support arm; Figure 2B which is a top view of the improved mobile X-ray apparatus principally illustrating the storage of the X-ray tube and articulating X- ray tube support arm for movement of the apparatus from one location to another; Figure 3A which is a perspective view of the trunnion clamp supporting the X-ray tube; Figure 3B which is a cross-sectional view of the trunnion clamping mechanism; Figure 3C which is a front view of the trunnion clamp supporting the X- ray tube; Figure 4A which is a top view of the X-ray tube being locked into the cradle of the improved mobile X-ray apparatus carriage; Figure 4B which is a front view of the X-ray tube being locked 4 into the cradle of the improved mobile X-ray apparatus carriage; Figure 4C which is a side view of the X-ray tube being locked into the cradle of the improved mobile X-ray apparatus carriage; Figure 5 which is a side view of a portion of the articulating X-ray tube support arm principally illustrating the electromagnetic multi-disc braking system for preventing relative pivoting of adjacent support arm appendages; Figure 6A which is a view of the interior of the top of mast of the improved mobile X-ray apparatus principally illustrating a pulley arrangement; Figure 6B which is a cross-sectional view of the mast of the improved mobile X-ray apparatus principally illustrating the rail system for engaging the articulating arm and counterweight therein; Figure 6C which is a schematic view of the counterweight ing system within the mast of the improved mobile X-ray apparatus; Figure 7A which is a top view of the drive carriage of the improved mobile X-ray apparatus, principally illustrating the relative positioning of the motors; Figure 7B which is a front view of the drive carriage of the improved mobile X-ray apparatus, principally illustrating the drive train for rotating the driven wheels; Figure 8 which is a cross-sectional view of a driven wheel utilized in the improved mobile X-ray apparatus; Figure 9A which is a perspective view of a portion of the carriage of the improved mobile X-ray apparatus further illustrating the support of the handle by a pair of strain gauge assemblies; Figure 9B which is a top cross-sectional view of the end of the handle illustrating the supporting strain gauge assembly engaged with the carriage; Figure 9C which is a side view of the carriage illustrating the engagement of the strain gauge with the carriage; and Figure 10 which is a schematic diagram of the motor drive control circuits.

Referring to Figures 1, 2A and 2B, a mobile X-ray unit is generally indicated by the numeral 10. The mobile X-ray unit 10 includes a carriage 12 having a front portion 11, a top 13, a base 14, two opposed sides 15 and a rear portion 16. The base 14 is supported from the ground by a plurality of wheels comprising a pair of rear driven wheels and a pair of front wheels. Right rear driven wheel 17 and right front wheel 19 illustrated in Figure 1 and a complimentary left hand side pair of wheels (not shown) provide stable support for the carriage 12.

The mobile X-ray unit 10 further includes a mast as generally indicated by the number 20. The mast has a front side 21, a rear side 22, two opposed sides 24, a first end 26 and a second end 28. Attached to the mast 20 is an articulating Xray tube support arm shown in a fully raised position as generally indicated by the numeral 30. The articulating X-ray tube support arm 30 is slidable along substantially the entire length of the mast 20. A fully lowered illustration of the articulating Xray tube support arm 30 is shown in phantom in Figure 1 and its fully lowered position is generally indicated by the numeral 31.

The articulating X-ray tube support arm 30 features a 6 plurality of coupled pivotable support appendages that allow an X-ray tube 52 to be moved in planar motion substantially horizontal to the ground supporting the carriage 12. As is illustrated in Figures 1, 2A and 2B, the articulating X-ray tube support arm 30 comprises a first pivotable support appendage 36 having a first end (not shown) engaged with the mast 20 at the front side 21 and a second end 32. The engagement of the first pivotable support appendage 36 with the mast will be discussed more fully below. A second pivotable support appendage 40 also has a first end 41 and a second end 42. The first end 41 of the second pivotable support appendage 40 is pivotally coupled to the second end 38 of the first pivotable support appendage 36. The articulating X-ray tube support arm 30 also includes a third pivotable support appendage 44 having a first end 45 and a second end 46 and a fourth pivotable support appendage 48 also having a first end 49 and a second end 50. The first end 45 of the third pivotable support appendage 44 is pivotally coupled to the second end 42 of the second pivotable support appendage 40 while the second end 46 of the third pivotable support appendage 44 is pivotally coupled to the first end 49 of the fourth pivotable support appendage 48. The X-ray tube 52 is connected to the second end 50 of the fourth pivotable support appendage 48 via a trunnion clamp 54 having a first hoop 55a and a second hoop 55b. Hoops 55a and 55b have aligned radial slots 53a and 53b. A detailed description of the pivotal couplings connecting the appendages of the X-ray tube support arm 30 follows below.

Referring now to Figures 1 through 4C, a pair of rectangular X-ray tube skin guards comprising a left guard 56a and a right guard 56b are attached to the X-ray tube 52 by well known and ordinary means. Right guard 56b also includes a handle portion 59. X-ray tube guards 56a and 56b, as well as handle 59, provide an operator with a means for positioning the X-ray tube 52 along the horizontal plane as well as allow the operator to rotate the X-ray tube 52 relative to the trunnion 7 clamp 54 from a first position as shown by the numeral 57 to a second position shown as 58. The ordinary skin guards 56a and 56b also serve to protect the collimator assembly (not shown) of the X-ray tube 52 from damage caused by impact as well as ensure that the collimator cannot be placed any closer to the skin than the minimum source to skin distance (SSD), usually 30 cm, permitted by the FDA.

As shown in Figures 3A through 3C, the trunnion clamp 54 includes a "quick release" type lever and cam locking system as generally indicated by the numeral 60. The lever and cam locking system 60 generally comprises a first and second block 70 and 72 respectively attached between trunnion hoops 55a and 55b. As is shown by Figure 3A, first block 70 is attached to hoops 55a and 55b on one side of aligned slots 53a and 53b while second block 72 is attached to hoops 55a and 55b on the other side of slots 53a and 53b. Clamping of the X-ray tube 52 is accomplished by drawing first and second blocks 70 and 72 together causing hoops 55a and 55b to become constricted. First and second blocks 70 and 72 are drawn together by tensioning of an over center pin 66 anchored at one end in the second block 72 by a tension adjusting screw 73. Tension on the over center pin 66 is established by the force of cam 64 and lever 62 connected to the over center pin 66 on a Delrin TM bearing surface 68 adjacent to first block 70. When lever 62 is in an open position as generally illustrated by the numeral 74, the X-ray tube 52 may be rotated within the trunnion hoops 55a and 55b because the hoops are in an unconstricted state and their unconstricted state diameter is larger than that of the X-ray tube 52. When lever 62 is in a closed position as generally illustrated by the numeral 76, the X-ray tube 52 may not be rotated due to the pressure exerted on the tube 52 by hoops 55a and 55b when the hoops are constricted. The lever and cam locking system 60 thereby provides a quick and convenient means for locking and unlocking the X-ray tube 52 so that the X-ray tube 52 may be precisely rotated by the operator with guards 56a and 56b or 8 handle 59 and then locked in a predetermined position.

Now referring to Figures 1, 2A, 2B and 4A through 4C, the top portion 13 of the carriage 12 includes an X-ray tube cradle 80 having first and second slots 82 and 84 therein. Below cradle 80 adjacent to slot 84 there is located a solenoid 86 with associated plunger 88 which is of sufficient length to extend substantially across slot 84 when the solenoid is deenergized. The body of a limit switch 90 is positioned below cradle 80 adjacent to slot 82 such that a portion of a tripping means 92 of the limit switch 90 may extend into slot 82. As will be appreciated by those skilled in the art, the four pivotable support appendages of the articulating X-ray tube support arm 30, the function of which has been previously discussed, permits the X-ray tube 52 to be pivoted in a manner such that the guards 56a and 56b may be aligned with and placed into slots 82 and 84 of cradle 80. When guards 56a and 56b are positioned deep enough within slots 82 and 84 as determined by the contact of guard 56a with protruding tripping means 92 thereby closing limit switch 90, the X-ray tube 52 may be locked in cradle 80 by de- energizing solenoid 86 so that plunger 88 extends substantially across slot 84 when a portion of guard 56b is located below the plunger 88. Also, limit switch 90 may be connected to the general X-ray control circuits (not shown) so as to disable the X-ray tube when contact is made between guard 56a. and tripping means 92. When the X-ray tube 52 is locked in the cradle 80, the risk of damage to the X-ray tube 52 caused by inadvertent movement of the tube 52 during manoeuvring of the carriage 12 is lessened. As will be more fully discussed below, the articulating X-ray tube support arm 30 may also be locked into its resting position as well as any other desired position by a plurality of electro-magnetic brakes positioned within the plurality of X-ray tube support arm appendages 36, 40, 44 and 48. An example of such means between two appendages is shown in Figure 5.

9 Now referring to Figure 5, a portion of second pivotable support appendage 40 and position of third pivotable support appendage 44 are shown pivotally coupled by a shaft 102 which is secured to the second end 42 of second pivotable support appendage 40 by first and second end caps 104 and 106 respectively. Smooth rotation of the third pivotable support appendage 44 about shaft 102 is provided by bearing sets 105 and 107 positioned between the third pivotable support appendage 44 and first and second end caps 104 and 106 attached to second pivotable support appendage 40. As shown in Figure 5, an ordinary electro-magnetically actuatable multi-disk brake 100 with housing 108 is positioned about shaft 102 and within the first end 45 of the third pivotable support appendage 44. The multi-disk brake housing 108 is attached to the third pivotable support appendage 44. A clamp collar 110 secures multi-disk brake 100 to shaft 102. When no power is applied to brake 100, a spring (not shown) within the brake forces the multiple disks to make contact thereby preventing pivoting movement of the third pivotable support appendage 44 relative to the second pivotable support appendage 40. When power is applied to the electro-magnetic brake 100, the electro-magnetic force acts against the spring to allow decoupling of the multiple disks and thereby allow movement of the two adjacent pivotable support appendages 40 and 42. Similar electro-magnetic brakes may be positioned at the pivot points of all of the pivotable support appendages of the articulating X-ray tube support arm 30 to prevent movement thereof. An ordinary elect ro -magnetic actuated multi-disk brake supplied by Inertia Dynamics has been found to perform satisfactorily for the purposes of immobilizing the articulating X-ray tube support arm 30 of the present invention. A switch 71 located on handle 59 electrically connected in an ordinary manner to the brakes may be used to activate or deactivate them as well as activate or deactivate solenoid 86. As will be readily appreciated by those skilled in the art, the use of a brake with single or multiple disks in the practice of the present invention will not deviate from its scope.

Figures 1 and 6A through 6C illustrate the inner workings of the mast 20 and the attachment of the first pivotable support appendage 36 thereto. Referring to Figure 6B wherein the mast 20 is shown in a sectional view, it may be seen that mast 20 is formed as a single extrusion and comprises a first flange 110, a second flange 112 and a web 114, having a first side 116 and a second side 118 connecting the first flange 110 to the second flange 112 much like an I-beam. Of course, it is not necessary for the purposes of the present invention that mast 20 be formed from a single extrusion provided that the mast 20 generally have a pair of flanges and a web as discussed above. A first rail 120, also shown in section, is attached to the first side 116 of web 114. The first rail 120 substantially extends from the first end 26 to the second end 28 of the mast 20. As shown by Figure 6B, the first end 37 of pivotable support appendage 36 is coupled to rail 120 by a coupling 122 having a plurality of bearings (not shown) surrounding the rail 120. Coupling 122 permits the first pivotable support appendage 36 and of course the articulating X- ray tube support arm 30, to slide along the mast 20 between the first and second ends 26 and 28 respectively. As will be explained more fully below, coupling 122 may also include a pair of cable anchoring pins 124 and 126 for securing cables to the first pivotable support appendage 36.

The second side 118 of web 114 also includes first and second rail support members 128 and 130 extending outwardly therefrom. A pair of rails 132 and 134 are attached to the first and second rail support members 128 and 130. A counterweight 136 is slidably coupled to the rails 132 and 134 by set of couplings containing bearings (not shown) located at the top 137 of counterweight 136 as well as at the bottom 139. Figure 6B illustrates slidable coupling 138 and 140 located at the top 137 of counterweight 136 connecting the counterweight to rails 132 and 134. Bearings in couplings 138 and 140 allow 11 the counterweight 136 to freely slide substantially along the entire length of the mast 20 from the first end 26 to the second end 28. The couplings located at the bottom 139 of counterweight 136 are arranged in a similar manner to that shown for couplings 138 and 140 in Figure 6B. Thus, as can be understood by those skilled in the art, the four counterweight couplings slidably secure the counterweight 136 to rails 132 and 134.

A counterweight system 142 for counterweighting the movement of the first pivotable support appendage 30 along the mast 20 is shown in Figure 6C. Now referring to Figures 6A through 6C, according to the present invention the first pivotable support appendage 30 may be counterweighted by connection to the counterweight 136 by a first cable 144 and a second cable 146. one end of first cable 144 is attached to anchor 145 located at the second end 28 of the mast 20. The first cable 144 is routed through an upper counterweight pulley 148 and an upper mast pulley 150 before the other end of the first cable 144 is attached to the first pivotable support appendage 30 at a cable anchor 124. Likewise, one end of the second cable 146 is secured to anchor 152 located at the first end 26 of mast 20, and the second cable 146 is routed through lower counterweight pulley 154 and lower mast pulley 156 before its other end is attached to cable anchor 124 of the first pivotable support appendage 20. Referring to Figure 6A, an additional upper mast pulley 158 is shown attached to a shaft 160 which is, in turn, connected to upper mast pulley 150. Additional counterweight pulleys and an additional lower mast pulley may be used to guide additional cables in a similar manner to that described for first and second cables 144 and 146. The additional cables provide redundancy as well as more uniform movement of the counterweight 132 and X-ray tube support arm 30. Also shown on Figure 6A is an electromagnetic disk brake means 162 connected to shaft 160 that may be used in an ordinary manner to prevent the inadvertent raising and lowering of articulating X-ray tube support arm 30 12 along mast 20. In an alternative embodiment, an electric motor 163 may be used together with the brake 162 to raise and lower the articulating x- ray tube support arm 30 along mast 20. Now referring to Figures 7A, 7B and 8, the mobile X-ray apparatus 10 of the present invention is propelled along the floor of a hospital or other similar institution by drive subcarriage 170 attached to the base 14 of carriage 12. The drive sub-carriage comprises a platform 172 on which a pair of electric motors 174 and 176 are positioned so that they lay on the platform substantially between a left driven wheel 178 and the right driven wheel 17. The left and right driven wheels 178 and 17 are connected to the trolley by axle 179 held in position by supports 180 and 182 extending downwardly from sub-carriage platform 172. Left and right driven wheels 178 and 17 are attached to the axle 179 in a manner that permits them to rotate independently from each other. The driven wheels 178 and 17 are propelled by motors 174 and 176. The propulsion is accomplished via toothed belts 184 and 186 that are connected between gear portions 188 and 190 of the wheels and toothed pulleys 192 and 194 of transmissions 196 and 198 coupled to the shafts of motors 174 and 176. The direction and magnitude of rotation of each of the wheels 178 and 17 may be independently controlled by associated motor speed and direction control circuits 195 and 197 of the type ordinarily associated with electric motor control. As shown in Figure 8, the wheels 178 and 17 are preferably fabricated as single casting 193 that includes the gear portions 190 wherein a rubber wheel 191 is attached thereto. The single casting 193 ensures that there are fewer parts to assemble during the manufacturing process and also ensures fewer moving parts that could inadvertently become disassembled possibly causing damage or injury.

Now referring to Figures 2A, 2B, 7A, 7B and 9A through 9C, input to motor control circuits 195 and 197 is accomplished by placing a force on a handle 200 having first and second ends 202 and 204. The first and second ends 202 and 204 are 13 positioned within large openings 205 and 207 of first and second projections 206 and 208 located at the rear portion of carriage 12. The openings 205 and 207 are made to be larger than the width of the handle 200 so as to allow some movement of the handle 200 relative to the carriage 12 when force is applied thereon by an operator. The movement of handle 200 relative to the carriage 12 is restrained by a resilient material 222, such as a dense cellular foam, fitted in the space between the opening 205 and first handle 202 and in the space between opening 207 and second handle end 204. The handle movement is also restrained by a pair of strain gauge assemblies 210 and 212 located within each end 202 and 204 of handle 200. As shown by the sectional view of handle 200 in Figure 9B, a first strain gauge assembly 210 located at the first end 202 of handle 200 comprises a base 214 and beam 216 attached to the base 214. The base 214 is mounted within cavity 218 and beam 216 is permitted to extend past the first end 202 of handle 200 into opening 205 and an aperture 220 in the first projection 206 of carriage 12. The diameter of aperture 220 is intentionally made larger than that of beam 216 so the beam 216 is permitted to have some free play within the aperture 220. Likewise, the second strain gauge assembly 212 is located at the second end 204 of handle 200. Similarly, the second strain gauge assembly 212 comprises a base 224 and a beam 226 attached to the base 224. Base 224 is mounted within cavity 228 so that beam 226 is permitted to extend past the second end 204 of handle 200 into opening 207 and an aperture 230 in the second projection 208 of carriage 12. The diameter of aperture 230, similar to the diameter of aperture 220, is intentionally made larger than that of beam 226. The resilient material 222 together with apertures 220 and 230 allow beams 216 and 226 to deflect when contact is made with apertures 220 and 230 but prevent over-deflection and possible binding thereof. The resilient material 222 also bias the handle 200 to a neutral position so that when no force is applied to handle 200 the beams of strain gauge assemblies 210 and 212 are not deflected and thereby no 14 signals are sent by the strain gauge assemblies to the control circuits 195 and 197. Over-deflection of prior art strain gauge handle and carriage assemblies of different design has been known to cause binding which in turn causes the driven wheels to be inadvertently propelled although the force causing the over-deflection and binding had been removed. The interface between the handle 200, strain gauge assemblies 210 and 212 and carriage 12 of the present invention alleviates the problems associated with binding.

As will be appreciated by those skilled in the art, both strain gauge assemblies 210 and 212 sense the direction and magnitude of relative force placed on handle 200 and appropriately send output signals to the motor speed and direction control circuits 195 and 197. Referring to Figure 10, according to the present invention input 240 of electric motor 176 is connected to output 242 of control circuit 195 and output 244 of strain gauge assembly 210 is connected to the input 246 of control circuit 195. Likewise, input 248 of electric motor 174 motor is connected to output 250 of control circuit 197 and output 252 of strain gauge assembly 212 is connected to input 254 of control circuit 197. Because both strain gauge assemblies 210 and 212 are mounted to the handle 200 and each are used to independently control the electric motors 174 and 176, the operator of the mobile X-ray apparatus 10 may virtually control the movement of the apparatus 10 with one hand placed near the middle of the handle 200.

Referring to Figures 1 and 10, a bumper 260 is positioned at the f ront 11 of carriage 12. Bumper 260 is attached to a safety cutoff switch 262 that is electrically connected to motor control circuits 195 and 197. Should the bumper 260 strike an obstruction, the switch 262 automatically stops and prevents further forward motion of the drive motors 174 and 176 through control circuits 195 and 197. Reverse motion is neither stopped nor prevented by switch 262 so that the apparatus 10 may be backed away from the obstruction.

is Referring to Figure 1, 9C and 10, in an alternative embodiment, handle 200 includes brake switch 280 which, when depressed, enables strain gauge assemblies 210 and 212 to be responsive to forces applied to handle 200 and thereby allowing control circuits 195 and 197 to propel wheels 178 and 17. When brake switch 280 is not depressed, strain gauge assemblies 210 and 212 remain unresponsive to the forces applied to handle 200. Brake switch 280 provides a safety system which prevents inadvertent carriage movement that would otherwise result from unintentional contact with handle 200.

Although the present invention has been described with respect to one or more particular embodiments of the apparatus, it will be understood that other embodiments of the present invention may be made without departing from the spirit and scope of the present invention. Hence, the present invention is deemed limited only by the appended claims and the reasonable interpretation thereof.

16

Claims (6)

1. A mobile X-ray apparatus comprising:

a carriage having a base, a top, a f ront portion, a rear portion, and two opposed sides; a plurality of wheels attached to and arranged about the base of the carriage so as to stably support the base from a floor; a mast having a front side, a back side, two opposed sides, a first end, a second end, wherein the first end is attached to the carriage; an articulating X-ray tube support arm, said articulating Xray tube support arm further comprising:

a first pivotable support appendage having a f irst end and a second end, wherein the first end is coupled to the first side of the mast so as to allow the first pivotable support appendage to slide along the first side of the mast substantially from the first end of the mast to the second end of the mast, and wherein the second end of the first pivotable support appendage includes a pivotal coupling means; a second pivotable support appendage having a first end and a second end, wherein the first and second ends include means for pivotal coupling, wherein pivotal coupling means at the first end of the second pivotable support appendage is pivotally coupled with the pivotal coupling means at the second end of the first pivotable support appendage; a third pivotable support appendage having a first end and a second end, wherein the first and second ends include means for pivotal coupling, wherein the pivotal coupling means at the first end of the third pivotable support appendage is pivotally coupled with the pivotal coupling means at the second end of the second pivotable support appendage; and 17 a fourth pivotable support appendage having a first end and a second end, wherein the first end includes means for pivotal coupling, wherein the pivotal coupling means at the first end of the fourth pivotable support appendage is pivotally coupled to the pivotal coupling means at the second end of the third pivotable support appendage, and wherein the second end has a means for supporting an X-ray tube; and an X-ray tube supported by the means for supporting an X-ray tube attached to the second end of the fourth pivotable appendage of the articulating X-ray tube support arm.

2. The mobile X-ray apparatus of claim 1, wherein the means for supporting an X-ray tube further comprises: a trunnion clamp having:

a first hoop with a radial slot therein; a second hoop with a radial slot therein; a means for constricting the diameter of at least one of the hoops.

3. The mobile X-ray apparatus of claim 1, wherein the means for supporting an X-ray tube further comprises: a first hoop with a radial slot therein; a second hoop with a radial slot therein aligned with the radial slot of the first hoop; a first block attached between the first and second hoops on one side of the aligned radial slots thereof; a second block attached between first and second hoops on an opposite side of the aligned radial slots thereof; a bearing surface adjacent to the first block is a cam located adjacent to the bearing surface; an over center pin having a f irst and second end, wherein the over center pin is positioned so as to run through the first and second blocks and through the bearing surface, and wherein the first end of the over center pin is anchored in the second block and the second end is attached to the cam; and a means for rotating the cam.

4. The mobile X-ray apparatus of claim 1, wherein the apparatus includes a means for rigidly attaching the X-ray tube to the carriage when the X- ray tube is placed in a stowed position on the base so as to prevent movement of the X-ray tube and articulating X-ray tube support arm when the apparatus is to be moved along a floor.

5. The mobile X-ray apparatus of claim 1, wherein the apparatus further includes:

at least one extremity projecting outwardly from the X-ray tube; an X-ray tube cradle positioned on the top of the carriage, the cradle having at least one slot therein for receiving the at least one extremity projecting outwardly from the X-ray tube; and means for locking the at least one extremity projecting outwardly from the X-ray tube in the at least one slot of the X-ray tube cradle when the X-ray tube is on the X-ray tube cradle.

6. A mobile X-ray apparatus as claimed in any of the preceding claims wherein:

the rear portion of the carriage has first and second apertured projections adjacent respective first and second sides of the carriage; and the carriage has: at least first and second driven wheels; and a handle; wherein:

first and second ends of the handle each has a cavity housing a respective strain gauge which projects into the respective aperture of the first and second projections on the rear portion of the carriage, and the strain gauges provide electrical signals to means for driving the first and second driven wheels respectively.

6. The mobile X-ray apparatus of claim 1, wherein the apparatus further includes: a first and second extremity attached to and projecting 19 outwardly from the X-ray tube, wherein the first extremity includes an opening therein; an X-ray tube cradle positioned on the top of the carriage, the cradle having a first and second slot therein, wherein the first slot is adapted to receive the first extremity and the second slot is adapted to receive the second extremity; a solenoid having a base and a plunger extendable from the base, the solenoid being positioned in the first slot so as to extend across the slot when the solenoid is de-energized; a limit switch having a base and a tripping means, the limit switch being positioned in the second slot so that the tripping means extends partly into the slot; means for energizing and de-energizing the solenoid; and whereby the X-ray tube may be locked to the X-ray tube cradle by extending the solenoid plunger through the opening in the first extremity thereby preventing the first extremity from being removed from the first slot.

7. The mobile X-ray apparatus of claim 1, further comprising:

at least one disk brake positioned concentrically about one of the common shafts linking two adjacent X-ray tube support arm appendages, wherein the disk brake is attached to one of the two adjacent support arm appendages such that when the brake is applied relative movement of the two adjacent support arm appendages is prevented.

8. The mobile X-ray apparatus of claim 1, further comprising:

a first disk brake positioned concentrically about a common shaft linking the means for pivotal coupling located at the second end of the f irst pivotal support appendage with the means for pivotal coupling located at the first end of the second pivotal support appendage, wherein the disk brake is attached to second pivotal support appendage such that when the brake is applied relative movement of the first and second support appendages is prevented; a second disk brake positioned concentrically about a common shaft linking the means for pivotal coupling located at the second end of the second pivotal support appendage with the means for pivotal coupling located at the first end of the third pivotal support appendage, wherein the disk brake is attached to the third pivotal support appendage such that when the brake is applied relative movement of the second and third support appendages is prevented; and a third disk brake positioned concentrically about a common shaft linking the means for pivotal coupling located at the second end of the third pivotal support appendage with the means for pivotal coupling located at the first end of the fourth pivotal support appendage, wherein the disk brake is attached to the third pivotal support appendage such that when the brake is applied relative movement of the third and fourth support appendages is prevented. 9. The mobile X-ray apparatus of claim 8 further comprising:

means for disengaging the first, second and third brake, the means being attached to the X-ray tube. 10. A mobile X-ray apparatus comprising:

a carriage having a base, a top, a front portion, a rear portion, and two opposed sides; a plurality of wheels, wherein the wheels are attached to and arranged about the base of the carriage so as to stably 21 support the base from a floor; a mast having a first end and a second end, wherein the first end of the mast is fixedly attached to the carriage, and wherein the mast further comprises: a first flange; a second flange; and a web positioned between the first and second flanges, the web including a first side and a second side; a first rail attached to the f irst side of the web and extending substantially from the first end to the second end of the mast; a second rail attached to the second side of the web and extending substantially from the first end to the second end of the mast; an X-ray tube support arm having a first end and a second end, the first end having means for slidable coupling with the first rail and the second end having means for supporting an X-ray tube; an X-ray tube attached to the X-ray tube support arm by the means for supporting an X-ray tube; a counterweight having a first end and a second end means for slidable coupling with the second rail; and a means for connecting the X-ray tube support arm with the counterweight so that the weight of the X-ray tube support arm is counterbalanced by the weight of the counterweight. 11. The mobile X-ray apparatus of claim 10, wherein the means 22 for connecting the X-ray tube support arm with the counterweight further comprises: a first mast pulley attached to the mast at its second end; a second mast pulley attached to the mast at its first end; a first counterweight pulley attached to the first end of the counterweight; a second counterweight pulley attached to the second end of the counterweight; a first cable having a first end and a second end, wherein the first end is anchored to the second end of the mast, wherein the cable is routed through the first counterweight pulley and the first mast pulley, and wherein the second end of the cable is attached to the X-ray tube support arm; and a second cable having a first end and a second end, wherein the f irst end is anchored to the first end of the mast, wherein the cable is routed through the second counterweight pulley and the second mast pulley, and wherein the second end of the cable is attached to the X-ray tube support arm. 12. A mobile X-ray apparatus comprising:

a carriage having a base, a top, a front portion, a rear portion, a first side, a second side, the rear portion also including:

a first projection located adjacent to the first side of the carriage, and wherein the first projection has an aperture therein; a second projection located adjacent to the second side of the carriage, and wherein the second projection has an 23 aperture therein; a plurality of wheels attached to and arranged about the base so as to stably support the base from a floor, wherein the plurality of wheels including a first driven wheel and second driven wheel being arranged essentially at the rear portion of the base, the first wheel being positioned adjacent to the first side and the second wheel being positioned adjacent to the second side; means for controlling the rotation of the first driven wheel; means for controlling the rotation of the second driven wheel; a handle, the handle having: a first end including a cavity therein; a second end also including a cavity therein; wherein the first and second ends of the handle are positioned between the first and second projections of the rear portion of the carriage, the handle also including:

a first strain gauge having a beam and a base, wherein the first strain gauge is electrically connected to the means for controlling the rotation of the first driven wheel so as to provide the means with electrical signals representative of the magnitude and direction of deflection of the beam of the first strain gauge, wherein the base of the first strain gauge is rigidly attached to the handle within the cavity of the first end of the handle, and wherein the first strain gauge beam is permitted to extend outwardly past the first end of the handle and into the aperture of the first projection of the rear portion of the carriage; a second strain gauge having a beam and a base, wherein the second strain gauge is electrically connected to the means for controlling the rotation of the second driven wheel so as 24 to provide the means with electrical signals representative of the magnitude and direction of deflection of the beam of the second strain gauge, wherein the second strain gauge base is rigidly attached to the handle within the cavity of the second end of the handle, and wherein the second strain gauge beam is permitted to extend outwardly past the second end of the handle and into the aperture of the second projection of the rear portion of the carriage; a mast, the mast having a front side, a back side, two opposed sides, a first end attached to the base of the carriage, and a second end; an articulating X-ray tube support arm having a first end engaged with the front side of the mast so as to allow the Xray tube support arm to slide along the front side and a second end having means for supporting an X-ray tube attached thereto; and an X-ray tube connected to the means for supporting an X-ray tube attached to the second end of the articulating X-ray tube support arm.

13. The mobile X-ray apparatus of claim 12, wherein the first driven wheel comprises a single casting having an axial bore therethrough, wherein a portion of the casting includes a plurality gear teeth and the remaining portion of the casting is surrounded by a dense resilient material, and wherein the second driven wheel comprises a single casting having an axial bore therethrough, wherein a portion of the casting includes a plurality gear teeth and the remaining portion of the casting is surrounded by a dense resilient material.

14. The mobile X-ray apparatus of claim 12, wherein the means for controlling the rotation of the first driven wheel comprises a first motor and first motor speed control circuit, the first motor being coupled to the first driven wheel by a first drive belt, wherein the means for controlling the rotation of the second driven wheel comprises a second motor and second motor speed control circuit, the second motor being coupled to the second driven wheel by a second drive belt, and wherein the first and second motors are positioned on the base of the carriage between the first and second driven wheels.

15. The mobile X-ray apparatus of claim 12, further including a bumper switch attached to the front portion of the carriage, the bumper switch being electrically connected to the means for controlling the rotations of the first driven wheel and the means for controlling the second driven wheel, the bumper switch being responsive to contact such that upon such contact motion in a forward direction is temporarily terminated while motion in a rearward direction is not terminated.

16. The mobile X-ray apparatus of claim 12, wherein the handle further includes a switch electrically connected to the first and second strain gauges whereby when the switch is depressed the first and second strain gauges are rendered responsive to force applied thereon and whereby when the switch is not depressed the first and second strain gauges are rendered unresponsive to forces applied thereon.

17. A mobile apparatus for mounting an X-ray tube, the apparatus comprising a mobile wheeled carriage; a mast mounted on the carriage; and an articulated X-ray tube support arm mounted on the mast, the arm comprising a plurality of pivotable support assemblages, pivotally coupled end to end, the pivotable support assemblage remote from the mast being adapted to receive and support an X-ray tube.

18. A mobile X-ray apparatus comprising, in combination, a 26 mobile apparatus according to Claim 17 and an X-ray tube secured to the pivotable support assemblage remote from the mast.

19. A mobile apparatus for mounting an X-ray tube comprising a carriage having a rear portion including first and second apertured projections adjacent respective first and second sides of the carriage, the carriage having at least first and second driven wheels, and a handle, first and second ends of the handle each having a cavity housing a respective strain gauge, projecting respectively into the apertures of the first and second projections on the rear portion of the carriage, and the strain gauges providing electrical signals to means for driving the first and second driven wheels respectively.

20. A mobile X-ray apparatus comprising, in combination, a mobile apparatus according to Claim 19 and a mast mounted on the carriage, an articulated support arm mounted on the mast, and an X-ray tube mounted on the articulated support arm.

21. A mobile apparatus for mounting an X-ray tube substantially as hereinbefore described with reference to and as illustrated in the accompanying drawings.

22. A mobile X-ray apparatus substantially as hereinbefore described with reference to and as illustrated in the accompanying drawings.

Amendments to the claims have been filed as follows 1. A mobile X-ray apparatus comprising:

a carriage having a base, a top, a front portion, a rear portion, a first side, a second side, the rear portion also including:

a first projection located adjacent to the first side of the carriage, and wherein the first projection has an aperture therein; a second projection located adjacent to the second side of the carriage, and wherein the second projection has an aperture therein; a plurality of wheels attached to and arranged about the base so as to stably support the base from a floor, wherein the plurality of wheels including a first driven wheel and second driven wheel being arranged essentially at the rear portion of the base, the first wheel being positioned adjacent to the first side and the second wheel being positioned adjacent to the second side; means for controlling the rotation of the first driven wheel; means for controlling the rotation of the second driven wheel; a handle, the handle having:

first end including a cavity therein; second end also including a cavity therein; wherein the first and second ends of the handle are positioned between the first and second projections of the rear portion of the carriage, the handle also including:

a first strain gauge having a beam and a base, wherein ) 11.5 the first strain gauge is electrically connected to the means for controlling the rotation of the first driven wheel so as to provide the means with electrical signals representative of the magnitude and direction of deflection of the beam of the first strain gauge, wherein the base of the first strain gauge is rigidly attached to the handle within the cavity of the first end of the handle, and wherein the first strain gauge beam is permitted to extend outwardly past the first end of the handle and into the aperture of the first projection of the rear portion of the carriage; a second strain gauge having a beam and a base, wherein the second strain gauge is electrically connected to the means for controlling the rotation of the second driven wheel so as to provide the means with electrical signals representative of the magnitude and direction of deflection of the beam of the second strain gauge, wherein the second strain gauge base is rigidly attached to the handle within the cavity of the second end of the handle, and wherein the second strain gauge beam is permitted to extend outwardly past the second end of the handle and into the aperture of the second projection of the rear portion of the carriage; a mast, the mast having a front side, a back side, two opposed sides, a first end attached to the base of the carriage, and a second end; an articulating X-ray tube support arm having a first end engaged with the front side of the mast so as to allow the Xray tube support arm to slide along the front side and a second end having means for supporting an X-ray tube attached thereto; and an X-ray tube connected to the means for supporting an X-ray tube attached to the second end of the articulating X-ray tube support arm.

101 2. A mobile X-ray apparatus as claimed in claim 1, wherein the f irst driven wheel comprises a single casting having an axial bore therethrough, wherein a portion of the casting includes a plurality of gear teeth and the remaining portion of the casting is surrounded by a dense resilient material, and wherein the second driven wheel comprises a single casting having an axial bore therethrough, wherein a portion of the casting includes a plurality gear teeth and the remaining portion of the casting is surrounded by a dense resilient material.

3. A mobile X-ray apparatus as claimed in claim 1 or 2, wherein the means for controlling the rotation of the first driven wheel comprises a first motor and first motor speed control circuit, the first motor being coupled to the first driven wheel by a first drive belt, wherein the means for controlling the rotation of the second driven wheel comprises a second motor and second motor speed control circuit, the second motor being coupled to the second driven wheel by a second drive belt, and wherein the first and second motors are positioned on the base of the carriage between the first and second driven wheels.

4. A mobile X-ray apparatus as claimed in claims 1, 2 or 3, further including a bumper switch attached to the front portion of the carriage, the bumper switch being electrically connected to the means for controlling the rotations of the first driven wheel and the means for controlling the second driven wheel, the bumper switch being responsive to contact such that upon such contact motion in a forward direction is temporarily terminated while motion in a rearward direction is not terminated.

5. A mobile X-ray apparatus as claimed in any of claims 1 to 4, wherein the handle further includes a switch electrically connected to the first and second strain gauges whereby when the switch is depressed the first and second strain gauges are rendered responsive to force applied thereon and whereby when the switch is not depressed the f irst and second strain gauges are rendered unresponsive to forces applied thereon.