US20220061779A9 - Caster System For Mobile Apparatus - Google Patents

Abstract

A mobile imaging device includes a base having at least one caster, a first drive mechanism that moves the system in a transport mode and translates an imaging component relative to the base in a scan mode, and a second drive mechanism that extends caster relative to the base to raise the base off the ground in the transport mode, and retracts the caster relative to the base to lower the base to the ground in the scan mode. A caster system for a mobile apparatus includes a base containing a housing and a caster, attached to the base, the caster having a wheel defining a wheel axis and a swivel joint defining a swivel axis and a pivot point defining a pivot axis, wherein the caster pivots on the pivot axis as the caster is retracted into the housing and extended out of the housing.

Description

RELATED APPLICATIONS
• This application is a continuation of, and claims benefit and priority to, U.S. patent application Ser. No. 15/718,240 filed on Sep. 28, 2017. U.S. patent application Ser. No. 15/718,240 is a continuation in part of U.S. patent application Ser. No. 15/600,273 filed on May 19, 2017. U.S. patent application Ser. No. 15/718,240 is also a continuation of U.S. patent application Ser. No. 14/212,169 filed on Mar. 14, 2014 which, in turn, claims priority to U.S. Provisional Patent Application No. 61/791,509 filed on Mar. 15, 2013. U.S. patent application Ser. No. 15/600,273 is a continuation of U.S. patent application Ser. No. 14/935,752 filed on Nov. 9, 2015, which is a continuation of U.S. patent application Ser. No. 14/306,863 filed on Jun. 17, 2014. U.S. patent application Ser. No. 14/306,863 is a continuation in part of U.S. patent application Ser. No. 13/025,573 filed on Feb. 11, 2011 which, in turn, claims priority to U.S. Provisional Patent Application No. 61/315,462 filed on Mar. 19, 2010. U.S. patent application Ser. No. 14/306,863 is also a continuation of U.S. patent application Ser. No. 13/025,566 filed on Feb. 11, 2011 which, in turn, claims priority to U.S. Provisional Patent Application No. 61/313,299 filed on Mar. 12, 2010. The disclosures of each of these applications are hereby incorporated by reference in their entirety.
BACKGROUND
• Conventional medical imaging devices, such as computed tomography (CT) and magnetic resonance (MR) imaging devices, are typically fixed, immobile devices located in a discrete area reserved for imaging that is often far removed from the point-of-care where the devices could be most useful.
• It would be desirable to make these imaging devices mobile, so that they can move to various locations within a hospital or other health services environment. This is difficult due to the size, weight and overall number of components required for making an operable imaging system, and even a relatively small and compact imaging device, such as an x-ray CT scanner, can weigh upwards of 2500 lbs.
• There is a need to improve the mobility of imaging systems without sacrificing image quality or adding significantly to the size and weight of the device.
SUMMARY
• Various embodiments include a mobile imaging system that includes a base having at least one caster, a first drive mechanism that moves the entire system in a transport mode and translates at least one imaging component relative to the base in a scan mode, and a second drive mechanism that extends the at least one caster relative to the base to raise the base off the ground in the transport mode, and retracts the at least one caster relative to the base to lower the base to the ground in the scan mode.
• Further embodiments include a caster system for a mobile apparatus, such as an imaging device, that includes a base containing at least one housing for a caster and at least one caster, attached to the base, the caster having a wheel defining a wheel axis and a swivel joint defining a swivel axis and a pivot point defining a pivot axis, wherein the caster pivots on the pivot axis as the caster is retracted into the housing and extended out of the housing.
• Further embodiments include an imaging system that includes a base having a housing, at least one component that translates relative to the base in a scan mode, and a cable management system in the housing and comprising at least one cable that couples at least one of power and data between the base and the at least one component that translates relative to the base, the cable management system having a first end connected to the base and a second end coupled to the at least one component that translates relative to the base and extends in a loop between the first end and the second end such that a leading edge of the loop travels at a lower speed than a speed at which the at least one component translates relative to the base
• Further embodiments include a method of imaging using a mobile imaging system comprising a base, a first drive mechanism and at least one imaging component mounted to the first drive mechanism, where the method comprises retracting at least one caster relative to the base to lower the base to the ground, translating the at least one imaging component relative to the base to obtain images of an object located above the base, extending the at least one caster relative to the base to raise the base off the ground, transporting the imaging system by driving a drive wheel mechanically coupled to the first drive mechanism when the base is raised off the ground.
BRIEF DESCRIPTION OF THE DRAWINGS
• Other features and advantages of the present invention will be apparent from the following detailed description of the invention, taken in conjunction with the accompanying drawings of which:
• FIG. 1 is a side view of a mobile imaging system with a drive wheel and casters extended and the base of the system raised off the floor.
• FIG. 2 is a side view of the mobile imaging system with the drive wheel and casters retracted and the base lowered to the floor.
• FIG. 3 is a bottom isometric view of the imaging system showing the drive wheel and casters retracted and pads on the bottom surface of the base that define a scan plane.
• FIG. 4 is a side view of the mobile imaging system in a transport mode.
• FIG. 5 is an isometric view of the mobile imaging system in a scan mode.
• FIG. 6 is a top isometric view of the drive mechanism for an imaging system according to one embodiment.
• FIG. 7 is an isometric view of the main drive assembly.
• FIG. 8 is a bottom isometric view of the drive mechanism.
• FIG. 9 is a rear isometric view of the drive mechanism.
• FIG. 10 is a front isometric view of the drive mechanism.
• FIGS. 11A and 11B are top isometric views of the main drive assembly.
• FIGS. 12A and 12B are bottom isometric views of the drive mechanism.
• FIG. 13 is a front view of the drive mechanism.
• FIG. 14 is a side view of the drive mechanism.
• FIG. 15 is a top view of the drive mechanism.
• FIG. 16 is a cross-sectional view of the main drive assembly.
• FIG. 17 illustrates a base and drive mechanism for mobile apparatus according to a second embodiment.
• FIG. 18 illustrates a caster drive system.
• FIG. 19A illustrates a caster system for mobile apparatus with casters fully extended.
• FIG. 19B illustrates the caster system ofFIG. 19A with casters partially retracted.
• FIG. 19C illustrates the caster system ofFIG. 19A with casters fully retracted.
• FIGS. 20A-C illustrates a cable management system for a base with the base not shown for clarity.
• FIGS. 21A-C illustrate the cable management system with the base shown.
DETAILED DESCRIPTION
• The various embodiments will be described in detail with reference to the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. References made to particular examples and implementations are for illustrative purposes, and are not intended to limit the scope of the invention or the claims.
• Referring toFIGS. 1-5, amobile imaging system100 according to one embodiment of the invention includes amobile base20, agimbal support30, agantry ring40, and apedestal50. Thesystem100 includes image collection components, such as a rotatable x-ray source and detector array or stationary magnetic resonance imaging components, that are housed within thegantry ring40. Thesystem100 is configured to collect imaging data, such as, for example x-ray computed tomography (CT) or magnetic resonance imaging (MRI) data, from an object located within the bore of thegantry ring40, in any manner known in the medical imaging field. As shown inFIGS. 1-3 and 5, thepedestal50 is adapted to support atabletop support60 that can be attached to thepedestal50 in a cantilevered manner and extend out into the bore of thegantry ring40 to support a patient or other object being imaged. As shown inFIG. 4, thetabletop support60 can be partially or entirely removed from thepedestal50, and thegantry ring40 can be rotated relative to thebase20, preferably at least about 90 degrees, from an imaging position (FIGS. 1-3 and 5) to a transport position (FIG. 4) to facilitate transport and/or storage of the imaging system.
• As illustrated most clearly inFIGS. 3 and 5, thesystem100 includes adrive mechanism70. Thedrive mechanism70 is mounted beneath thegimbal30 and thegantry ring40 and within thebase20. Thedrive mechanism70 also comprises adrive wheel71 that can extend and retract between a first extended position (FIG. 1) to facilitate transport of theimaging system100, and a second retracted position (FIGS. 2 and 3) during an image acquisition procedure (e.g., scan). Thedrive mechanism70 includes a main drive (described in further detail below) that is geared into thedrive wheel71 when thedrive wheel71 is in the first extended position (FIGS. 1 and 3) to propel theimaging system100 across a floor or other surface, and thus facilitate transport and positioning of thesystem100. According to one aspect, thedrive wheel71 is decoupled from the main drive when thedrive wheel71 is in the second retracted position (FIGS. 2 and 3), thus preventing thesystem100 from back driving the main drive gearbox and motor during an imaging procedure.
• As is illustrated inFIGS. 3 and 5, thebase20 is a sturdy, generally rectilinear support structure. Thebase20 includes a central opening extending lengthwise along the base, and thedrive mechanism70 is positioned inside the central opening. As seen inFIG. 3, the bottom of thebase20 includes a plurality of pockets that containretractable casters21. Thecasters21 can be spring-loaded and biased to extend from the bottom of the base20 when the system is raised off the ground, as shown inFIGS. 1 and 4. When thedrive wheel71 is retracted and thesystem100 is lowered to the ground, as shown inFIG. 2, thecasters21 are retracted into their respective pockets. In an alternative embodiment, an active drive system, rather than a passive spring-based system, can drive the extension and retraction of the casters in their respective pockets.
• The top of thebase20 is shown inFIG. 5, and includes a pair ofparallel rails23 running lengthwise on the top surface of the base, on either side of the central opening of the base. During an imaging scan, thegantry40,gimbal30 anddrive mechanism70 translate along an imaging axis relative to thebase20,pedestal50 andpatient support60. Bearing surfaces, which can be located on or attached to thedrive mechanism50 and/orgimbal30, mate with therails23 to guide the translation motion relative to the base. Thedrive mechanism70 can include a scan drive (described in further detail below) that drives the translation motion of thedrive mechanism70,gimbal30 andgantry40 relative to thebase20.
• The base20 can be made compact and relatively lightweight to improve the portability and usability of thesystem100. Minimizing the height and width of thebase20 minimizes interference with the operator's feet as the operator approaches a patient on the support table. A further advantage of this embodiment is that the wheels, includingdrive wheel71 andcasters21, retract within the base during imaging, and thus cannot interfere with the operator. Thedrive mechanism70 in this embodiment is small and compact, and is generally hidden beneath thegimbal30 andgantry ring40 and positioned inside the central opening of thebase20, and advantageously does not interfere with the operator or with the loading/unloading of a patient or patient support table. Positioning the wheels within the base also minimizes the risk of injury (e.g., running over a person's foot) during transport of the system. It will be further noted that in this embodiment, the width of the base20 tapers at the end of the base supporting thepedestal50. An advantage of this design is that it allows a cart or shuttle to more easily approach the pedestal-end of thesystem100 in order to transfer a patient support table60 to the top of thepedestal50 for imaging, or to remove the support table60 from the top of thepedestal50 following imaging. The shape and size of thebase20 andpedestal50 can be designed to mate with the cart to facilitate the interchange of patient support tables. Suitable patient support tables and transport carts are known in the art, and examples are described in the JUPITER system brochure (November 2008) from TRUMPF Medezin Systeme GmbH & Co. KG of Puchheim, Germany, the entire contents of which are incorporated herein by reference.
• In one embodiment, the width of thebase20 is approximately equal to or less than the width of the patient support table. At its widest (e.g., from the outside of the caster pockets), thebase20 can be less than about 25 inches wide, and can be around 22 or 23 inches wide. The central opening of the base can be about 13 inches across, or any other suitable dimension to accommodate thedrive mechanism70. Thebase20 is generally less than about 6 inches in height when the system is lowered on the floor. Thedrive mechanism70 is preferably very compact to maximize the translation motion of thegantry ring40 relative to thebase20 and the support table60. In one embodiment, thegantry ring40 can translate at least about 40 inches to 48 inches.
• Conceptually, theimaging system100 according to this embodiment can be considered to include two separate sub-assemblies. The first sub-assembly is comprised of thebase20,pedestal50 and patient table60. The second sub-assembly includes thedrive mechanism70, thegimbal30 and thegantry ring40. This second sub-assembly includes most or all of the imaging components on thegantry ring40, and is generally much heavier than the first sub-assembly. By way of example, for an x-ray CT scanning system, the gimbal and gantry sub-assembly can weigh on the order of 1400 to 1500 lbs., whereas the base/pedestal/table sub-assembly typically only weighs about 1000 lbs. or less.
• According to one aspect, thedrive mechanism70 supports the weights of thegimbal30 andgantry ring40 during imaging procedures as well as during transport of the system. Thebase20 andpedestal50 are supported on thecasters21 during transport of the system. During imaging, thebase20 is lowered and can be supported on the ground. Thedrive mechanism70 is configured such that even when thedrive wheel71 is retracted (FIGS. 2 and 3), thewheel71 still contacts the ground and supports the weight of the gantry and gimbal sub-assembly. The drive mechanism supports at least a portion of the weight of the gantry and gimbal sub-assembly—i.e. greater than 0% and up to 100% of the weight of these components. In one embodiment, at least 50% of the weight of gantry and gimbal is supported bydrive mechanism71. In other embodiments, at least 60%, at least 70%, at least 80%, at least 90% and more than 95% of the weight of the gimbal and gantry sub-assembly is supported by thedrive mechanism71.
• With this arrangement, the comparatively heavier weight of the gimbal/gantry sub-assembly does not need to be supported by the base of the system, which means the base can be made smaller and lighter for improved portability. Further, since the imaging gantry is supported at all times at least in part by the drive mechanism, the gantry can translate a relatively long distance along the length of the base while minimizing the possibility of beam deflection, which can result in variations of the scan plane and negatively effect image reconstruction. As shown inFIG. 3, the bottom surface of thebase20 includes at least threepads25 that define a single imaging plane. When thebase20 is lowered to the floor, thebase20 rests on thepads25, which define a single reference plane for the base, pedestal and table assembly, which are fixed relative to thepads25. Thepads25 maintain this reference plane even when there are elevation differences in the floor. Therails23 of the base, upon which the gimbal and gantry translate, are similarly fixed in relation to thepads25, and define an imaging plane, parallel to the reference plane, for the imaging components of the gantry. According to one aspect, thedrive mechanism70 includes a suspension system (described further below) between thedrive wheel71 and the gantry that supports the weight of the gimbal and gantry and allows the drive wheel to conform to elevation differences in the floor while the gimbal and gantry translate in the imaging plane defined by the rails, further minimizing deflection of the imaging plane path of the imaging components.
• During transport mode, thedrive mechanism70 extends thedrive wheel71 downward as shown inFIGS. 1 and 4, which causes thebase20 to raise off the ground and thecasters21 to extend. As previously noted, thecasters21 can be spring-loaded to extend when thebase20 is lifted off the ground, or alternatively, they can be actively extended by a suitable drive apparatus. Thedrive mechanism70 can include a suspension drive (described in further detail below) to drive the extension and retraction of thedrive wheel71. During transport mode, thedrive mechanism71, along with thegimbal30 andgantry ring40, can translate to the approximate center of thebase20, as shown inFIG. 4, so that these heavier components are approximately centered between thecasters21. This helps improve the balance and stability of the system during transport. Thegimbal30 andgantry ring40 can be rotated into transport position, as shown inFIG. 4. A pin system can lock thedrive mechanism70,gimbal30 andgantry ring40 in place relative to the base20 so that the entire system can be easily transported. The drive mechanism's main drive, which drives thedrive wheel71, can be servo-controlled, and thesystem100 can be driven, in both forward and reverse directions, in response to a user input command. The suspension system of thedrive mechanism71 can be an active suspension system, as described below, which can aid in driving theimaging system100 over uneven surfaces, such as thresholds and ramps. Steering of the system can be achieved by pivoting thesystem100 around the centrally-locateddrive wheel71, using thecasters21 for balance and support. A handle or other steering mechanism can be provided on the system (such as on the gimbal, gantry, or pedestal) to assist in driving the system. A strain gauge, throttle, button or other user-input mechanism located on the system can provide servo-feedback down to the drive mechanism to control the driving of thedrive wheel71. In one embodiment, shown inFIGS. 1-3 and 5, thesystem100 can include adisplay system31 that includes a camera on one side of the system and a display screen, such as an LCD display, on the opposite side of the system that allows the operator positioned behind the system to see obstacles in front of the system, which further assists the transport of the system. Thesystem100 can include a collision detection system, such as an audio or visual range-finder device, to further assist in transporting the device.
• Turning now toFIGS. 6-16, adrive mechanism70 in accordance with one embodiment of the invention is shown. Thedrive mechanism70 can include three drive systems: amain drive assembly73 that is coupled to and drives thedrive wheel71 for transporting the imaging system, ascan drive assembly75 for translating the imaging components relative to the system base during an imaging scan, and asuspension drive assembly77 that controls the extension and retraction of thedrive wheel71.
• Themain drive73 is shown most clearly inFIGS. 7, 11A, 11B, and 16, and includes amotor81, asprocket83 that can be connected by a drive chain89 (FIG. 6) to thedrive wheel71, agearbox82, a slidingyoke84, and abrake mechanism86. As noted above, themain drive73 is engaged to thedrive wheel71 when the wheel is extended in transport mode, and is de-coupled from the drive wheel when the wheel is retracted during an imaging mode. The engagement and disengagement of thedrive wheel71 is accomplished by the slidingyoke84, which is connected to a main drive decoupling linkage91 (FIGS. 12B and 13). As thedrive wheel71 retracts and extends, thedecoupling linkage91, which can be a rotating piston and sleeve assembly, causes theyoke84 to reciprocate, as shown by the arrow inFIG. 7. This causes a sliding spline85 (FIG. 16), connected to theyoke84, to move in and out of mating engagement with thesprocket83, thereby controlling the engagement and disengagement of thedrive wheel71 from themotor81 andgearbox82. Theyoke84 andspline85 can be spring-biased into a disengaged position, and only when the drive wheel is in an extended position does thewheel71 become engaged to the main drive.
• Themain drive73 also includes a brake mechanism, which includes arotating brake disc86, a spring-loaded brake rod87, and abrake solenoid88. Thebrake disc86 can be coupled to thesprocket83. The brake rod87 can be biased to extend beyond thebrake disc86, as shown inFIG. 7, which prevents thesprocket83 anddrive wheel71 from rotating. The brake mechanism thus functions similar to a parking brake in an automobile. When thesolenoid88 is energized, it drives the brake rod87 to retract away from thebrake disc86, which is then free to rotate along with thesprocket83 anddrive wheel71. An important safety feature of this design is that if theimaging system100 loses power, the brake rod automatically extends to stop the motion of thedrive wheel71.
• Thescan drive assembly75 is shown inFIGS. 6, 8-10 and 12A-13. Thescan drive assembly75 drives the translation of thedrive mechanism70,gimbal30 andgantry ring40 relative to thebase20. In this embodiment, thescan drive assembly75 is mounted adjacent themain drive assembly73 anddrive wheel71. All of these components are mounted beneath thegimbal30 andgantry ring40 in a compact space, generally in the opening within thebase20. Thescan drive assembly75 in this embodiment includes amotor92 and abelt drive93, which is shown most clearly inFIGS. 8 and 10. Thebelt drive93 mates with a bearing surface on the base20 in order to effect the translation of the drive mechanism, gimbal and gantry ring relative to the base. In one embodiment, thebelt drive93 mates with a bearing surface, which can be a lip or rail (not shown), provided on an interior wall of the central opening of the base20 (FIGS. 3 and 5). Abelt94 is secured to the bearing surface and is looped through thebelt drive93, where it meshes with a pulley driven by thescan drive motor92, as shown inFIGS. 8 and 10. The rotation of thescan drive motor92 thus causes thescan drive assembly75 to traverse along the length of thebelt94, and thereby translate the gantry, gimbal and drive mechanism relative to the base. Thebelt drive93 can be servo-controlled, with a linear encoder device, and have substantially zero or minimal backlash, to provide precise, controlled fine-scanning of the imaging components relative to the base and patient support table. Any suitable configuration for achieving translation using a scan drive disposed within the drive mechanism can be employed.
• Thesuspension drive assembly77 is shown most clearly inFIGS. 6, 8-10, and 12A-15. The suspension drive assembly comprises amotor95 andgearbox96 that drive the rotation of alead screw97. Alead screw nut98 translates with the rotation of thelead screw97, as indicated by the “nut travel” arrow shown inFIG. 6. Thelead screw nut98 is mechanically coupled to a pair ofrail carriages99, so that the translation of thelead screw nut98 causes therail carriages99 to translate on a pair ofrails101 that are fixed to theupper plate102 of thedrive mechanism70, as shown inFIG. 8. Therail carriages99 are each connected to one end of aspring103, which can be a gas spring, as shown inFIG. 8. The other end of eachspring103 is connected arespective swing arm104 that can pivot with respect to the drive mechanism around anpivot axis106. As can be seen inFIG. 8, for example, the translation of therail carriages99 causes thesprings103 to articulate with respect to therail carriages99 and theswing arms104, which in turn causes theswing arms104 to pivot, as shown generally by the arrow inFIG. 8. Thedrive wheel71 is mounted between the two pivotingswing arms104, so that the translation of therail carriages99 and the resulting pivoting motion of theswing arms104 causes thedrive wheel71 to extend and retract relative to theupper plate102 of thedrive mechanism70.
• As can be seen inFIGS. 12A and 12B, themain drive73 can be mounted to theswing arms104. In this way, as therail carriages99 translate causing theswing arms104 to pivot, the main drive engagement/disengagement linkage91, which connects theupper plate102 of thedrive mechanism71 to the slidingyoke84 of themain drive73, acts on the slidingyoke84 to selectively engage and disengage themain drive73 to and from thedrive wheel71. As previously discussed, in one embodiment, thedrive wheel71 is engaged to themain drive73 only when it is in an extended position—i.e., when theswing arms104,main drive73 anddrive wheel71 are pivoted down and away from theupper plate102 of thedrive mechanism70. When thedrive wheel71 is retracted—i.e., theswing arms104,main drive73 anddrive wheel71 are pivoted upwards towards theupper plate102, theyoke84 slides back to disengage themain drive73 from thedrive wheel71.
• It will be noted that when thedrive wheel71 is retracted, the base20 automatically lowers to the ground and rests onpads25, as shown inFIGS. 2, 3 and 5. During an imaging scan, the weight of thegimbal40 andgantry30 remains supported by thedrive wheel71, which is able to freely-rotate as the gimbal and gantry translate on therails23 of the base. One advantage of this configuration is that the heavy gimbal and gantry ring assembly can be easily moved manually relative to the base, such as may be required in order to quickly access a patient during an emergency situation.
• Thesprings103 function as a suspension system between thedrive wheel71 and thegimbal30 andgantry ring40, which are supported by thedrive wheel71 during both transport and imaging modes. Thesprings103 can contract to allow thewheel71 to conform to elevation differences in the floor during an imaging scan, while thedrive mechanism70,gimbal30 andgantry ring40 translate on the base20 during an imaging scan. This can greatly reduce or eliminate deflection of the scan plane path of the imaging components during the fine movement scan. During transport of thesystem100, thesprings103 can facilitate transport of the system over uneven surfaces, including door thresholds and ramps, for example. In one embodiment, the suspension system is an active suspension system that can maintain a controlled force between the drive wheel and the floor. In this embodiment, thesprings103 andsuspension drive assembly77 can include an active servo-control system that can continually adjust the translation of the rail carriages to maintain a substantially constant spring displacement, and thus maintain a substantially constant force between the wheel and the floor. As shown inFIGS. 12A and 13, for example, an encoder105 can be provided on at least one of theswing arms104 to measure the displacement of theswing arm104 and spring(s)103 relative to theupper plate102. The encoder105 can provide a feedback signal to thesuspension drive77 to make continual fine adjustments and control the force between the wheel and the floor.
• Thedrive wheel71 can comprise a suitable elastomeric material that is rated to safely support the weight of the imaging components in the gimbal and gantry ring assembly. For example, the wheel can be rated to support about 1900 lbs. A softer durometer material for the wheel will provide better grip and minimize the risk of slippage, but may not be rated to support the required weights.
• An advantage of thepresent drive mechanism71 is that it is easily accessible for servicing and repair. For example, the drive wheel can be extended to raise the system off the floor and provide easy access to any components of thedrive mechanism71. If thedrive mechanism71 needs to be removed, the system can be put on blocks, and the entire drive mechanism can be taken out at once, such as by removing the upper plate of the drive mechanism from the bottom of thegimbal30.
• Adrive mechanism271 according to another embodiment is shown inFIG. 17. Thedrive mechanism271 may be similar to thedrive mechanism71 described and illustrated previously in this document. Thedrive mechanism271 may be located within an opening of abase20. An apparatus, such as a medical device (e.g., a diagnostic imaging device, such as an x-ray CT scanner or MRI device) may be mounted to the top surface of thedrive mechanism271. In embodiments, thedrive mechanism271 may be mounted to agimbal30 andgantry40 containing imaging components, as described above, and may support the weight of thegimbal30 andgantry40. Thedrive mechanism271 may include a main drive wheel, such aswheel71 described and illustrated previously in this embodiment. (The main drive wheel is not visible inFIG. 17). Thedrive mechanism271 may include a main drive73 (seeFIGS. 7, 9.11A-11B,12A-12B,14 and16) that is coupled to and drives the main drive wheel for transporting the apparatus (e.g., imaging system). Thedrive mechanism271 may also include a scan drive (not visible inFIG. 17), such as scan drive75 described and illustrated previously in this document, that translates thedrive mechanism271 and any components mounted to the drive mechanism (such as agimbal30 and gantry40) relative to thebase20. The translation may be viarails23 on thebase20, as described above. The base20 may be a rigid support structure (e.g., cast aluminum reinforced by a structural material, such as structural aluminum) and may includecasters21 for transport of the system when thebase20 is raised off the ground, and pockets224 into which thecasters21 may retract when thebase20 is lowered, as described above. The base20 may include, or have attached to it, acolumn area250, which may be at one end of the base, and which may support a pedestal (i.e., patient column), such aspedestal50 described above. Optionally, thecolumn area250 may be omitted, and the system, including the base, may be transported to a separate column or other support to perform an imaging scan. In such an embodiment of an imaging system, the system may be bi-directional in that the system can perform a scan from either end of the system.
• Thedrive mechanism271 ofFIG. 17 may be different from thedrive mechanism70 described above in that asuspension drive assembly77 may be omitted in thedrive mechanism271 ofFIG. 17. Themain drive wheel71 may be connected to thedrive mechanism271 via a suspension system that enables thedrive wheel71 to extend and retract relative to the rest of thedrive mechanism271, as described above. The suspension system may include a pair of springs, such as gas springs (onespring103 is visible inFIG. 17). The suspension system may be tuned to expect the same downward force from the components mounted to the drive mechanism271 (e.g., thegantry40 and gimbal30) as thedrive wheel71 moves across the floor, so with any variation (i.e., a bump or dip in the floor) the suspension system moves up and down (similar to a car).
• In addition, the system ofFIG. 17 includes anactive drive mechanism223 in the base20 that raises and lowers the base and may initiate the raising and lowering of the entire system. Thedrive mechanism223 in thebase20 may be coupled to thecasters21, and may cause thecasters21 to extend and retract relative to the bottom surface of thebase20. In the embodiment shown inFIG. 17, theactive drive mechanism223 may cause thecasters21 to retract into theirrespective pockets224 to lower thebase20 to the ground (e.g., during a scanning mode), and may cause thecasters21 to extend out from theirrespective pockets224 to raise the base20 from the ground (e.g., during transport mode). The suspension system of thedrive mechanism271 may be tuned to follow the position of thebase20. For example, as thebase20 is raised off the ground, it may push against thegimbal30/gantry40 assembly (i.e., making this assembly appear lighter to the suspension system of the drive mechanism271), and the suspension system may be tuned to react to this by extending thedrive wheel71 relative to the drive mechanism271 (i.e., so that the drive mechanism217 andgimbal30/gantry40 assembly are raised up from thedrive wheel71, which maintains contact with the ground). Thus, the entire system may be raised from the ground, with thecasters21 supporting the majority of the weight (e.g., more than 50% to 100%, such as 90% or more) of thebase20 and any components mounted to the base20 (such as a pedestal and/or patient support/table), and thedrive wheel71 supporting the majority of the weight (e.g., more than 50% to 100%, such as 90% or more) of the drive mechanism217 and any components mounted to the drive mechanism (such as agimbal30 andgantry40, including imaging components).
• Similarly, as thebase20 is lowered to the ground via the activecaster drive mechanism223, the components mounted to drive mechanism271 (e.g.,gimbal30/gantry40 assembly) appear heavier to the suspension system of thedrive mechanism271, and the suspension system may be tuned to react to this by retracting thedrive wheel71 relative to the drive mechanism271 (i.e., so that the drive mechanism217 andgimbal30/gantry40 assembly are lowered towards the ground in conjunction with the lowering of the base20). Thus, the entire system may be lowered to the ground, with the base20 being supported by the ground and thedrive wheel71 supporting the majority of the weight (e.g., more than 50% to 100%, such as 90% or more) of the drive mechanism217 and any components mounted to the drive mechanism (such asgimbal30 and gantry40).
• Thus, in thedrive mechanism271 ofFIG. 17, a separatesuspension drive assembly77 for actively extending and retracting thedrive wheel71 relative to thedrive mechanism271 may be omitted.
• Theactive drive mechanism223 for extending/retracting thecasters21 may be any suitable mechanism for deploying and retracting thecasters21. In some embodiments, the structure of the base20 or overall system requirements may impose limitations on the design of the caster drive mechanism. For example, in an imaging system, such as a diagnostic (e.g., CT) imaging system, the height dimension of the base may be limited to a certain amount to ensure that the center of the imaging area (e.g., isocenter of gantry40) is at a certain height convenient to patients and/or medical personnel. For example, the center of the imaging area may need to be at a height of about 42 inches when the system is lowered, which may limit the height of the base to being less than a foot, such as about 5-8 inches. It may also be desirable to provide a drive mechanism that fits within a compact space to help decrease the overall size and footprint of a mobile apparatus.
• One embodiment of anactive drive system223 for extending/retracting thecasters21 shown inFIG. 17 includes at least one drive mechanism225 (e.g., a motor) that is mechanically coupled to one ormore casters21 via alinkage assembly227. Thedrive mechanism225 andlinkage assembly227 may be located within thebase20. Eachcaster21 may have aseparate drive mechanism225 connected to it (e.g., onedrive mechanism224 andlinkage assembly227 for eachcaster21 of the system). Alternatively, asingle drive mechanism224 may be connected tomultiple casters21, including allcasters21 of the system, via suitable linkages. In the embodiment ofFIG. 17, afirst drive mechanism225 is connected to twocasters21 on afirst side222 of thebase20 vialinkages227, and a second drive mechanism (not shown inFIG. 17) is connected to two casters on thesecond side224 of thebase20 via linkages.
• Thedrive mechanism225 may be operable to impart a motive force to one ormore casters21 via thelinkage assembly227 to cause thecasters21 to extend or retract relative to thebase20. In some embodiments, such as shown inFIG. 17, thedrive mechanism224 may impart a force primarily along the length of the base (e.g., along the direction of arrow229), and thelinkage assembly227 may convert the force into a primarily vertical force (e.g., along the direction of arrow231) to push up or down on thecasters21 to extend and retract thecasters21 relative to thebase20.
• Thecaster drive system223 can use one or more of a lead screw, a ball screw, hydraulics, pneumatics or any other method or component to push up and down on thecasters21.
• An exemplary embodiment of acaster drive system223 is shown inFIG. 18. Thecaster drive system223 may be located within one side of thebase20, and aseparate drive system223 may be located in the opposite side of thebase20. Thecaster drive system223 in this embodiment includes a pair ofmotors225a,225bthat each rotate alead screw241a,241bthrough agearbox239a,239b, and each lead screw goes into a nut that drives asuspension system243a,243b(e.g., a spring suspension). In this embodiment, thesuspension system243aon the left is a different type of suspension system than the one on the right243bdue to variations in the weight supported at either end of thebase20. For example, one end of the base20 may support a pedestal (column) and patient table, and may thus require a suspension system with a comparatively higher spring rate. The springs for the suspension system may be, for example, steel springs, polyurethane springs, gas springs, etc.
• In the embodiment ofFIG. 18, eachcaster21 gets pushed down via the respective suspension system, deployment linkage(s)227a,227band a pivotingcaster arm assembly245a,245bwhen themotor225a,225brotates thelead screw241a,241bin a first direction. Thecasters21 get pulled up when themotor225a,225brotates thelead screw245a,245bin the opposite direction.Limit switches247a,247bmay be provided to determine when thecaster21 is fully extended/retracted, and thus stop themotor225a,225b. Thecaster drive system223 may also provide additional structural support within thebase20 and may help stiffen thebase20. An example of acaster21 being retracted into apocket224 of a base20 using acaster drive mechanism223 is shown inFIGS. 19A-C. The process may be reversed (i.e., thecaster21 may be extended from base20) using thedrive mechanism223.
• Acaster drive mechanism223 such as described herein may be used for lifting and lowering any mobile apparatus. If the apparatus is light enough, all or part of themain drive271 may be omitted, and the entire apparatus may be pushed on thecasters21.
• FIG. 19A illustrates acaster21 in a fully extended position. Thecaster21 includes awheel241 mounted to afork243 having acentral wheel axis253, and a swivel joint245 mounted to thefork243 that enables thewheel241 and fork243 to rotate about aswivel axis251 relative to thebase20. This design may enable thewheel241 to roll in any direction, and facilitates moving the system in any direction without changing its orientation. Thecaster21 typically includes an offset between thewheel axis253 and theswivel axis251. When the caster is moved and the wheel is not facing the correct direction, the offset causes the wheel assembly to rotate around theswivel axis251 to follow behind the direction of movement. If there is no offset, the wheel will not rotate if not facing the correct direction. The offset distance betweenwheel axis253 and swivelaxis251 determines the radius over which thecaster21 may rotate relative to the system.
• The size of thecaster wheels241 may reflect a tradeoff between providing a compact system with a small footprint, and the requirements of the system. To minimize the size of the system,smaller wheels241 may be preferred, however a certain minimum wheel size may be required for practical or regulatory reasons. For a mobile imaging system, for example, the wheels may need to have a minimum size for ease of transport in the intended environment (e.g., to get over door jams, gaps in elevators, etc.). In various embodiments, thewheel241 may have a 3″ diameter.
• For certain mobile system, it may be advantageous to minimize the width of the system base. In the case of a mobile diagnostic (e.g., x-ray CT imaging) system as described above, it may be advantageous that the base not be significantly wider than the patient table to enable easy access to the patient, and in some cases, it may be desirable for the base to have a width that is less than the width of the patient table to provide a “toehold” area for medical personnel working over the patient table.
• As shown inFIG. 17, the widest point of the base20 (indicated by arrow, W), may be in the area of the “pockets”224 into which thecasters21 are retracted. The size of the pocket required to receive thecasters21 within thebase20 so that the base may be lowered to the ground is a function of the size of the caster wheel, as well as the offset between the wheel axis and the swivel axis (i.e., the swivel radius of the caster). The larger the offset, the larger the swivel radius of thecaster21 and the larger the dimensions (e.g., diameter) of thepocket224.
• In various embodiments, a retractable and extendable caster system is provided in which at least one dimension of the space (e.g., pocket224) in the base20 into which thecaster21 is retracted may be minimized by providing apivot point247 on thecaster21 that enables the wheel assembly to pivot with respect to axis255. Thepivot point247 may be configured to pivot the wheel assembly to reduce the offset distance between thewheel axis253 and theswivel axis251 as thecaster21 is pulled up into its respective pocket (e.g., thebase20 is lowered to the ground). Thepivot point247 may further enable the wheel assembly to pivot out to increase the offset distance between thewheel axis253 and theswivel axis251 as the caster is extended out from its respective pocket (e.g., thebase20 is raised off the ground).
• In one embodiment, shown inFIGS. 19A-C, thecaster21 may be retracted relative to the base20 until aportion273 of thecaster21 contacts against alip257 of the pocket224 (FIG. 19B). Both thelip257 and thecaster portion273 may be made of a durable material that provides a relatively low friction interface so that thecaster portion273 may slide past thelip257. As thecaster21 moves past thelip257, thelip257 pushes against thecaster portion273, causing thecaster21 to rotate onpivot point247.FIG. 19C shows thecaster21 in fully retracted position. Thecaster21 has been rotated onpivot point247 to reduce the offset distance between the wheel axis and the swivel axis. In this example, the wheel axis is almost directly beneath the swivel axis when thecaster21 is in the retracted position. Thecaster21 may fit into a pocket having smaller dimensions, which may help in providing a small, compact device.
• This embodiment can be used for any mobile apparatus attached to a moveable base structure, such as mobile medical devices (e.g., diagnostic, imaging, surgical or other treatment devices), non-medical testing and imaging equipment, laboratory equipment, industrial equipment, transportation devices, information technology (IT) equipment, cargo, shipping, storage and transport equipment, and the like.
• FIG. 19C illustrates aport280 which may be used carry power into thebase20 and to the rest of the system, as well as to carry data (e.g., via an Ethernet connection) between the system and an outside entity. In the case of a mobile imaging scanner, it may be advantageous to include port(s) connecting the system to external entities in thebase20, which is the only component that is stationary during a scan. The cables carrying power and data to and from various points in the system must then pass through the base20 to get toport280. However, since space in thebase20 is extremely limited, managing the power and data connections in the base can be challenging.
• FIGS. 20A-C and21A-C illustrates a method of cable management in thebase20.FIGS. 20A-C illustrate thecable management system301 with thedrive mechanism70/271 in a first position inFIG. 20A (at afirst end303 of the base20 proximate a power/data port280), at a second position inFIG. 20B (in the middle of thebase20, or “transport” position), and at a third position inFIG. 20C (at theopposite end305 of the base, proximate a mountingarea250 for a pedestal/column). For clarity, thebase20 is not shown inFIGS. 20A-C.FIGS. 21A-C illustrate thecable management system301 with thedrive mechanism70/271 in the same positions as inFIGS. 20A-C, respectively, but from the opposite side and with the base20 shown.
• As shown in these drawings, thecable management system300 may include acable chain301 that houses a plurality of cables. The cables may carry power and/or data between two sub-assemblies of a system, such as between the base20 and thedrive mechanism70,271 and agimbal30/gantry40 sub-assembly of a mobile CT scanner as described above, where one sub-assembly may move relative to the other. One end of thecable chain301 may be fixed to the base, and the other end of thecable chain301 may be fixed to a movable component (e.g.,drive mechanism70/271). The cables andcable chain301 may be located within a housing in thebase20, and may be protected by a structural cover311 (seeFIGS. 21A-C), such as a sheet metal cover, that may prevent the cables from getting stepped on or otherwise damaged. A splash guard313 (seeFIGS. 21A-C) may prevent liquids from getting into the housing.
• The housing may also contain bearingsurface317 of the base that mates with thebelt drive93 of thedrive mechanism70/271 (i.e., Z-drive) in order to effect the translation of the drive mechanism, gimbal and gantry ring relative to the base (seeFIGS. 3, 5, 8, and 10, above). A belt94 (seeFIGS. 8 and 10) may be secured to thebearing surface317 and may be looped through thebelt drive93, where it meshes with a pulley driven by thescan drive motor92, as shown inFIGS. 8 and 10. The rotation of thescan drive motor92 thus causes the scan drive assembly75 (seeFIGS. 8 and 10) to traverse over the bearingsurface317 along the length of thebelt94, and thereby translate thegantry40,gimbal30 anddrive mechanism70/271 (which include abracket member312 that connects thescan drive assembly75 to the rest of thedrive mechanism70/271 as shown inFIG. 20C) relative to thebase20. Thebelt drive93 can be servo-controlled, with a linear encoder device, and have substantially zero or minimal backlash, to provide precise, controlled fine-scanning of the imaging components relative to the base and patient support table.
• One end of thecable chain301 may connect to thedrive mechanism70/271, such as at thebelt drive93 of the drive mechanism, as described above. Asmall gap315 in the housing (seeFIGS. 21A-C) may enable cables to connect the rest of thedrive mechanism70/271 and up into thegimbal30 andgantry40.
• Thecable chain301 may be a flexible covering (e.g., plastic covering) that forms a loop within the housing. Thecable chain301 may form a loop as shown inFIG. 20A, with a first portion of thecable chain301 fixed to the base20 extending along the top interior surface of the housing, and a second portion, fixed to thedrive mechanism70/271, extending along the bottom interior surface of the housing (e.g., lying over thebelt94 for the z-drive, as described above). As thedrive mechanism70/271 translates along thebase20, the leading edge of thecable chain301 loop is configured to travel at a lower speed than the drive mechanism (e.g., ˜½ the speed of the drive mechanism translation). The second portion of thecable chain301 gets pushed up to the top of the housing in advance of thebelt drive93 of thedrive mechanism70/271. At the end of travel (FIG. 20C) substantially all of thecable chain301 extends along the top interior surface of the housing. The process may repeat in reverse as the drive mechanism translates in the opposite direction.
• While the invention has been described in connection with specific methods and apparatus, those skilled in the art will recognize other equivalents to the specific embodiments herein. It is to be understood that the description is by way of example and not as a limitation to the scope of the invention and these equivalents are intended to be encompassed by the claims set forth below. The foregoing method descriptions are provided merely as illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order presented. As will be appreciated by one of skill in the art the order of steps in the foregoing embodiments may be performed in any order. Words such as “thereafter,” “then,” “next,” etc. are not necessarily intended to limit the order of the steps; these words may be used to guide the reader through the description of the methods. Further, any reference to claim elements in the singular, for example, using the articles “a,” “an” or “the” is not to be construed as limiting the element to the singular.
• The preceding description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (13)

What is claimed is:

1. A method of imaging a patient, comprising:

driving a mobile imaging system comprising a base and an imaging gantry across a surface in a transport mode in response to a user command;

lowering the base of the mobile imaging system to the floor to define a reference plane; and

translating the imaging gantry in a direction parallel to the reference plane in a scan mode to perform an imaging scan of a patient positioned within a bore of the imaging gantry.

2. The method ofclaim 1, wherein the imaging scan comprises an x-ray CT imaging scan.

3. The method ofclaim 1, further comprising moving the entire imaging system in the transport mode with a first drive system comprising a main drive geared into a drive wheel.

4. The method ofclaim 3, further comprising longitudinally translating at least one imaging component relative to the base in the scan mode with a scan drive of the first drive system.

5. The method ofclaim 4, further comprising supporting the weight of a gantry operatively attached to the at least one imaging component with the first drive system during the transport mode.

6. The method ofclaim 5, further comprising supporting the weight of the gantry operatively attached to the at least one imaging component with the first drive system during the scan mode.

7. The method ofclaim 3, further comprising extending a caster from a housing of the base with a second drive system.

8. The method ofclaim 7, further comprising retracting the caster into the housing with the second drive system.

9. A caster system for a mobile apparatus, comprising:

a base comprising a housing for a caster; and

a caster coupled to the base that extends from and retracts into the housing, the caster having a wheel defining a wheel axis, a swivel joint defining a swivel axis, and a pivot point defining a pivot axis, the caster having a first offset distance between the wheel axis and the swivel axis when the caster is within the housing of the base and a second offset distance between the wheel axis and the swivel axis when the caster is extended from the housing, and the second offset distance is greater than the first offset distance.

10. The caster system ofclaim 9, wherein the base comprises a plurality of housings and the mobile apparatus further comprises a plurality of casters coupled to the base, each caster of the plurality of casters are extended from, and retracted into, a respective housing of the plurality of housings in the base.

11. The caster system ofclaim 9, wherein the caster pivots about the pivot axis as the caster is retracted into the housing to reduce the offset distance between the wheel axis and the swivel axis.

12. The caster system ofclaim 11, wherein the castor pivots about the pivot axis as the caster is extended from the housing to increase the offset distance between the wheel axis and the swivel axis.

13. An imaging system, comprising:

a base having length and including a housing within the base that is enclosed on three sides of the housing, the base including an opening to the housing extending along the length of the base;

at least one component that translates along the length of the base in a scan mode; and

a cable management system in the housing and comprising at least one cable that couples at least one of power and data between the base and the at least one component that translates along the length the base, the cable management system having a first end connected to the base and a second end coupled to the at least one component and the cable management system extends in a loop between the first end and the second end such that a leading edge of the loop travels at a lower speed than a speed at which the at least one component translates relative to the base.

Images