Arrangement with a gantry of a medical imaging device and an omnidirectional suspension, as well as a method of executing a travel movement of such an arrangement
An arrangement includes a gantry of a medical imaging device and an omnidirectional suspension for moving the arrangement relative to a support.
1. An arrangement, comprising:
a gantry of a medical imaging device;
an omnidirectional suspension configured to move the arrangement relative to a support;
a positioner arranged on the omnidirectional suspension and having a linear drive for forward movement of the gantry relative to the omnidirectional suspension; and
a memory storing computer instructions and one or more processors configured to execute computer readable instructions, the one or more processors being configured to perform operations including:
executing a first part of a scanning movement by displacing the gantry, disposed around a patient couch, relative to the omnidirectional suspension via the positioner;
executing a travel movement of the omnidirectional suspension relative to the patient couch along a direction of the scanning movement; and
executing a second part of the scanning movement by displacing the gantry, disposed around a patient couch, relative to the omnidirectional suspension via the positioner, wherein
the medical imaging device is selected from a group of imaging modalities consisting of an X-ray device, a C-arm X-ray device, a computed tomography device, a single photon emission computed tomography device, a positron emission tomography device, and combinations thereof,
the scanning movement can be executed along a system axis of the medical imaging device or along a longitudinal direction of the patient couch; and
the first part and the second part of the scanning movement are executed in each case by the gantry being displaced relative to the omnidirectional suspension via the linear drive.
2. The arrangement of claim 1 , wherein the omnidirectional suspension includes at least one of:
at least one omnidirectional wheel, and
at least one omnidirectional omnidrive module.
3. The arrangement of claim 1 , wherein the omnidirectional suspension includes at least one of
a set of omniwheels, and
a set of Mecanum wheels.
4. The arrangement of claim 1 ,
the positioner is configured to adjust at least one of
a position of the gantry relative to the omnidirectional suspension and
an orientation of the gantry relative to the omnidirectional suspension.
5. The arrangement of claim 4 , wherein the positioner includes a lift for a lifting movement of the gantry relative to the omnidirectional suspension.
6. The arrangement of claim 4 , wherein the omnidirectional suspension includes a load receiver embodied to receive at least one of the gantry and the positioner.
7. The arrangement of claim 4 , wherein the omnidirectional suspension includes a loader embodied to load at least one of the gantry and the positioner.
8. The arrangement of claim 1 , further comprising:
a stabilizer configured to stabilize at least one of a height and an inclination of the gantry in order to correct any unevenness of the support.
9. The arrangement of claim 8 , wherein the stabilizer includes a memory storing computer instructions and one or more processors to execute computer readable instructions, the one or more processors being configured to perform operations including recording unevenness measurement data that relates to unevenness of the support and correcting unevenness based upon the unevenness measurement data.
10. The arrangement of claim 1 , wherein the omnidirectional suspension includes a memory storing computer instructions and one or more processors to execute computer readable instructions, the one or more processors being configured to perform operations including recording environment information that relates to an environment of the omnidirectional suspension.
11. The arrangement of claim 1 , wherein the omnidirectional suspension is embodied for at least one of autonomous travel and semiautonomous travel.
12. The arrangement of claim 1 , further comprising:
an energy storage unit to supply power to at least one of the omnidirectional suspension and the gantry.
13. The arrangement of claim 1 , further comprising:
a data transfer unit configured to transfer data from at least one of the omnidirectional suspension and the gantry and to transfer data to at least one of the omnidirectional suspension and the gantry.
14. The arrangement of claim 1 , further comprising:
an air flow guidance unit to guide an air flow for cooling a component of the gantry, wherein the air flow guidance unit includes at least one exit for the air flow in an area of the support.
15. The arrangement of claim 1 , further comprising:
a cooling fluid attachment unit, embodied to at least one of receive and release a cooling fluid for cooling a component of the gantry.
16. A method of executing a travel movement of arrangement of claim 1 , the arrangement including a gantry of a medical imaging device and an omnidirectional suspension configured to move the arrangement relative to a support, the method comprising:
provisioning at least one target position;
determining suspension control commands based upon the at least one target position; and
executing the travel movement of the arrangement, via the omnidirectional suspension, based upon the suspension control commands.
17. The method of claim 16 , further comprising:
recording at least one item of environment information relating to an environment of the omnidirectional suspension, wherein the determining of the suspension control commands includes determining the suspension control commands based upon the at least one target position and the at least one item of environment information.
18. The method of claim 16 , wherein the determining of the suspension control commands involves adaptive route planning.
19. The method of claim 17 , wherein at least one of
the recording includes recording at least one item of environment information autonomously by the omnidirectional suspension; and
the determining of the suspension control commands includes determining the suspension control commands autonomously by the omnidirectional suspension.
20. The arrangement of claim 2 , wherein the omnidirectional suspension includes at least one of
a set of omniwheels, and
a set of Mecanum wheels.
21. The arrangement of claim 1 , wherein the omnidirectional suspension includes a load receiver embodied to receive the gantry.
22. The arrangement of claim 1 , wherein the omnidirectional suspension includes a loader embodied to load the gantry.
23. The arrangement of claim 4 , further comprising:
a stabilizer configured to stabilize at least one of a height and an inclination of the gantry in order to correct any unevenness of the support.
24. The arrangement of claim 23 , wherein the stabilizer includes a memory storing computer instructions and one or more processors to execute computer readable instructions, the one or more processors being configured to perform operations including recording unevenness measurement data that relates to unevenness of the support and correcting unevenness based upon the unevenness measurement data.
25. The arrangement of claim 1 , further comprising:
an air flow guidance unit to guide an air flow for cooling the component of the gantry, wherein the air flow guidance unit includes at least one exit for the air flow in an area of the support.
26. The arrangement of claim 25 , further comprising:
a cooling fluid attachment unit, embodied to at least one of receive and release a cooling fluid for cooling the component of the gantry.
27. The arrangement of claim 1 , further comprising:
a cooling fluid attachment unit, embodied to at least one of receive and release a cooling fluid for cooling the component of the gantry.
28. The method of claim 17 , wherein the determining of the suspension control commands involves adaptive route planning.
29. The method of claim 16 , wherein the suspension control commands are determined autonomously by the omnidirectional suspension.
30. A method of executing a scanning movement of a radiation source and a radiation detector arranged on a gantry of a medical imaging device relative to a patient positioned on a patient couch, the gantry being adjustably mounted relative to a support via an omnidirectional suspension, the medical imaging device is selected from a group of imaging modalities consisting of an X-ray device, a C-arm X-ray device, a computed tomography device, a single photon emission computed tomography device, a positron emission tomography device, and combinations thereof, the method comprising:
executing the scanning movement by the omnidirectional suspension moving the gantry, disposed around the patient couch, relative to the patient couch, wherein
the scanning movement is executed in a first part of by displacing the gantry relative to the omnidirectional suspension via a positioner arranged on the omnidirectional suspension;
a travel movement of the omnidirectional suspension relative to the patient couch is executed along a direction of the scanning movement; and
the scanning movement is executed in a second part by displacing the gantry, disposed around the patient couch, relative to the omnidirectional suspension via the positioner, and wherein
the scanning movement is executed along a system axis of the medical imaging device or along a longitudinal direction of the patient couch, and
the positioner has a linear drive for forward movement of the gantry relative to the omnidirectional suspension and that the first part and the second part of the scanning movement are executed in each case by the gantry being displaced relative to the omnidirectional suspension via the linear drive.
31. A method of executing a scanning movement of a radiation source and a radiation detector arranged on a gantry of a medical imaging device relative to a patient positioned on a patient couch, the medical imaging device being selected from a group of imaging modalities consisting of an X-ray device, a C-arm X-ray device, a computed tomography device, a single photon emission computed tomography device, a positron emission tomography device, and combinations thereof, the method comprising:
executing a first part of the scanning movement by displacing the gantry, disposed around the patient couch, relative to an omnidirectional suspension via a positioner arranged on the omnidirectional suspension;
executing a travel movement of the omnidirectional suspension relative to the patient couch along a direction of the scanning movement; and
executing a second part of the scanning movement by displacing the gantry, disposed around the patient couch, relative to the omnidirectional suspension via the positioner, wherein
the scanning movement can be executed along a system axis of the medical imaging device or along a longitudinal direction of the patient couch, and
the positioner has a linear drive for forward movement of the gantry relative to the omnidirectional suspension and that the first part and the second part of the scanning movement are executed in each case by the gantry being displaced relative to the omnidirectional suspension via the linear drive.