Mobile base and X-ray machine mounted on such a mobile base
A mobile platform and a mobile base designed to support a device such as an X-ray machine is provided. The platform or base is configured to move using a motor-driven system associated with a navigation system. The navigation system enables the platform or base and any device supported by the platform or base (if any) to be moved automatically and with precision from one position to another within any defined space such as an examination, hybrid or operation room. An X-ray machine configured for mounting on the base is also provided. The X-ray machine is configured to move about the patient while at the same time keeping the region to be subjected to radiography within an X-ray beam.
1. A mobile base to support a medical imaging machine comprising:
at least two motorized drive wheels spaced away from each other, each of the at least two motorized drive wheels configured to rotate independently of one another in either rotational direction relative to a respective axis of rotation;
a positioning system comprising a gyrolaser, a reading system and a memory, the positioning system configured to compute position data corresponding to a position of the medical imaging machine in a predefined fixed referential system on the basis of reflections from reflectors positioned about a defined space, the positions of the reflectors stored in the memory; and
a processing unit in communication with the at least two motorized drive wheels and the positioning system, and configured to receive the position data and to generate as an output a respective command for each of the at least two wheel motorized drive wheels to move and orient the mobile base to one or more desired positions in the defined space.
2. The mobile base of claim 1 , further comprising a traction encoder mounted on the at least two motorized drive wheels and a direction encoder, wherein the traction encoder and the direction encoder are configured to provide data relative to a position of the X-ray machine.
3. The mobile base of claim 2 , further comprising a support structure comprising:
a supporting arm comprising an upper end to which the X-ray machine is designed to be fixed; and
a set of structural parts resting on the floor comprising at least one wheel and being assembled with the supporting arm,
wherein the supporting arm and the set of structural parts are configured to give the mobile base mechanical characteristics of rigidity relative to the supporting arm.
4. The mobile base of claim 3 , wherein the set of structural parts comprises:
a baseplate fixed to the supporting arm, the baseplate comprising a horizontal plate on which the at least two motorized drive wheels are installed;
a crossbar fixedly joined to the baseplate; and
an element with two arms having an angle and being fixedly joined to the crossbar, the arms being situated on a front part of the X-ray machine.
5. The mobile base of claim 4 , wherein the element with two arms is positioned at a determined distance so that the front ends of the arms do not collide with an X-ray tube, and the distance between the tube and an isocenter of the X-ray machine is maximized.
6. The mobile base of claim 4 , further comprising at least one freewheel mounted on one end of each arm on a face before the ground, wherein the at least one freewheel is mounted so that a rotational axis of the at least one freewheel is off-center relative to a supporting base of the at least one freewheel on the ground.
7. The mobile base of claim 6 , further comprising a braking apparatus mounted on the at least one freewheel, wherein the braking apparatus is configured to block the rotation of the at least one freewheel and keep the at least one freewheel stopped.
8. The mobile base of claim 1 , further comprising a braking apparatus configured to stop the mobile base when moving and/or prevent the base from moving from a parked position.
9. The mobile base of claim 1 , further comprising a user interface in communication with the processing unit for entering at least one of instructed values of destination and instructed values of trajectory.
10. The mobile base of claim 9 , wherein the user interface is embedded in the mobile base or placed at a distance from the mobile base.
11. The mobile base of claim 1 , wherein the mobile base is electrically powered.
12. The mobile base of claim 1 , further comprising a safety system comprising anti-collision and tilt sensors.
13. The mobile base of claim 1 , wherein the at least two drive wheels are configured to rotate at the same speed or at variable speeds relative to one another.
14. The mobile base of claim 1 , wherein the processing unit is also configured to receive inputs from a user.
15. The mobile base of claim 14 , wherein the processing unit is further configured to receive instruction values corresponding to at least one of destination, trajectory, speed, position and orientation of the mobile base.
16. An X-ray machine comprising:
an X-ray tube configured to emit an X-ray beam along a direction of emission; and
an X-ray detector aligned in the direction of emission of the X-ray beam and positioned to face the X-ray tube,
wherein the X-ray machine is mounted on a mobile base comprising:
at least two motorized drive wheels spaced away from each other, each of the at least two motorized drive wheels configured to rotate independently of one another in either rotational direction relative to a respective axis of rotation;
a positioning system comprising a gyrolaser, a reading system and a memory, the positioning system configured to compute position data corresponding to a position of the medical imaging machine in a predefined fixed referential system on the basis of reflections from reflectors positioned about a defined space, the positions of the reflectors stored in the memory; and
a processing unit in communication with the at least two motorized drive wheels and the positioning system, and configured to receive the position data and to generate as an output a respective command for each of the at least two wheel motorized drive wheels to move and orient the mobile base to one or more desired positions in the defined space.
17. The X-ray machine of claim 16 , wherein the at least two drive wheels are configured to rotate at the same speed or at variable speeds relative to one another.
18. A mobile platform comprising:
at least two motorized drive wheels spaced away from each other, each of the at least two motorized drive wheels configured to rotate independently of one another in either rotational direction relative to a respective axis of rotation;
a positioning system comprising a gyrolaser, a reading system and a memory, the positioning system configured to compute position data corresponding to a position of the mobile platform in a predefined fixed referential system on the basis of reflections from reflectors positioned about a defined space, the positions of the reflectors stored in the memory; and
a processing unit in communication with the at least two motorized drive wheels and the positioning system, and configured to receive the position data and to generate as an output a respective command for each of the at least two wheel motorized drive wheels to move and orient the mobile platform to one or more desired positions in the defined space.
19. The mobile platform of claim 18 , wherein the at least two drive wheels are configured to rotate at the same speed or at variable speeds relative to one another.