Cantilevered x-ray CT system for multi-axis imaging
A multi-axis imaging system comprising an imaging gantry with an imaging axis extending through a bore of the imaging gantry, a support column that supports the imaging gantry on one side of the gantry in a cantilevered manner, and a base that supports the imaging gantry and the support column. The imaging system including a first drive mechanism that translates the gantry in a vertical direction relative to the support column and the base, a second drive mechanism that rotates the gantry with respect to the support column between a first orientation where the imaging axis of the imaging gantry extends in a vertical direction parallel to the support column and a second orientation where the imaging axis of the gantry extends in a horizontal direction parallel with the base, and a third drive mechanism that translates the support column and the gantry in a horizontal direction along the base.
1 . A system comprising:
a multi-axis imaging system including an imaging gantry, a support column that supports the imaging gantry on one side of the gantry in a cantilevered manner, a base that supports the imaging gantry and the support column, a first drive mechanism that translates the gantry in a vertical direction relative to the support column, a second drive mechanism that rotates the gantry with respect to the support column, a third drive mechanism that translates the support column and the gantry in a horizontal direction relative to the base, and at least one cover attached to the support column that extends from and retracts into a housing based on the translation of the support column relative to the base;
table system with a table base, a linkage member coupled to the table base, and a movable patient support coupled to the linkage member for movement relative to the table base; and
a control system with an imaging system controller and a table system controller, the control system including a memory and a processor configured with processor-executable instructions to perform operations comprising:
receiving encoder data at the imaging system controller from the table system controller indicating a configuration of the movable patient support, and
sending control signals with the imaging system controller to one or more of the first, second, and third drive mechanisms of the multi-axis imaging system to cause the gantry to translate and/or rotate to maintain the gantry spaced away from the patient support and a bore of the gantry aligned with the patient support in response to the encoder data received from the table system controller;
wherein the control system coordinates movement between the imaging system and the table system such that as one of the imaging system and the table system is moved, the other of the imaging system and the table system moves in a corresponding counter-movement.
2 . The system of claim 1 , wherein the table system is configured to articulate the patient support relative to the table base between:
a generally vertical direction for scanning a patient in a weight-bearing standing position, and
a generally horizontal direction for scanning a patient in a lying position.
3 . The system of claim 2 , wherein the patient support includes:
a first portion arranged to support the feet of the patient in the weight-bearing standing position, and
a second portion extending generally perpendicular to the first portion.
4 . The system of claim 1 , wherein the control system is configured to determine a location of the patient support relative to the multi-axis imaging system.
5 . The system of claim 4 , wherein the control system is configured to determine a tilt angle of the patient support.
6 . The system of claim 4 , wherein the control system is configured to maintain the gantry spaced away from the patient support by a distance sufficient to prevent a surface of the gantry from colliding with the patient support or a patient supported thereon while the patient support is moving.
7 . The system of claim 1 , wherein the second drive mechanism of the multi-axis imaging system is configured to rotate the gantry between a first orientation, wherein an imaging axis extending through a bore of the gantry extends in a vertical direction, and a second orientation, wherein an imaging axis extending through the bore of the gantry extends in a horizontal direction.
8 . The system of claim 7 , wherein the gantry of the multi-axis imaging system comprises:
a shell forming a circumferential wall and at least one side wall of the gantry;
a rotor having one or more imaging components mounted to the shell that rotates within a housing defined at least partially by the shell; and
a bearing assembly that includes a first race, a second race and a bearing element between the first race and the second race that enables the first race and the second race to rotate concentrically relative to one another, the first race is attached to the shell and the second race is attached to the rotor.
9 . The system of claim 1 , wherein the first drive mechanism of the multi-axis imaging system comprises a non-backdrivable drive system including a lead screw.
10 . The system of claim 1 , wherein the support column of the multi-axis imaging system comprises a plurality of rails extending parallel to one another over a surface of the support column and the gantry is mounted to a carriage having bearing elements that engage with the rails to displace the gantry in a vertical direction relative to the support column.
11 . The system of claim 10 , wherein the first drive mechanism of the multi-axis imaging system comprises a motor geared into a threaded shaft that extends along the length of the support column, and the carriage has a nut fixed thereto that engages with the threaded shaft such that a rotation of the threaded shaft drives a translation of the carriage and the gantry in a vertical direction relative to the support column; and
wherein the second drive mechanism of the multi-axis imaging system is mounted to the carriage.
12 . The system of claim 11 , wherein the second drive mechanism of the multi-axis imaging system comprises a motor mechanically coupled to a first race of a rotary bearing such that the motor drives the rotation of the first race relative to a second race of the rotary bearing, and the first race is attached to the gantry and the second race is attached to the carriage; and
wherein the motor drives a drive wheel that engages with a drive belt that extends over a surface of the first race and drives the rotation of the first race relative to the second race.
13 . The system of claim 1 , wherein the base of the multi-axis imaging system comprises at least one rail extending along a length of the base, and the support column is mounted to a platform having at least one bearing element that engages with the at least one rail to displace the support column and the gantry in a horizontal direction with respect to the base.
14 . The system of claim 13 , wherein the third drive mechanism of the multi-axis imaging system comprises a drive belt extending along the length of the base parallel to the at least one rail and a motor mounted to the platform that drives a drive wheel that engages with the drive belt to drive the displacement of the support column and the gantry.
15 . The system of claim 14 , wherein the base comprises at least one cover includes two flexible covers attached to opposite sides of the platform and/or the support column and wound on spools located in housings located at opposite ends of the base, the spools being spring-loaded to maintain tension on the flexible covers as the support column translates on the base.
16 . A system comprising:
an imaging system including an imaging gantry, a support coupled with the imaging gantry, a base that supports the imaging gantry and the support, a first drive mechanism that rotates the gantry with respect to the support, a second drive mechanism that translates the support and the gantry in a horizontal direction relative to the base, and at least one cover attached to the support that extends from and retracts into a housing based on the translation of the support relative to the base;
a table support system with a table base, a movable patient support operatively coupled to the table base, the patient support moveable relative to the table base; and
a control system including an imaging system controller for controlling the imaging system, and a table system controller for controlling the table system, the imaging system controller and the table system controller each include a memory and a processor, the control system is configured with processor-executable instructions to perform operations comprising:
communicating position feedback data of the imaging system and the table support system between the table system controller and the imaging system controller, and
sending control signals to the table system controller and the imaging system controller to cause the patient support to move into a desired location relative to the table base and the imaging gantry and cause the imaging gantry to move into a desired location relative to the patient support in response to the position feedback data of the imaging system and the table support system
wherein one of the imaging system and the table system is a master controller and the other of the imaging system and the table system is a slave controller so that the slave controller repositions one of the imaging system and the table system based on the movement of the other of the imaging system and the table system.
17 . The system of claim 16 , wherein the table system controller and the imaging system controller are co-located in the imaging system, the table system, or a workstation.
18 . The system of claim 16 , wherein the table system controller is located in a portion of the table system, and the imaging system controller is located in a portion of the imaging system.
19 . The system of claim 16 , wherein the imaging system controller and the table system controller are separate processes run on a single computing device.
20 . The system of claim 16 , wherein a movement of the imaging system or the table system causes a pre-determined counter movement of the other of the imaging system or the table system.
21 . A system comprising:
a multi-axis imaging system including:
an imaging gantry,
a support column that supports the imaging gantry on one side of the gantry in a cantilevered manner, the support column mounted to a platform having at least one bearing element,
a base that supports the imaging gantry and the support column, the base having at least one rail extending along a length of the base and engaging the at least one bearing element to displace the support column and the gantry in a horizontal direction with respect to the base,
a first drive mechanism that translates the gantry in a vertical direction relative to the support column,
a second drive mechanism that rotates the gantry with respect to the support column, and
a third drive mechanism that translates the support column and the gantry in a horizontal direction relative to the base, the third drive mechanism including a drive belt extending along the length of the base parallel to the at least one rail and a motor mounted to the platform that drives a drive wheel that engages with the drive belt to drive the displacement of the support column and the gantry;
table system with a table base, a linkage member coupled to the table base, and a movable patient support coupled to the linkage member for movement relative to the table base; and
a control system with an imaging system controller and a table system controller, the control system including a memory and a processor configured with processor-executable instructions to perform operations comprising:
receiving encoder data at the imaging system controller from the table system controller indicating a configuration of the movable patient support, and
sending control signals with the imaging system controller to one or more of the first, second, and third drive mechanisms of the multi-axis imaging system to cause the gantry to translate and/or rotate to maintain the gantry spaced away from the patient support and a bore of the gantry aligned with the patient support in response to the encoder data received from the table system controller;
wherein the control system coordinates movement between the imaging system and the table system such that as one of the imaging system and the table system is moved, the other of the imaging system and the table system moves in a corresponding counter-movement;
wherein the base comprises at least one cover attached to the platform and/or the support column that extends from and retracts into a housing based on the translation of the support column relative to the base, the at least one cover including two flexible covers attached to opposite sides of the platform and/or the support column and wound on spools located in housings located at opposite ends of the base, the spools being spring-loaded to maintain tension on the flexible covers as the support column translates on the base.