Mobile X-ray examination apparatus

• US 10,551,197 B2
• Filed: 02/11/2016
• Issued: 02/04/2020
• Est. Priority Date: 02/12/2015
• Status: Active Grant

• Current Assignee: Siemens Healthineers AG (Siemens AG)
• Original Assignee: Siemens Healthcare GMBH (Siemens AG)
• Inventors: Guo, Qiang, Jiang, Yi Hua, Tang, Ao Lin
• Primary Examiner(s): Porta, David P
• Assistant Examiner(s): Valentiner, Jeremy S
• Application Number:
  US15/550,258
• Publication Number:
  US 20180031377A1
• Time in Patent Office: 1,454 Days
• CPC Class Codes: A61B 6/4405 the apparatus being movable or portable, e.g. handheld or mounted on a trolley
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01T 7/00 Details of radiation-measuring instruments
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A mobile X-ray examination apparatus has an instruction receiving device that receives an entered instruction for the mobile X-ray examination apparatus to reach a designated position. A navigation device creates an environment map of an environment of the mobile X-ray examination apparatus, determines a current position of the mobile X-ray examination apparatus according to detected environment profile information, calculates a movement trajectory of the mobile X-ray examination apparatus according to the environment map, the current position and the designated position received by the instruction receiving device, and sends corresponding information to a central control device. The central control device causes the mobile X-ray examination apparatus to reach the designated position along the movement trajectory according to the corresponding information sent by the navigation device.

Claims

1. A mobile X-ray examination apparatus, comprising:

an apparatus body with an X-ray source and an X-ray detector mounted thereon, said apparatus body comprising a drive device and a transport device;

an instruction receiving device situated on the apparatus body, the instruction receiving device being configured to receive an instruction configured to be entered therein as an input, and configured to instruct the apparatus body to reach a designated position;

a navigation device removably mounted on the apparatus body, to which the instruction receiving device sends the instruction, the navigation device including a detection device comprising an optical detection and distance-measuring sensor, the optical detection and distance-measuring sensor being mounted so as to face a region in front of the apparatus body in a direction of travel thereof, the optical detection and distance-measuring sensor being configured to emit a series of coded laser pulses at intervals of a predetermined angle in a plane in space so as to detect, in real time, the environment of the mobile X-ray examination apparatus,

wherein said navigation device is configured to create an environment map of an environment of the mobile X-ray examination apparatus, and to determine a current position of the apparatus body according to a detected environment profile information;

said navigation device being further configured to calculate a movement trajectory of the apparatus body according to the environment map, the current position, and the designated position received from the instruction receiving device; and

a central control device situated on the apparatus body,

wherein said navigation device is configured to send an electronic designation of the calculated movement trajectory to said central control device,

wherein said central control device is configured to operate said drive device that in turn drives said transport device of the apparatus body to follow the calculated movement trajectory so as to reach the designated position, and

wherein the navigation device is connected, when mounted on the apparatus body, to the central control device via an interface that provides connections to power the navigation device and to enable communications between the navigation device and the central control device.

2. The mobile X-ray examination apparatus as claimed in claim 1, wherein:

the navigation device further comprises a navigation controller configured to calculate relative positions of an obstacle and the apparatus body according to an angle of a laser pulse emitted by the optical detection and distance-measuring sensor and a time difference between emission of the laser pulse and back-reflection thereof by the obstacle after encountering the obstacle, to find a route by which the obstacle can be avoided.

3. The mobile X-ray examination apparatus as claimed in claim 2, comprising:

a notification device configured to issue prompt information when the navigation device cannot find a route by which an obstacle can be avoided.

4. The mobile X-ray examination apparatus as claimed in claim 1, wherein:

the navigation device is configured to obtain profile information about surrounding obstacles according to (i) a laser pulse emitted by the optical detection and distance-measuring sensor and a laser pulse that is reflected back, and (ii) the profile information, and to perform matching with the environment map to locate the apparatus body in said environment.

5. The mobile X-ray examination apparatus as claimed in claim 1, further comprising:

a movement device configured to produce real-time movement information of the movement of the apparatus body,

wherein the navigation device is configured to determine the current position of the apparatus body, which is used to calculate the movement trajectory of the apparatus body, according to said real-time movement information of the movement device.

6. The mobile X-ray examination apparatus as claimed in claim 1, wherein:

the navigation device is configured to create the environment map by offline importing.

7. The mobile X-ray examination apparatus as claimed in claim 1, wherein:

said drive device is a DC motor or a hub motor.

8. The mobile X-ray examination apparatus as claimed in claim 1, wherein the navigation device is configured to create the environment map by detecting the environment of said mobile X-ray examination apparatus as said mobile X-ray examination apparatus is manually moved along said movement trajectory.

9. The mobile X-ray examination apparatus as claimed in claim 1, wherein the navigation device is configured to receive parameter settings to match corresponding parameters associated with the mobile X-ray examination apparatus.

10. The mobile X-ray examination apparatus as claimed in claim 9, wherein the parameter settings received by the navigation device include at least one of a model number and a motor parameter associated with the mobile X-ray examination apparatus.

11. The mobile X-ray examination apparatus as claimed in claim 10, wherein the navigation device is configured to be removably mounted to a plurality of different mobile X-ray examination apparatuses, the navigation device being configured to receive different parameter settings to operate with each respective one of the mobile X-ray examination apparatuses.

12. The mobile X-ray examination apparatus as claimed in claim 1, wherein the navigation device is configured to create the environment map by detecting the environment of said mobile X-ray examination apparatus as said mobile X-ray examination apparatus is manually moved so as to traverse, at least once, each of a plurality of reachable positions in the environment of the mobile X-ray examination apparatus.

13. The mobile X-ray examination apparatus as claimed in claim 1, wherein the navigation device is removably mounted on the apparatus body via a modular design.