Robotic device and method for trauma patient diagnosis and therapy

• US 8,727,618 B2
• Filed: 11/22/2006
• Issued: 05/20/2014
• Est. Priority Date: 11/22/2006
• Status: Active Grant

• Current Assignee: Siemens Healthineers AG (Siemens AG)
• Original Assignee: Siemens AG
• Inventors: Maschke, Michael, Meissner, Oliver
• Primary Examiner(s): SONG, HOON K
• Application Number:
  US11/603,617
• Publication Number:
  US 20080118035A1
• Time in Patent Office: 2,736 Days
• Field of Search: 378 4- 20, 378195-197
• US Class Current: 378/197
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/0487 Motor-assisted positioning
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/4452 the source unit and the detector unit being able to move relative to each other
• CPC Class Codes: A61B 6/4458 the source unit or the detector unit being attached to robotic arms
• CPC Class Codes: A61B 6/4464 the source unit or the detector unit being mounted to ceiling

Abstract

A medical treatment suite and method of use is described, having a projection X-ray apparatus mounted to a robot. The robot positions the projection X-ray apparatus with respect to a patient and data is taken in a form that is suitable for synthesizing computed tomographic images. The patient may be supported by a patient support apparatus, which may be mounted to another robot, which cooperates with the other robot so as to position the patient according to a selected treatment protocol. Each of the robots may be mounted to one of a floor, a ceiling or a wall of the room.

Claims

1. A diagnosis and patient care unit, comprising:

a C-arm X-ray apparatus having a C-arm structure, to which an ionizing radiation source and a radiation detector are mounted, such that the C-arm X-ray apparatus is configured to obtain projection-type image data;

a multi-axis robot operable to rotate the C-arm X-ray apparatus about two orthogonal axes;

a processor configured to synthesize tomographic images from the projection-type image data; and

further comprising two or more devices selected from;

an electrocardiogram (EKG) unit;

a respiration monitor;

a collision monitor;

a network interface configured to provide digital imaging in medicine (DICOM) functionality,

wherein the C-arm X-ray apparatus is mounted to the multi-axis robot so as to be positionable with respect to a patient support apparatus, the multi-axis robot having at least two rotation axes with different spatial directions; and

wherein the C-arm X-ray apparatus is operable to obtain image data to perform a diagnosis and determine where to treat an injury to a patient based on the diagnosis, the determination of where to treat the injury comprising the patient remaining on the patient support apparatus for a time duration of the diagnosis and at least a part of a time duration of the treatment.

2. The unit of claim 1, wherein the patient support apparatus is a gurney or a patient examination table mounted to a floor.

3. The unit of claim 1, wherein the patient support apparatus is adapted to support the patient and be positionable in one or more linear axes by a motor or a hydraulic mechanism.

4. The unit of claim 3, wherein the patient support apparatus is positionable in one or more axes of rotation.

5. The unit of claim 1, wherein the patient support apparatus is substantially transparent to X-radiation.

6. The unit of claim 1, further comprising the patient support apparatus.

7. The unit of claim 6, wherein the C-arm X-ray apparatus, the multi-axis robot, the patient support apparatus, or a combination thereof has a collision avoidance sensor.

8. The unit of claim 1, further comprising a processor configured to synthesize three dimensional (3D) soft-tissue images.

9. The unit of claim 1, further comprising:

a soft-tissue computed tomography (CT) processor.

11. The unit of claim 1, wherein the multi-axis robot is configured to position the C-arm X-ray apparatus with respect to the patient support apparatus according to information relating to the treatment to be performed.

12. The unit of claim 11, wherein the multi-axis robot is configured by instructions stored on a machine readable media.

13. The unit of claim 1, wherein the multi-axis robot is mounted to a surface of a ceiling, a wall or a floor, and a mounting device is positionable in a longitudinal or transverse manner with respect to the mounting surface.

14. The unit of claim 1, wherein the multi-axis robot is configured as an articulated arm.

10. The unit of 9, wherein the data interface is configured to transmit data by modulating information on a carrier wave.

15. A method of caring for a patient, the method comprising:

providing a projection C-arm X-ray apparatus rotatable in two orthogonal axes;

mounting the projection C-arm X-ray apparatus to a first robot, the first robot being mounted to a surface of a room;

orienting the projection C-arm X-ray apparatus with respect to a patient positioned on a patient support apparatus using the first robot;

obtaining a plurality of radiographic images of a body part, the plurality of radiographic images being suitable for synthesis of a computed tomography (CT) image using the projection C-arm X-ray apparatus;

using the CT image to diagnose a traumatic injury;

determining where to treat the traumatic injury based on the CT image; and

treating the traumatic injury without moving the patient from the patient support apparatus based on the determination of where to treat the traumatic injury,

wherein the first robot is a multi-axis robot having at least two rotation axes with different spatial directions, and the treatment is aided by image data obtained by the projection C-arm X-ray apparatus.

16. The method of claim 15, wherein the patient support apparatus is mounted to a second robot, the second robot being mounted to the surface of the room.

17. The method of claim 15, wherein an ultrasonic sensor is used for avoiding a collision between any two of the projection C-arm X-ray apparatus, the first robot, the patient support apparatus and the patient.

18. The method of claim 15, further comprising selecting radiographic images from the plurality of obtained radiographic images for synthesis of the CT image using information on a bodily cycle obtained a respiration sensor, a electrocardiogaph (EKG), or a combination thereof.

19. A process of caring for a patient, the process comprising:

moving the patient to a trauma unit;

positioning the patient on an examination table;

orienting and operating a robotically mounted C-arm X-ray apparatus to obtain computed tomographic (CT) images of the patient;

processing the CT images to produce an image of dense body parts, an image of soft body tissue, or the image of dense body parts and the image of soft body tissue;

performing a diagnosis of a traumatic injury of a plurality of traumatic injuries;

determining a course of medical treatment for the diagnosed traumatic injury, determining the course of the medical treatment comprising determining where to treat the traumatic injury based on at least one of the CT images; and

providing the medical treatment in whole or in part while the patient remains in the trauma unit based on the determination of where to treat the traumatic injury,

wherein the C-arm X-ray apparatus is mounted to a multi-axis robot having at least two rotation axes with different spatial directions; and

wherein the course of the medical treatment is performed entirely in the trauma unit.

20. The process of claim 19, wherein the patient is positioned with respect to the robotically mounted C-arm X-ray apparatus by the multi-axis robot, to which the C-arm X-ray apparatus is mounted, a robotic device, to which the examination table is mounted, or a combination thereof.

21. The process of claim 19, wherein the patient examination table is mounted to another robot that cooperates with the multi-axis robot so as to position the patient according to a selected treatment protocol of the course of the medical treatment.

22. The process of claim 19, wherein the medical treatment is controlled in whole or in part such that a person administering the medical treatment is not directly contacting the patient.

23. The process of claim 19, wherein determining the course of the medical treatment includes making a diagnosis of a syndrome using a CT image.