FIELD OF THE INVENTION

This invention relates to imaging systems in general, and more particularly to mobile anatomical imaging systems with powered drive units.

BACKGROUND OF THE INVENTION

In many situations it can be desirable to image the interior of opaque objects. By way of example but not limitation, in the medical field, it can be desirable to image the interior of a patient's body so as to allow viewing of internal structures without physically penetrating the skin.

Computerized Tomography (CT) has emerged as a key imaging modality in the medical field. CT imaging systems generally operate by directing X-rays into the body from a variety of positions, detecting the X-rays passing through the body, and then processing the detected X-rays so as to build a three-dimensional (3D) data set of the patient's anatomy. This 3D data set can then be processed so as to create a 3D computer model of the patient's anatomy. The 3D data set and 3D computer model can then be visualized so as to provide images (e.g., slice images, 3D computer images, etc.) of the patient's anatomy.

By way of example but not limitation, and looking now atFIGS. 1 and 2, there is shown an exemplary CT imaging system5. CT imaging system5generally comprises a torus10which is supported by a base15. A center opening20is formed in torus10. Center opening20receives the patient anatomy which is to be scanned.

Looking next atFIG. 3, torus10generally comprises a fixed gantry22, a rotating disc23, an X-ray tube assembly25and an X-ray detector assembly30. More particularly, fixed gantry22is disposed concentrically about center opening20. Rotating disc23is rotatably mounted to fixed gantry22. X-ray tube assembly25and X-ray detector assembly30are mounted to rotating disc23in diametrically-opposing relation, such that an X-ray beam40(generated by X-ray tube assembly25and detected by X-ray detector assembly30) is passed through the patient anatomy disposed in center opening20. Inasmuch as X-ray tube assembly25and X-ray detector assembly30are mounted on rotating disc23so that they are rotated concentrically about center opening20, X-ray beam40will be passed through the patient's anatomy along a full range of radial positions, so as to enable CT imaging system5to create a “slice” image of the anatomy penetrated by the X-ray beam. Furthermore, by moving the patient and CT imaging system5relative to one another during scanning, a series of slice images can be acquired, and thereafter appropriately processed, so as to create a 3D data set of the scanned anatomy. This 3D data set can then be processed so as to create a 3D computer model of the scanned anatomy. In practice, it is common to configure X-ray detector assembly30so that multiple slices of images (e.g., 8 slices, 16 slices, 32 slices, etc.) may be acquired with each rotation of rotating disc23, whereby to speed up the acquisition of scan data.

In practice, it is now common to effect helical scanning of the patient's anatomy so as to generate a 3D data set of the scanned anatomy, which can then be processed so as to create a 3D computer model of the scanned anatomy. The 3D data set and 3D computer model can then be visualized so as to provide images (e.g., slice images, 3D computer images, etc.) of the patient's anatomy.

The various electronic hardware and software for controlling the operation of rotating disc23, X-ray tube assembly25and X-ray detector assembly30, as well as for processing the acquired scan data so as to generate the desired slice images, 3D data set and 3D computer model, may be of the sort well known in the art and may be located in torus10and/or base15.

In many cases CT imaging system5is intended to be stationary, in which case base15of CT imaging system5is set in a fixed position on the floor of a room and a special motorized bed is provided to move the patient relative to CT imaging system5during scanning. More particularly, with a stationary CT imaging system5, the patient is brought to the location of CT imaging system5, the patient is placed on the special motorized bed, and then the motorized bed is used to move the patient relative to CT imaging system5(i.e., to advance the patient into center opening20of CT imaging system5) so that some or all of the length of the patient may be scanned by CT imaging system5.

In other cases CT imaging system5is intended to be mobile so that the CT imaging system may be brought to the patient and the patient scanned at the patient's current location, with the CT imaging system moving relative to the patient during scanning. Scanning the patient with a mobile CT imaging system5can be highly advantageous, since it can reduce delays in patient scanning (e.g., the patient can be scanned in an emergency room rather than waiting to be transported to the radiology department) and/or it can allow the patient to be scanned without requiring movement of the patient (e.g., the patient can be scanned at their bedside in an intensive care unit, “ICU”).

To this end, and looking now atFIGS. 4 and 5, base15may comprise a transport assembly50for (i) moving mobile CT imaging system5to the location of the patient prior to scanning, and (ii) moving the CT imaging system relative to the patient during scanning. More particularly, transport assembly50preferably comprises (i) a gross movement mechanism55for moving CT imaging system5relatively quickly across room distances, so that the CT imaging system can be quickly and easily brought to the bedside of the patient, such that the patient can be scanned at their bedside without needing to be moved to a radiology department, and (ii) a fine movement mechanism60for moving the CT imaging system precisely, relative to the patient, during scanning so that the patient can be scanned on their bed or gurney without needing to be moved onto a special motorized bed.

In one preferred form of the invention, gross movement mechanism55preferably comprises a plurality of free-rolling casters62, and fine movement mechanism60preferably comprises a plurality of centipede belt drives63(which can be configured for either stepped or continuous motion, whereby to provide either stepped or continuous scanning of the patient). Hydraulic apparatus65permits either gross movement mechanism55or fine movement mechanism60to be engaged with the floor, whereby to facilitate appropriate movement of mobile CT imaging system5.

Thus, with a mobile CT imaging system5, the mobile CT imaging system may be pre-positioned in an “out of the way” location (e.g., in an unused corner of an emergency room) and then, when a patient requires scanning, the patient may be quickly and easily scanned at their bedside, by simply moving the mobile CT imaging system to the patient's bedside on gross movement mechanism55(e.g., on casters62), and thereafter moving the mobile CT imaging system during scanning on fine movement mechanism60(e.g., on centipede belt drives63).

However, it has been found that where the mobile CT imaging system becomes larger (e.g., such as where the mobile CT imaging system is sized for full-body scans), using free-rolling castors62for gross movement mechanism55can become problematic. By way of example but not limitation, where the mobile CT imaging system is sized for full-body scans, the mobile CT imaging system can weigh thousands of pounds and it can require substantial effort to physically push the mobile CT imaging system down corridors and across rooms when the mobile CT imaging system is supported on free-rolling castors. Furthermore, where the mobile CT imaging system is sized for full-body scans, it can be difficult to maneuver the mobile CT imaging system when it is supported on free-rolling castors, e.g., such as when the mobile CT imaging system must be maneuvered around a corner in a hospital corridor.

In addition to the foregoing, it has also been found that where the floor of the medical facility has substantial irregularities (e.g., bumps, recesses, etc.), centipede belt drives63of mobile CT imaging system5may not uniformly contact the floor over the complete “stroke” of the scan. When this occurs, mobile CT imaging system5may not move uniformly over the full stroke of the scan, which can affect the accuracy of the scan results.

Among other things, mobile CT imaging system5may shift (i.e., “drift”) laterally during its scan stroke, then shift further laterally during its return stroke, then shift further laterally during its next scan stroke, then shift further laterally during its next return stroke, etc.

Over long scan strokes (e.g., such as is the case with “full body” scans), and/or with repeated scan strokes (e.g., such as is the case where numerous scans must be taken), such lateral “walking” (or “drifting”) of CT imaging system5may create issues with scan quality.

Furthermore, since CT imaging system5is moving independently of the bed or gurney which is supporting the patient, there is also the possibility that, after repeated long scan strokes, CT imaging system5may walk (or drift) so far laterally that the CT imaging system bumps into the bed or gurney which is supporting the patient.

Thus, there is a need for a new and improved movement system for a mobile CT imaging system which can facilitate movement and maneuvering of the mobile CT imaging system when moving the mobile CT imaging system between scanning locations, and which can substantially eliminate lateral walk (or drift) over the complete stroke of a scan during scanning, even when the floor includes substantial irregularities, whereby to improve the accuracy of the scan results and avoid unintentional engagement of the CT imaging system with the bed or gurney which is supporting the patient.

SUMMARY OF THE INVENTION

These and other objects of the present invention are addressed by the provision and use of a new and improved anatomical imaging system which includes a new and improved movement system.

In one form of the invention, the anatomical imaging system comprises a gross movement mechanism in the form of an omnidirectional drive unit, and a fine movement mechanism in the form of powered wheels (also sometimes referred to herein as “motorized wheels”), and wherein the fine movement mechanism can substantially eliminate lateral walk (or drift) over the complete stroke of the scan, even where the floor includes substantial irregularities, whereby to improve the accuracy of the scan results and avoid unintentional engagement of the anatomical imaging system with the bed or gurney which is supporting the patient.

In another form of the invention, the anatomical imaging system comprises an omnidirectional powered drive unit for moving the anatomical imaging system during both (i) movement between scanning locations and (ii) during scanning, wherein the omnidirectional powered drive unit can facilitate movement and maneuvering of the mobile CT imaging system when moving the mobile CT imaging system between scanning locations, and wherein the omnidirectional powered drive unit can substantially eliminate lateral walk (or drift) over the complete stroke of the scan, even when the floor includes substantial irregularities, whereby to improve the accuracy of the scan results and avoid unintentional engagement of the anatomical imaging system with the bed or gurney which is supporting the patient.

In one preferred form of the invention, there is provided an imaging system comprising:

a scanner; and

a transport mechanism mounted to the base of the scanner, wherein the transport mechanism comprises:a gross movement mechanism for transporting the scanner relatively quickly across room distances; anda fine movement mechanism for moving the scanner precisely, relative to the object being scanned, during scanning; andapparatus for selectively causing the gross movement mechanism or the fine movement mechanism to engage the floor;wherein the gross movement mechanism comprises a plurality of wheels configured to provide omnidirectional drive; andwherein the fine movement mechanism comprises a plurality of independently powered wheels.

In another preferred form of the invention, there is provided a method for scanning an object, the method comprising:

providing an imaging system, the imaging system comprising:a scanner; anda transport mechanism mounted to the base of the scanner, wherein the transport mechanism comprises:a gross movement mechanism for transporting the scanner relatively quickly across room distances; anda fine movement mechanism for moving the scanner precisely, relative to the object being scanned, during scanning; andapparatus for selectively causing the gross movement mechanism or the fine movement mechanism to engage the floor;wherein the gross movement mechanism comprises a plurality of wheels configured to provide omnidirectional drive; andwherein the fine movement mechanism comprises a plurality of independently powered wheels;

transporting the scanner to the object, across room distances, using the gross movement mechanism; and

while moving the scanner precisely, relative to the object, with the fine movement mechanism, scanning the object.

In another preferred form of the invention, there is provided an imaging system comprising:

a scanner; and

a transport mechanism mounted to the base of the scanner, wherein the transport mechanism is configured to (i) transport the scanner relatively quickly across room distances, and (ii) move the scanner precisely, relative to the object being scanned, during scanning, wherein the transport mechanism comprises a plurality of wheels configured to provide omnidirectional drive.

In another preferred form of the invention, there is provided a method for scanning an object, the method comprising:

providing an imaging system, the imaging system comprising:a scanner; anda transport mechanism mounted to the base of the scanner, wherein the transport mechanism is configured to (i) transport the scanner relatively quickly across room distances, and (ii) move the scanner precisely, relative to the object being scanned, during scanning, wherein the transport mechanism comprises a plurality of wheels configured to provide omnidirectional drive;

transporting the scanner to the object, across room distances, using the transport mechanism; and

while moving the scanner precisely, relative to the object, with the transport mechanism, scanning the object.

In one preferred form of the invention, the mobile CT imaging system comprises an omnidirectional powered drive which comprises Liddiard wheels.

In one preferred form of the invention, there is provided an imaging system comprising:

a scanner; and

a transport mechanism mounted to the base of the scanner, wherein the transport mechanism is configured to (i) transport the scanner relatively quickly across room distances, and (ii) move the scanner precisely, relative to the object being scanned, during scanning, wherein the transport mechanism comprises a plurality of Liddiard wheels.

In another preferred form of the invention, there is provided a method for scanning an object, the method comprising:

providing an imaging system, the imaging system comprising:a scanner; anda transport mechanism mounted to the base of the scanner, wherein the transport mechanism is configured to (i) transport the scanner relatively quickly across room distances, and (ii) move the scanner precisely, relative to the object being scanned, during scanning, wherein the transport mechanism comprises a plurality of Liddiard wheels;

transporting the scanner to the object, across room distances, using the transport mechanism; and

while moving the scanner precisely, relative to the object, with the transport mechanism, scanning the object.

