U.S. patent application number 17/513940 was filed with the patent office on 2022-02-17 for portable medical imaging system.
The applicant listed for this patent is GLOBUS MEDICAL, INC.. Invention is credited to Yuan Cheng, Norbert Johnson, Hisham Salem, Robert Stevens.
Application Number | 20220047234 17/513940 |
Document ID | / |
Family ID | 1000005940875 |
Filed Date | 2022-02-17 |
United States Patent
Application |
20220047234 |
Kind Code |
A1 |
Johnson; Norbert ; et
al. |
February 17, 2022 |
PORTABLE MEDICAL IMAGING SYSTEM
Abstract
A medical imaging system includes a movable station and a
gantry. The movable station includes a gantry mount rotatably
attached to the gantry. The gantry includes an outer C-arm slidably
mounted to and operable to slide relative to the gantry mount, an
inner C-arm slidably coupled to the outer C-arm and, an imaging
signal transmitter and sensor attached to the C-arms. The two
C-arms work together to provide a full 360 degree rotation of the
imaging signal transmitter.
Inventors: |
Johnson; Norbert; (North
Andover, MA) ; Stevens; Robert; (North Chelmsford,
MA) ; Salem; Hisham; (Newton, MA) ; Cheng;
Yuan; (Andover, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
GLOBUS MEDICAL, INC. |
Audubon |
PA |
US |
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|
Family ID: |
1000005940875 |
Appl. No.: |
17/513940 |
Filed: |
October 29, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16685254 |
Nov 15, 2019 |
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17513940 |
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16567741 |
Sep 11, 2019 |
10849580 |
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16685254 |
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15014083 |
Feb 3, 2016 |
10448910 |
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16567741 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 6/4405 20130101;
A61B 6/4441 20130101; A61B 6/4085 20130101; A61B 6/035 20130101;
A61B 6/54 20130101; A61B 6/032 20130101; A61B 6/487 20130101 |
International
Class: |
A61B 6/00 20060101
A61B006/00; A61B 6/03 20060101 A61B006/03 |
Claims
1. A portable medical imaging system comprising: a movable station
having a plurality of wheels for transport; a shaft motor; a
vertical shaft slidably coupled to the movable station and adapted
to move upwardly and downwardly by the shaft motor, the vertical
shaft defining a vertical axis perpendicular to the ground; a
gantry motor; a gantry mount rotatably coupled to the vertical
shaft and adapted to rotate about an axis perpendicular to the
vertical axis; a first C-arm slidably mounted to and operable to
slide relative to the gantry mount; a second C-arm slidably coupled
to the first C-arm; an imaging signal transmitter attached to one
of the first and second C-arms, the first and second C-arms
together providing a 360 degree rotation of the imaging signal
transmitter; an imaging sensor mounted to one of the first and
second C-arms.
2. The portable medical imaging system of claim 1, wherein: the
movable station defines a proximal side and a distal side; the most
distal one of the wheels is positioned proximally of an imaginary
point defined by a center point of the first C-arm.
3. The portable medical imaging system of claim 1, further
comprising a plurality of navigation markers for use by a
navigation system.
4. The portable medical imaging system of claim 3, further
comprising a motion control module adapted to store and recall the
position of the movable station via the navigation markers.
5. The portable medical imaging system of claim 3, further
comprising a motion control module adapted to position the movable
station via the navigation system that uses the plurality of
navigation markers.
6. The portable medical imaging system of claim 1, further
comprising: a controller coupled to the plurality of wheels; and a
joystick mounted to the movable station to allow a user to control
movement of the wheels under the control of the controller.
7. The portable medical imaging system of claim 1, further
comprising: a controller coupled to the plurality of wheels; and a
handle mounted to the movable station; a plurality of force sensors
for sensing the force applied to the handle.
8. The portable medical imaging system of claim 7, wherein the
plurality of wheels includes a plurality of omni-directional wheels
and the force sensors allow a user to control movement of the
omni-directional wheels under the control of a motion control
module.
9. A portable medical imaging system comprising: a movable station
including at least four omni-directional wheels attached to and
adapted to position the movable station in all three degrees of
freedom (X, Y and Wag) about an x-y horizontal plane; a shaft
motor; a vertical shaft slidably coupled to the movable station and
adapted to move upwardly and downwardly by the shaft motor, the
vertical shaft defining a vertical axis perpendicular to the
horizontal plane; a gantry motor; a gantry mount rotatably coupled
to the vertical shaft, the gantry mount adapted to rotate about an
axis perpendicular to the vertical axis and move upwardly and
downwardly with the vertical shaft; a first C-arm slidably mounted
to and operable to slide relative to the gantry mount; a second
C-arm slidably coupled to the first C-arm; an imaging signal
transmitter attached to one of the first and second C-arms, the
first and second C-arms together providing a 360 degree rotation of
the imaging signal transmitter; an imaging sensor mounted to one of
the first and second C-arms.
10. The portable medical imaging system of claim 9, wherein: the
movable station defines a proximal side and a distal side; the most
distal one of the wheels is positioned proximally of an imaginary
point defined by a center point of the first C-arm.
11. The portable medical imaging system of claim 9, further
comprising a plurality of navigation markers for use by a
navigation system.
12. The portable medical imaging system of claim 11, further
comprising a motion control module adapted to store and recall the
position of the movable station via the navigation markers.
13. The portable medical imaging system of claim 11, further
comprising a motion control module adapted to position the movable
station via the navigation system that uses the plurality of
navigation markers.
14. The portable medical imaging system of claim 9, further
comprising: a controller coupled to the plurality of wheels; and a
joystick mounted to the movable station to allow a user to control
movement of the wheels under the control of the controller.
15. The portable medical imaging system of claim 9, further
comprising: a controller coupled to the plurality of wheels; and a
handle mounted to the movable station; a plurality of force sensors
for sensing the force applied to the handle.
16. The portable medical imaging system of claim 9, wherein: the
movable station defines a proximal side and a distal side; the most
distal one of the wheels is positioned proximally of an imaginary
point defined by a center point of the first C-arm; the portable
medical imaging system further comprising: a plurality of
navigation markers positioned to be visible to a navigation system;
and a motion control module adapted to store and recall the
position of the movable station via the navigation markers.
17. The portable medical imaging system of claim 9, wherein: the
movable station defines a proximal side and a distal side; the most
distal one of the wheels is positioned proximally of an imaginary
point defined by a center point of the first C-arm; the portable
medical imaging system further comprising: a plurality of
navigation markers positioned to be visible to a navigation system;
and a motion control module adapted to position the movable station
via the navigation system based on the plurality of navigation
markers.
18. The portable medical imaging system of claim 9, wherein: the
movable station defines a proximal side and a distal side; the most
distal one of the wheels is positioned proximally of an imaginary
point defined by a center point of the first C-arm; the portable
medical imaging system further comprising: a controller coupled to
the plurality of wheels; and a joystick mounted to the movable
station to allow a user to control movement of the wheels under the
control of the controller.
19. The portable medical imaging system of claim 9, wherein: the
movable station defines a proximal side and a distal side; the most
distal one of the wheels is positioned proximally of an imaginary
point defined by a center point of the first C-arm; the portable
medical imaging system further comprising: a controller coupled to
the plurality of wheels; and a handle mounted to the movable
station; a plurality of force sensors for sensing the force applied
to the handle.
20. The portable medical imaging system of claim 19, wherein the
plurality of force sensors include a plurality of strain gauges.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a Continuation Application of U.S.
patent application Ser. No. 16/685,254 filed on Nov. 15, 2019,
which is a Continuation Application of U.S. patent application Ser.
No. 16/567,741 filed on Sep. 11, 2019, which is a continuation
application of U.S. Pat. No. 10,448,910 filed on Feb. 3, 2016,
which is incorporated in its entirety herein.
TECHNICAL FIELD
[0002] The present invention relates to medical imaging
systems.
BACKGROUND OF THE INVENTION
[0003] Healthcare practices have shown the tremendous value of
three-dimensional imaging such as computed tomography (CT) imaging,
as a diagnostic tool in the Radiology Department. These imaging
systems generally contain a fixed bore into which the patient
enters from the head or foot. Other areas of care, including the
operating room, intensive care departments and emergency
departments, rely on two-dimensional imaging (fluoroscopy,
ultrasound, 2-D mobile X-ray) as the primary means of diagnosis and
therapeutic guidance.
[0004] While mobile solutions for `non-radiology department` and
patient-centric 3-D imaging do exist, they are often limited by
their freedom of movement to effectively position the system
without moving the patient. Their limited freedom of movement has
hindered the acceptance and use of mobile three-dimensional imaging
systems.
[0005] Therefore, there is a need for a small scale and/or mobile
three-dimensional imaging systems for use in the operating room,
procedure rooms, intensive care units, emergency departments and
other parts of the hospital, in ambulatory surgery centers,
physician offices, and the military battlefield, which can access
the patients in any direction or height and produce high-quality
three-dimensional images.
SUMMARY OF THE DISCLOSURE
[0006] According to one aspect of the present invention, a novel
medical imaging system is provided. The system includes a movable
station and a gantry. The movable station includes a gantry mount
rotatably attached to the gantry. The gantry includes a first C-arm
slidably mounted to and operable to slide relative to the gantry
mount, a second C-arm slidably coupled to the first C-arm and, an
imaging signal transmitter attached to one of the C-arms and an
imaging sensor mounted to one of the C-arms. The two C-arms work
together to provide a full 360 degree rotation of the imaging
signal transmitter.
BRIEF DESCRIPTION OF DRAWINGS
[0007] FIG. 1 is a perspective rear view of an imaging system
according to one embodiment of the present invention.
[0008] FIG. 2 is a schematic diagram of an imaging controller
system 40 according to one embodiment of the present invention.
[0009] FIG. 3 is a perspective front view of the imaging system of
FIG. 1.
[0010] FIG. 4 is a perspective view of the imaging system of FIG. 1
in which the gantry has been rotated about the X-axis by 90
degrees.
[0011] FIG. 5 is a perspective view of the gantry partially showing
a cabling arrangement.
[0012] FIG. 6 is a perspective view of the gantry showing the
cabling arrangement.
[0013] FIG. 7 is a side view of the gantry showing the cabling
arrangement.
[0014] FIG. 8 illustrates a motor assembly for telescopically
controlling the C-arms of the gantry.
[0015] FIGS. 9A-G illustrate the 360 degree rotation of the gantry
in 60 degree increments.
DETAILED DESCRIPTION OF THE INVENTION
[0016] For purposes of this application, the terms "code",
"software", "program", "application", "software code", "software
module", "module" and "software program" are used interchangeably
to mean software instructions that are executable by a processor. A
"user" can be a physician or other medical professional.
[0017] FIG. 1 is a schematic diagram showing an imaging system 10,
such as a computerized tomographic (CT) x-ray scanner, in
accordance with one embodiment of the invention. The imaging system
10 includes a movable station 60 and a gantry 56. The movable
station includes a vertical shaft 59 and a gantry mount 58 which is
rotatably attached to the vertical shaft. The movable station 60
includes two front omni-directional wheels 62 and two rear
omni-directional wheels 64, which together provide movement of the
movable station 60 in any direction in an X-Y plane. The
omni-directional wheels 62,64 can be obtained, for example, from
Active Robots Limited of Somerset, U.K. A pair of handles 13
mounted to the housing of the movable station 60 allow a user to
manually maneuver the station.
[0018] A motor 66 attached to the vertical shaft 59 is designed to
rotate the gantry mount 58 full 360 degrees about the X-axis and a
motor 67 moves the gantry mount 58 vertically along the z-axis
under the control of the control module 51.
[0019] The gantry 56 includes a first C-arm 70 slidably coupled to
the gantry mount 58 and a second C-arm 72 which is slidably coupled
to the first C-arm. In the embodiment shown, the first and second
C-arms 70,72 are outer and inner C-arms, respectively. In the
embodiment shown, the outer and inner C-arms 70,72 are circular in
shape and rotate circumferentially about a central axis so as to
allow imaging of a patient who is lying in bed 16 without the need
to transfer the patient.
[0020] An imaging signal transmitter 74 such as an X-ray beam
transmitter is mounted to one side of the second C-arm 72 while an
imaging sensor 74 such as an X-ray detector array is mounted to the
other side of the second C-arm and faces the transmitter. In
operation, the X-ray transmitter 74 transmits an X-ray beam which
is received by the X-ray detector 76 after passing through a
relevant portion of a patient (not shown).
[0021] In one embodiment, the system 10 is a multi-modality x-ray
imaging system designed with surgery in mind. The three imaging
modalities include fluoroscopy, 2D Radiography, and Cone-beam CT.
Fluoroscopy is a medical imaging technique that shows a continuous
X-ray image on a monitor, much like an X-ray movie. 2D Radiography
is an imaging technique that uses X-rays to view the internal
structure of a non-uniformly composed and opaque object such as the
human body. CBCT (cone beam 3D imaging or cone beam computer
tomography) also referred to as C-arm CT, is a medical imaging
technique consisting of X-ray computed tomography where the X-rays
are divergent, forming a cone.
[0022] The movable station 60 includes an imaging controller system
40 which serves a dual function of (1) controlling the movement of
the omni-directional wheels 62,64, gantry mount 58 and the gantry
56 to position the imaging signal transmitter 74 in relation to the
patient, and (2) controlling imaging functions for imaging the
patient once the gantry 56 has been properly positioned.
[0023] Referring now to FIG. 2, the imaging controller system 40 of
the present invention is connected to a communication link 52
through an I/O interface 42 such as a USB (universal serial bus)
interface, which receives information from and sends information
over the communication link 52. The imaging controller system 40
includes memory storage 44 such as RAM (random access memory),
processor (CPU) 46, program storage 48 such as ROM or EEPROM, and
data storage 50 such as a hard disk, all commonly connected to each
other through a bus 53. The program storage 48 stores, among
others, imaging control module 54 and motion control module 51,
each containing software to be executed by the processor 46. The
motion control module 51 executed by the processor 46 controls the
wheels 62,64 of the movable station 60 and various motors in the
gantry mount 58 and gantry 56 to position the station 60 near the
patient and position the gantry in an appropriate position for
imaging a relevant part of the patient.
[0024] The imaging control module 54 executed by the processor 46
controls the imaging signal transmitter 74 and detector array 76 to
image the patient body. In one embodiment, the imaging control
module images different planar layers of the body and stores them
in the memory 44. In addition, the imaging control module 54 can
process the stack of images stored in the memory 44 and generate a
three dimensional image. Alternatively, the stored images can be
transmitted to a host system (not shown) for image processing.
[0025] The motion control module 51 and imaging control module 54
include a user interface module that interacts with the user
through the display devices 11a and 11b and input devices such as
keyboard and buttons 12 and joy stick 14. Strain gauges 13 mounted
to the handles 15 are coupled to the I/O device 42 and conveniently
provide movement of the movable station 12 in any direction (X, Y,
Wag) while the user is holding the handles 15 by hand as will be
discussed in more detail below. The user interface module assists
the user in positioning the gantry 56. Any of the software program
modules in the program storage 48 and data from the data storage 50
can be transferred to the memory 44 as needed and is executed by
the CPU 46. The display device 11a is attached to the housing of
the movable station 60 near the gantry mount 58 and display device
11b is coupled to the movable station through three rotatable
display arms 16, 18 and 20. First display arm 16 is rotatably
attached to the movable station 60, second display arm 18 is
rotatably attached to the first arm 16 and third display arm 20 is
rotatably attached to the second display arm. The display devices
11a,11b can have touch screens to also serve as input devices
through the use of user interface modules in the modules 51 and 54
to provide maximum flexibility for the user.
[0026] Navigation markers 68 placed on the gantry mount 58 are
connected to the imaging controller system 40 through the link 52.
Under the control of the motion control module 51, the markers 68
allow automatic or semi-automatic positioning of the gantry 56 in
relation to the patient bed or OR (operating room) table via a
navigation system (not shown). The markers 68 can be optical,
electromagnetic or the like.
[0027] Information can be provided by the navigation system to
command the gantry 56 or system 10 to precise locations. One
example would be a surgeon holding a navigated probe at a desired
orientation that tells the imaging system 10 to acquire a Fluoro or
Radiographic image along that specified trajectory. Advantageously,
this will remove the need for scout shots thus reducing x-ray
exposure to the patient and OR staff. The navigation markers 68 on
the gantry 56 will also allow for automatic registration of 2D or
3D images acquired by the system 10. The markers 68 will also allow
for precise repositioning of the system 10 in the event the patient
has moved.
[0028] In the embodiment shown, the system 10 provides a large
range of motion in all 6-degrees of freedom ("DOF"). Under the
control of the motion control module 51, there are two main modes
of motion: positioning of the movable station 60 and positioning of
the gantry 56.
[0029] The movable station 60 positioning is accomplished via the
four omni-directional wheels 62,64. These wheels 62,64 allow the
movable station 60 to be positioned in all three DOF about the
horizontal plane (X,Y,Wag). "Wag" is a system 10 rotation about the
vertical axis (Z-axis), "X" is a system forward and backward
positioning along the X-axis, and "Y" is system 10 lateral motion
along the Y-axis. Under the control of the control module 51, the
system 10 can be positioned in any combination of X, Y, and Wag
(Wag about any arbitrary Z-axis due to use of omnidirectional
wheels 62,64) with unlimited range of motion. In particular, the
omni-directional wheels 62,64 allow for positioning in tight
spaces, narrow corridors, or for precisely traversing up and down
the length of an OR table or patient bed.
[0030] The gantry 56 positioning is accomplished about (Z, Tilt,
Rotor). "Z" is gantry 56 vertical positioning, "Tilt" is rotation
about the horizontal axis parallel to the X-axis as described
above, and "Rotor" is rotation about the horizontal axis parallel
to the Y-axis as described above.
[0031] Together with the movable station 60 positioning and gantry
56 positioning, the system 10 provides a range of motion in all 6
DOF (X, Y, Wag, Z, Tilt and Rotor) to place the movable station 60
and the imaging transmitter 74 and sensor 76 precisely where they
are needed. Advantageously, 3-D imaging can be performed regardless
of whether the patient is standing up, sitting up or lying in bed
and without having to move the patient.
[0032] Precise positions of the system 10 can be stored in the
storage memory 50 and recalled at any time by the motion control
module 51. This is not limited to gantry 56 positioning but also
includes system 10 positioning due to the omni-directional wheels
62,64.
[0033] As shown in FIG. 3, each of the gantry mount 58, outer C-arm
70 and inner C-arm 72 respectively has a pair of side frames 86,
88,90 that face each other. A plurality of uniformly spaced rollers
84 are mounted on the inner sides of the side frames 86 of the
gantry mount 58. The outer C-arm 70 has a pair of guide rails 78 on
the outer sides of the side frames 88. The rollers 84 are coupled
to the guide rails 78. As shown, the rollers 84 and the guide rails
78 are designed to allow the outer C-arm 78 to telescopically slide
along the gantry mount 58 so as to allow at least 180 degree
rotation of the C-arm about its central axis relative to the gantry
mount.
[0034] A plurality of uniformly spaced rollers 80 are mounted on
the inner sides of the side frames 88 of the outer C-arm 70. The
inner C-arm 72 has a pair of guide rails 82 on the outer sides of
the side frames 90. The rollers 80 are coupled to the guide rails
82. As shown, the rollers 80 and the guide rails 82 are designed to
allow the inner C-arm 72 to telescopically slide along the outer
C-arm 70 so as to allow at least 180 degree rotation of the C-arm
about its central axis relative to the outer C-arm.
[0035] Thus, the present invention as disclosed herein
advantageously allows the gantry 56 to rotate about its central
axis a full 360 degrees to provide the maximum flexibility in
positioning the imaging system 10 with minimum disturbance of the
patient.
[0036] In another aspect of the present invention, a unique cabling
arrangement is provided to make the imaging system 10 more compact
and visually more appealing. As shown in FIGS. 5 and 6, a cable
carrier/harness 92 contains electrical cables to carry signals
between the imaging controller system 40 and various motors, X-ray
transmitter 74, imaging sensor 76 and various electronic circuits
in the gantry 56. A first cable router 94 is mounted to the outer
surface of the outer C-arm 70 and a second cable router 96 is
mounted to the outer surface of the inner C-arm 72. Each cable
router 94,96 has a through-hole 95,97 through which the cable
carrier 92 passes.
[0037] The cable carrier 92 extends from the gantry mount 56 over
the outer surface of the first C-arm 70, through the through-hole
95 of the first cable router 94 and over an outer surface of the
second C-arm 72. The cable carrier 92 overlying the first C-arm 70
extends in a first circumferential direction (clock-wise as shown)
98 and enters the first cable router 94 in a second circumferential
direction (counter clock-wise as shown) 99 opposite to the first
circumferential direction to create a 180 degree service loop over
the outer surface of the first C-arm.
[0038] From there, the cable carrier 92 extends in the first
circumferential direction 98 and enters the second cable router in
the second circumferential direction 99 to create another service
loop over the outer surface of the second C-arm 72.
[0039] The particular locations of the first and second cable
routers 94,96 combined with the service loops allow slack in the
cable carrier 92 to provide the gantry 56 with full 360 degrees
rotation without tangling or causing stress in the cable carrier.
In the embodiment shown, the routers are mounted near the midpoint
of the C-arms.
[0040] FIG. 8 illustrates one embodiment of a motor assembly 100
that could be used to telescopically rotate the outer C-arm 70
relative to the gantry mount 58 and inner C-arm 72 relative to the
outer C-arm. Each motor assembly 100 includes a servo motor 102
with encoder feedback, gear box 104 to change the turning ratio,
drive pulley 106, idler pulleys 108 and belt 110 threaded between
the drive pulley and the idler pulleys. One motor assembly 100 is
mounted to the gantry mount to move the outer C-arm 70 relative to
the gantry mount and another motor assembly is mounted to the outer
C-arm 70 near the center of the arm to move the inner C-arm 70
relative to the outer C-arm.
[0041] FIGS. 9A-9G illustrate the 360 degree rotation of the gantry
56 in the counter-clockwise direction in 60 degree increments with
FIG. 9A representing a zero degree position of the imaging sensor
76 and transmitter 74. FIG. 9B represents a 60 degree turn/position
of the gantry 56. For each 60 degree turn of the gantry 56, the
motor assemblies 100, under the control of the motion control
module 51, turn the inner C-arm 72 by 30 degrees counter-clock wise
and also turn the outer C-arm 70 by 30 degrees counter-clock wise
for a combined 60 degree turn. FIG. 9G represents a full 360 degree
turn of the gantry 56. As can be seen, the outer C-arm 70 and inner
C-arm 72 have each moved 180 degrees from the original zero degree
position of FIG. 9A.
[0042] As described above in detail, the present invention in
various embodiments provide the following benefits: (1) movement of
the system in any X-Y direction with Wag about any Z-axis from the
use of omni-directional wheels 62,64; (2) double telescoping
C-gantry for full 360-degree imaging beam rotation; (3) imaging
while lying in bed, sitting or standing such as standing CBCT; (4)
storage and recall of system 10 and gantry 56 positions; (5)
quasi-simultaneous multi-planar x-ray imaging; (6) recall of
positions via robotics or navigation coordinates.
[0043] The foregoing specific embodiments represent just some of
the ways of practicing the present invention. Many other
embodiments are possible within the spirit of the invention.
Accordingly, the scope of the invention is not limited to the
foregoing specification, but instead is given by the appended
claims along with their full range of equivalents.
* * * * *