Mobile anatomical imaging system with improved movement system comprising liddiard wheels
Inventors
Limoli, Michael • DeSalvo, Richard
Assignees
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Publication Number
US-11369326-B2
Publication Date
2022-06-28
Expiration Date
Abstract
A new and improved anatomical imaging system which includes a new and improved movement system, wherein the movement system comprises an omnidirectional powered drive unit and wherein the movement system can substantially eliminate lateral walk (or drift) over the complete stroke of a 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. The present invention also comprises the provision and use of Liddiard wheels.
Core Innovation
The invention relates to a mobile anatomical imaging system in which a scanner is mounted to a base and carried by a transport mechanism. The transport mechanism is configured to transport the scanner relatively quickly across room distances and to move the scanner precisely, relative to the object being scanned, during scanning. The system is described as substantially eliminating lateral walk and drift across a full scan stroke even on irregular floors by providing improved drift elimination and re-alignment capability.
The transport mechanism comprises a plurality of Liddiard wheels, each configured for omnidirectional movement. Omnidirectional movement is achieved by rotating a tire about the axis of a powered axle and/or by rotating the tire about the toroidal axis of that tire. Each Liddiard wheel includes a rim mounted to a powered axle such that the rim rotates with the powered axle, a tire rotatably mounted to the rim for rotation about the toroidal axis, and at least one drive mechanism mounted to the rim for rotating the tire relative to the rim about the toroidal axis.
The disclosed approach includes multiple drift detection and re-alignment concepts, including sensing based on optical encoders, an IMU (Inertial Measurement Unit), and floor optical scanning, as well as analysis of variations in a 3D data set across repeated scan strokes. Additional Liddiard wheel constructions and applicability to other mobile scanning modalities are described, and the wheel constructions are presented alongside alternative wheel types such as mecanum wheels and omni wheels in the context of coordinated roller-based omni drive.
Claims Coverage
The provided independent claims are clm-00001 and clm-00006. Across these claims, the coverage focuses on an imaging system and a corresponding scanning method using a scanner-mounted base transport mechanism with a plurality of Liddiard wheels that provide omnidirectional movement via a powered axle and/or a tire toroidal axis.
Imaging system with Liddiard wheels omnidirectionally movable by powered axle and toroidal axis rotation
An imaging system comprising a scanner and a transport mechanism mounted to the base of the scanner, the transport mechanism configured to transport the scanner relatively quickly across room distances and to move the scanner precisely, relative to the object being scanned, during scanning, wherein the transport mechanism comprises a plurality of Liddiard wheels configured for omnidirectional movement by rotating a tire about the axis of a powered axle and/or by rotating the tire about the toroidal axis of that tire, and wherein each Liddiard wheel comprises a rim mounted to a powered axle such that the rim rotates with the powered axle, a tire rotatably mounted to the rim for rotation about the toroidal axis, and at least one drive mechanism mounted to the rim for rotating the tire relative to the rim about the toroidal axis.
Scanning method using a transport mechanism with Liddiard wheels for omnidirectional movement
A method for scanning an object comprising providing an imaging system having a scanner and a transport mechanism mounted to the base of the scanner configured to transport the scanner relatively quickly across room distances and to move the scanner precisely, relative to the object, during scanning, wherein the transport mechanism comprises a plurality of Liddiard wheels each configured for omnidirectional movement by rotating a tire about the axis of a powered axle and/or by rotating the tire about the toroidal axis, wherein each Liddiard wheel comprises a rim mounted to a powered axle such that the rim rotates with the powered axle, a tire rotatably mounted to the rim for rotation about the toroidal axis, and at least one drive mechanism mounted to the rim for rotating the tire relative to the rim about the toroidal axis; 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.
The claim coverage centers on a scanner-mounted transport mechanism that both quickly traverses room distances and moves precisely during scanning, enabled by a plurality of Liddiard wheels with a rim/powered-axle arrangement and a tire rotatable about a tire toroidal axis using a drive mechanism for relative tire rotation.
Stated Advantages
Substantially eliminates lateral walk and drift across a full scan stroke even on irregular floors.
Provides improved drift elimination and re-alignment capability.
Documented Applications
No documented applications found
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