# US 11,076,818 B2 · Method for operating an x-ray device with an articulated arm, and x-ray device with an articulated arm

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- Number: US 11,076,818 B2
- Document ID: US11076818B2
- Status: Granted
- Kind: B2
- Application number: 15/998,682
- Filed: 2018-08-15
- Published: 2019-02-21
- Granted: 2021-08-03
- Earliest claimed: 2017-08-15
- Assignees: Siemens Healthcare GmbH
- Applicants: Siemens Healthcare GmbH
- Inventors: Markus Weingarten
- Web page: https://patentgrep.com/patent/US11076818B2

## CPC

- A61B 6/102: {Protection against mechanical damage, e.g. anti-collision devices}
- A61B 6/0487: {Motor-assisted positioning}
- A61B 6/4429: {related to the mounting of source units and detector units}
- A61B 6/4441: {the rigid structure being a C-arm or U-arm}
- A61B 6/4476: {related to motor-assisted motion of the source unit}
- A61B 6/54: {Control of apparatus or devices for radiation diagnosis}
- B25J 9/1664: {characterised by motion, path, trajectory planning}
- B25J 9/1666: {Avoiding collision or forbidden zones}
- G05B 19/4061: Avoiding collision or forbidden zones
- A61B 6/466: {adapted to display 3D data}
- A61B 6/467: {characterised by special input means}
- G05B 2219/40476: Collision, planning for collision free path
- G05B 2219/40519: Motion, trajectory planning
- G05B 2219/45169: Medical, rontgen, x ray
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A method for operating the X-ray device, which includes a detector, a radiation source, or a C-arm including the detector and the radiation source, and an articulated arm and a base. Initially, a starting position of the X-ray device is specified with respect to the detector, the radiation source, or the C-arm, and the articulated arm, and an end position of the X-ray device is specified at least with respect to the detector, the radiation source, or the C-arm. A plurality of paths that may be followed by the articulated arm and the detector, the radiation source, or the C-arm on movement from the starting position into the end position are automatically determined. One path of the plurality of paths for the movement of the X-ray device is selected, and the X-ray device is moved into the end position.

## Claims

### Claim 1

A method for operating an X-ray device comprising a detector, a radiation source, or a C-arm with the detector and the radiation source, and an articulated arm and a base, the method comprising:
specifying a starting position of the X-ray device with respect to the C-arm, the detector, or the radiation source, and with respect to the articulated arm;
specifying an end position of the X-ray device at least with respect to the C-arm, the detector, or the radiation source;
moving the X-ray device from the starting position into the end position;
automatically ascertaining a plurality of paths that are followable by the articulated arm and the C-arm, the detector, or the radiation source on movement from the starting position into the end position;
graphically depicting the plurality of paths for selection; and
selecting one path of the plurality of paths for the movement of the X-ray device, wherein selecting the one path of the plurality of paths for the movement of the X-ray device is based on manual selection of the one path.

### Claim 2 (depends on 1)

The method of claim 1, wherein specifying the end position of the X-ray device comprises specifying the end position of the X-ray device with respect to the articulated arm, the base, or the articulated arm and the base.

### Claim 3 (depends on 1)

The method of claim 1, wherein specifying the starting position of the X-ray device comprises specifying the starting position of the X-ray device with respect to the base.

### Claim 4 (depends on 1)

The method of claim 1, wherein automatically ascertaining the plurality of paths comprises automatically taking account of an object in an environment of the X-ray device.

### Claim 5 (depends on 1)

The method of claim 1, wherein selecting one path of the plurality of paths for the movement of the X-ray device comprises selecting the one path automatically in accordance with a learning process performed by the X-ray device.

### Claim 6 (depends on 1)

The method of claim 1, wherein selecting one path of the plurality of paths comprises:
automatically preselecting a path of the plurality of paths; and
providing correction options for correction of the automatically preselected path on an operator interface of the X-ray device.

### Claim 7 (depends on 1)

The method of claim 1, wherein the automatic ascertainment of the plurality of paths is updated continuously.

### Claim 8

An X-ray device comprising:
a detector, a radiation source, or a C-arm including the detector and the radiation source;
an articulated arm, wherein the C-arm, the detector, or the radiation source is arranged on a distal end of the articulated arm;
a base to which a proximal end of the articulated arm is attached;
a movement device by which the X-ray device is movable from a starting position specified with respect to the C-arm, the detector, or the radiation source, and with respect to the articulated arm into an end position specified with respect to the C-arm, the detector, or the radiation source;
a computer configured for automatic ascertainment of a plurality of paths that are folllowable by the articulated arm and the C-arm, the detector, or the radiation source on movement from the starting position into the end position;
a display configured to graphically depict the plurality of paths for selection; and
a selector configured for selection of one path of the plurality of paths for the movement of the X-ray device, wherein the selection of the one path of the plurality of paths for the movement of the X-ray device is based on manual selection of the one path.

### Claim 9 (depends on 8)

The X-ray device of claim 8, wherein specification of the end position of the X-ray device comprises specification of the end position of the X-ray device with respect to the articulated arm, the base, or the articulated arm and the base.

### Claim 10 (depends on 8)

The X-ray device of claim 8, wherein specification of the starting position of the X-ray device comprises specification of the starting position of the X-ray device with respect to the base.

### Claim 11 (depends on 8)

The X-ray device of claim 8, wherein the automatic ascertainment of the plurality of paths comprises automatic taking account of an object in an environment of the X-ray device.

### Claim 12 (depends on 8)

The X-ray device of claim 8, wherein the selection of the one path of the plurality of paths for the movement of the X-ray device comprises selection of the one path automatically in accordance with a learning process performed by the X-ray device.

### Claim 13 (depends on 8)

The X-ray device of claim 8, wherein the selection of the one path of the plurality of paths comprises:
automatic preselection of a path of the plurality of paths; and
provision of correction options for correction of the automatically preselected path on an operator interface of the X-ray device.

### Claim 14 (depends on 8)

The X-ray device of claim 8, wherein the automatic ascertainment of the plurality of paths is updated continuously.