# US 11,998,373 B2 · Line scanner imaging device, system, and methods

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- Number: US 11,998,373 B2
- Document ID: US11998373B2
- Status: Granted
- Kind: B2
- Application number: 18/071,519
- Filed: 2022-11-29
- Published: 2023-03-23
- Granted: 2024-06-04
- Earliest claimed: 2020-06-15
- Assignees: Medtronic Navigation, Inc.
- Applicants: Medtronic Navigation, Inc.
- Inventors: David A. Garlow; Elizabeth A. Levasseur
- Web page: https://patentgrep.com/patent/US11998373B2

## CPC

- A61B 6/4405: {the apparatus being movable or portable, e.g. handheld or mounted on a trolley}
- 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 6/4482: {involving power assist circuits}
- A61B 6/505: {for diagnosis of bone}
- A61B 6/5241: {combining overlapping images of the same imaging modality, e.g. by stitching}
- A61B 6/54: {Control of apparatus or devices for radiation diagnosis}
- A61B 6/587: {Alignment of source unit to detector unit}
- A61B 6/547: {involving tracking of position of the device or parts of the device}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

An imaging system is disclosed to include an elongate member supported by a plurality of wheels, where the elongate member is extendable in a horizontal axis such that a distance between two of the plurality of wheels is increased when the elongate member is extended in the horizontal axis; a trolley slidably secured to the elongate member, where the trolley includes a base portion and an upper portion. The base portion moves in the horizontal axis along the elongate member and the upper portion is rotatably mounted to the base portion, where the upper portion is configured to rotate at least 90 degrees relative to the base portion and elongate member.

## Claims

### Claim 1

An imaging device comprising:
a wheeled base comprising an elongate track that is extendable along a first axis via a telescoping member;
a trolley comprising a base portion slidably connected to the elongate track and an upper portion rotatably connected to the base portion, the trolley slidable along the elongate track and along the first axis;
an arm defining at least a semi-circle about an arm axis, the arm rotatably supported by the upper portion of the trolley, wherein the upper portion of the trolley enables rotation of the arm along a rotational axis that is perpendicular to the first axis;
a source secured to the arm; and
a detector secured to the arm opposite the source.

### Claim 2 (depends on 1)

The imaging device of claim 1, wherein the upper portion is rotatable relative to the base portion about an axis perpendicular to the elongate track.

### Claim 3 (depends on 1)

The imaging device of claim 1, wherein the upper portion is configured to selectively rotate the arm about the arm axis.

### Claim 4 (depends on 1)

The imaging device of claim 1, wherein the trolley further comprises an intermediate arm rotatable between a first position parallel to the elongate track and a second position perpendicular to the elongate track.

### Claim 5 (depends on 1)

The imaging device of claim 1, wherein the wheeled base comprises a plurality of omnidirectional wheels.

### Claim 6 (depends on 1)

The imaging device of claim 1, wherein the wheeled base comprises:
a plurality of powered wheels; and
a controller for selectively activating the powered wheels to move the wheeled base relative to a stationary object.

### Claim 7 (depends on 1)

The imaging device of claim 1, wherein the trolley is slidable along the elongate track a distance of at least 40 cm.

### Claim 8 (depends on 1)

The imaging device of claim 1, further comprising:
a processor; and
a memory storing instructions for execution by the processor that, when executed, cause the processor to:
transmit a first signal that causes the upper portion to rotate relative to the base portion;
transmit a second signal that causes the arm to rotate about the arm axis;
activate the source and the detector; and
transmit a third signal that causes the trolley to slide along a length of the elongate track in a first direction.

### Claim 9 (depends on 8)

The imaging device of claim 8, wherein the memory stores additional instructions for execution by the processor that, when executed, further cause the processor to:
transmit a fourth signal that causes the wheeled base to automatically move in a second direction opposite the first direction.

### Claim 10 (depends on 1)

The imaging device of claim 1, wherein the arm comprises at least one of a C-shaped arm and an O-shaped arm and further comprising a sensor for determining a position of the arm relative to a stationary object.

### Claim 11

An imaging system comprising:
an elongate member supported by a plurality of wheels, wherein the elongate member is extendable in a horizontal axis; and
a trolley slidably secured to the elongate member, wherein the trolley comprises:
a base portion that moves in the horizontal axis along the elongate member; and
an upper portion that is rotatably mounted to the base portion, wherein the upper portion is configured to rotate at least 90 degrees relative to the base portion and the elongate member.

### Claim 12 (depends on 11)

The imaging system of claim 11, further comprising:
a C-shaped arm defining a C-shaped arm axis and movably attached to the upper portion of the trolley.

### Claim 13 (depends on 12)

The imaging system of claim 12, wherein the upper portion houses a drive mechanism for the C-shaped arm.

### Claim 14 (depends on 13)

The imaging system of claim 13, wherein the drive mechanism is configured to rotate the C-shaped arm from a vertical position, in which the upper portion grips the C-shaped arm proximate one end of the C-shaped arm, to a horizontal position, in which the upper portion grips the C-shaped arm approximately equidistant between the ends of the C-shaped arm.

### Claim 15 (depends on 11)

The imaging system of claim 11, wherein the trolley comprises an arm that links the base portion to the upper portion.

### Claim 16 (depends on 15)

The imaging system of claim 15, wherein the arm is configured to rotate relative to the base portion into a position that is approximately perpendicular to the elongate member.

### Claim 17 (depends on 15)

The imaging system of claim 15, wherein the arm comprises two or more linkages.

### Claim 18 (depends on 15)

The imaging system of claim 15, further comprising:
a telescoping member, wherein the elongate member is extendable in the horizontal axis via the telescoping member.

### Claim 19 (depends on 11)

The imaging system of claim 11, further comprising:
a source supported by the trolley via an arm; and
a detector secured to the arm opposite the source.

### Claim 20

An imaging system, comprising:
an elongate member supported by a plurality of wheels, wherein the elongate member is extendable in a horizontal axis;
a trolley slidably secured to the elongate member, wherein the trolley comprises:
a base portion that moves in the horizontal axis along the elongate member; and
an upper portion that is rotatably mounted to the base portion, wherein the upper portion is configured to rotate at least 90 degrees relative to the base portion and the elongate member;
an arm supported by the trolley and rotatable relative to the elongate member in response to rotation of the upper portion;
a source supported by the trolley via the arm; and
a detector secured to the arm opposite the source.