# US 12,763,201 B2 · Medical device undercarriage

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- Number: US 12,763,201 B2
- Document ID: US12763201B2
- Status: Granted
- Kind: B2
- Application number: 18/575,401
- Filed: 2021-09-02
- Published: 2024-09-26
- Granted: 2026-10-13
- Earliest claimed: 2021-06-29
- Assignees: Siemens Shanghai Medical Equipment Ltd.
- Applicants: Siemens Shanghai Medical Equipment Ltd.
- Inventors: Li Wang; Min Li; Yin Jie Xiang
- Web page: https://patentgrep.com/patent/US12763201B2

## CPC

- G16H 40/63: for local operation
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA

## Abstract

A medical device undercarriage including a pair of front wheels, a pair of rear wheels, a first position sensitive detector located between the pair of front wheels, a second position sensitive detector located between the pair of rear wheels, and a controller. The controller is operable to calculate a gear ratio of the rear wheels according to a position of the first position sensitive detector and a position of the second position sensitive detector.

## Claims

### Claim 1

A medical device undercarriage, comprising:
a pair of front wheels;
a pair of rear wheels;
a first position sensitive detector located between the pair of front wheels;
a second position sensitive detector located between the pair of rear wheels; and
a controller operable to calculate a gear ratio of the rear wheels according to a position of the first position sensitive detector and a position of the second position sensitive detector,
wherein if a position deviation of the first position sensitive detector is Ep(n), the controller is operable to calculate Ep(n) according to the following formula:
E
p
(
n
)
=
K
p
⁢
p
*
E
p
(
n
-
1
)
dt
+
K
p
⁢
i
*
∑
i
=
0
N
⁢
E
p
(
n
-
i
)
N
*
dt
+
K
p
⁢
d
*
∑
i
=
0
N
[
E
p
(
n
-
i
)
-
2
⁢
E
p
(
n
-
i
-
1
)
+
E
p
(
n
-
i
-
2
)
N
*
dt
,
wherein N is a positive integer, and dt is a sampling interval, Kpp, Kpi, and Kpd are respectively proportional integral differential coefficients of related positions.

### Claim 2 (depends on 1)

The medical device undercarriage according to claim 1, wherein if the position of the first position sensitive detector is P1, the position of the second position sensitive detector is P2, and an angle deviation of the second position sensitive detector is Ea(n), the controller is operable to calculate Ea(n) according to the following formula:
E
a
(
n
)
=
d
⁡
(
P
2
-
P
1
)
1000
+
E
p
(
n
)
,
d(P2−P1) representing a position difference between the first position sensitive detector and the second position sensitive detector.

### Claim 3 (depends on 2)

The medical device undercarriage according to claim 2, wherein if the gear ratio of the rear wheels is GR, the controller is operable to calculate GR according to the following formula:
G
⁢
R
=
1
+
K
a
⁢
p
*
[
E
a
(
n
)
-
E
a
(
n
-
1
)
]
+
K
a
⁢
i
*
E
a
(
n
)
*
dt
+
K
a
⁢
d
*
E
a
(
n
)
-
2
⁢
E
a
(
n
-
1
)
+
E
a
(
n
-
2
)
dt
,
wherein Kap, Kai, and Kad are respectively proportional integral differential coefficients of related angles.

### Claim 4 (depends on 1)

The medical device undercarriage according to claim 1, wherein N∈[25, 1000].

### Claim 5 (depends on 1)

The medical device undercarriage according to claim 1,
wherein the front wheel comprises a mobile encoder, a mobile motor, and a mobile drive, and
wherein the rear wheel comprises a steering encoder, a steering motor, and a steering drive.

### Claim 6 (depends on 1)

A medical device system, comprising:
a medical device; and
the medical device undercarriage according to claim 1,
wherein the medical device is disposed on the medical device undercarriage, and the controller is operable to send the gear ratio of the rear wheels to the medical device.