# US 2018/0321684 A1 · Controlling movement of medical apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0321684 A1 - Document ID: US20180321684A1 - Status: Published application - Kind: A1 - Application number: 15/971,972 - Filed: 2018-05-04 - Published: 2018-11-08 - Earliest claimed: 2017-05-05 - Assignees: Beijing Neusoft Medical Equipment Co., Ltd. - Applicants: Beijing Neusoft Medical Equipment Co., Ltd. - Inventors: Shang GAO - Web page: https://patentgrep.com/patent/US20180321684A1 ## CPC - G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)} - A61B 6/102: {Protection against mechanical damage, e.g. anti-collision devices} - A61B 6/4405: {the apparatus being movable or portable, e.g. handheld or mounted on a trolley} - A61B 6/4441: {the rigid structure being a C-arm or U-arm} - A61B 6/54: {Control of apparatus or devices for radiation diagnosis} - A61B 34/30: Surgical robots - B60B 19/003: {Multidirectional wheels} - B62D 15/00: Steering not otherwise provided for - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - Y10S 901/01: Mobile robot - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A medical apparatus is provided. According to an example, the medical apparatus may include a gantry, a plurality of movable wheels disposed at a bottom of the gantry, and a movement controller; where each of the movable wheels comprises a hub and a plurality of driven wheels disposed at the periphery of the hub, an axis of each of the driven wheels and an axis of the hub forming an included angle and rotation of the hub driving rotation of the driven wheels, and the movement controller configured to control a moving direction and a moving speed of the gantry by controlling rotation of the plurality of the movable wheels. ## Claims ### Claim 1 A medical apparatus, comprising: a gantry; a plurality of movable wheels disposed at a bottom of the gantry, each of the plurality of movable wheels comprises: a hub; and a plurality of driven wheels disposed at a periphery of the hub, wherein an axis of each of the driven wheels and an axis of the hub form an included angle, and rotation of the hub is capable of causing rotation of the plurality of driving wheels; and a movement controller configured to control a moving direction and a moving speed of the gantry by controlling rotation of the plurality of movable wheels. ### Claim 2 (depends on 1) The medical apparatus of claim 1, wherein the plurality of movable wheels comprise mecanum wheels. ### Claim 3 (depends on 1) The medical apparatus of claim 1, wherein a number of the movable wheels is an even number equal to or greater than 4. ### Claim 4 (depends on 1) The medical apparatus of claim 1, wherein the movement controller comprises: a path determining module configured to determine a moving path of the gantry; a movement determining module configured to determine a rotating speed and a rotating direction of each of the plurality of movable wheels according to the moving path; and a driving device configured to drive each of the plurality of movable wheels to rotate according to the determined rotating speed and the determined rotating direction of each of the plurality of movable wheels. ### Claim 5 (depends on 4) The medical apparatus of claim 4, wherein the movement controller further comprises: a position acquiring device configured to acquire a position of the gantry at a current moment as a current position of the gantry. ### Claim 6 (depends on 5) The medical apparatus of claim 5, wherein the movement determining module is further configured to adjust at least one of the rotating speed and the rotating direction of at least some of the plurality of movable wheels when a distance that the current position of the gantry deviates from the moving path is greater than a distance threshold. ### Claim 7 (depends on 4) The medical apparatus of claim 4, wherein the movement controller further comprises: a speed estimating module configured to estimate a desired moving speed of the gantry along the moving path; and a speed acquiring module configured to acquire a real-time speed of the gantry. ### Claim 8 (depends on 7) The medical apparatus of claim 7, wherein the movement determining module is further configured to adjust the rotating speed of at least some of the plurality of movable wheels when a difference between the real-time speed and the desired speed is greater than a speed difference threshold. ### Claim 9 (depends on 1) The medical apparatus of claim 1, further comprising: an anti-collision apparatus configured to detect a distance between an object and the gantry. ### Claim 10 (depends on 9) The medical apparatus of claim 9, wherein the movement controller adjusts movement of at least some of the plurality of movable wheels when the anti-collision apparatus detects that the distance between the object and the gantry is smaller than a safe distance. ### Claim 11 A method of controlling a medical apparatus to move, comprising: disposing a plurality of movable wheels at a bottom of a gantry of the medical apparatus, wherein each of the plurality of movable wheels comprises a hub, and a plurality of driven wheels disposed at a periphery of the hub; an axis of each of the driven wheels and an axis of the hub form an included angle, and rotation of the hub is capable of causing rotation of the driven wheels; and controlling a moving direction and a moving speed of the gantry by controlling respective hub of one or more movable wheels to rotate. ### Claim 12 (depends on 11) The method of claim 11, wherein the plurality of movable wheels comprise mecanum wheels. ### Claim 13 (depends on 11) The method of claim 11, wherein a number of the movable wheels is an even number equal to or greater than 4. ### Claim 14 (depends on 11) The method of claim 11, wherein controlling the respective hub of one or more movable wheels to rotate comprises: determining a moving path of the gantry; determining a rotating speed and a rotating direction of each of the plurality of movable wheels according to the moving path; and driving each of the plurality of movable wheels to rotate according to the determined rotating speed and rotating direction of each of the plurality of movable wheels. ### Claim 15 (depends on 14) The method of claim 14, further comprising: acquiring a position of the gantry at a current moment; and adjusting at least one of the rotating speed and the rotating direction of at least some of the plurality of movable wheels when a distance that the position of the gantry at the current moment deviates from the moving path is greater than a distance threshold. ### Claim 16 (depends on 14) The method of claim 14, further comprising: estimating a desired moving speed of the gantry along the moving path; acquiring a real-time speed of the gantry; and adjusting the rotating speed of at least some of the movable wheels when a difference between the real-time speed and the desired speed is greater than a speed difference threshold. ### Claim 17 (depends on 11) The method of claim 11, further comprising: detecting a distance between an object and the gantry; and adjusting movement of at least some of the plurality of movable wheels when detecting that the distance is smaller than a safe distance.