# US 9,517,044 B2 · System and method to automatically assist mobile image acquisition > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,517,044 B2 - Document ID: US9517044B2 - Status: Granted - Kind: B2 - Application number: 13/443,719 - Filed: 2012-04-10 - Published: 2012-08-09 - Granted: 2016-12-13 - Earliest claimed: 2009-05-22 - Assignees: General Electric Company - Applicants: Bernard Bouvier - Inventors: Bernard Bouvier - Web page: https://patentgrep.com/patent/US9517044B2 ## CPC - A61B 6/547: {involving tracking of position of the device or parts of the device} - A61B 6/4405: {the apparatus being movable or portable, e.g. handheld or mounted on a trolley} - A61B 6/548: {Remote control of the apparatus or devices} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A system and method to perform image acquisition of a subject is provided. The system includes a mobile device to move an imaging system across a floor, and a brake system that restrains movement of the mobile device. A controller includes a memory having program instructions to instruct a processor to perform the steps of: instructing movement of the mobile device in support of the imaging system to a first position for image acquisition of the subject; receiving feedback that the mobile device is located at the first position; and applying a brake force to restrain movement of the mobile device. The step of applying the brake force includes generating a vacuum in restraint of movement of the mobile device with respect to the floor. ## Claims ### Claim 1 An X-ray machine comprising: an X-ray tube configured to emit an X-ray beam along a direction of emission, an X-ray detector situated opposite the tube and in the direction of emission of the X-ray beam, a mobile device on which the X-ray tube and X-ray detector are mounted, wherein the mobile device comprises a control unit comprising a processor, one or more memories, and a navigation system to drive the X-ray machine in a room, wherein the processor utilizes a map of the room and a working position stored in the one or more memories and a current position determined by the navigation system to establish a path of movement from the current position to the working position and to move the X-ray machine along the path of movement, and wherein the one or more memories store a table for use by the processor, wherein one of directional elements of the table store position coordinates within the room and a perpendicular set of directional elements of the table store instructions regarding the position of the X-ray machine. ### Claim 2 (depends on 1) The X-ray machine according to claim 1, wherein the mobile device comprises a roller system configured so as to make the X-ray tube rotate about a vertical axis passing through the X-ray beam. ### Claim 3 (depends on 2) The X-ray machine according to claim 2, wherein the roller system has at least one guide and motor wheel and at least one free wheel or holonomic wheels. ### Claim 4 (depends on 2) The X-ray machine according to claim 2, wherein the navigation system comprises sensors for measuring the movement of the roller system. ### Claim 5 (depends on 1) The X-ray machine according to claim 1, wherein the navigation system comprises a communications module using radioelectrical links installed in the mobile device and radiofrequency position identifier devices pre-installed in the room. ### Claim 6 (depends on 1) The X-ray machine according to claim 1, wherein the navigation system comprises a GPS localizing system. ### Claim 7 (depends on 1) The X-ray machine according to claim 1, wherein the navigation system comprises a laser beam emitter borne by the mobile device and laser signal detectors pre-installed in the room. ### Claim 8 (depends on 1) The X-ray machine according to claim 1, wherein the navigation system comprises an optical barcode reader installed in the mobile device and barcodes comprising positioning data pre-installed in the room. ### Claim 9 (depends on 1) The X-ray machine according to claim 1, wherein the navigation system comprises an electrical wire placed in the room configured to create an electromagnetic field detected by sensors placed on the mobile device. ### Claim 10 (depends on 1) The X-ray machine according to claim 1, wherein the navigation system comprises an optical guidance system configured to detect a longitudinal marking made in the room and constituting a reference for the trajectory of the mobile device. ### Claim 11 (depends on 1) The X-ray machine according to claim 1, wherein the navigation system comprises a joystick configured to control the movement of the mobile device. ### Claim 12 (depends on 1) The X-ray machine according to claim 1, wherein the mobile device is fixed to a wall of the room via one or more hinged arms. ### Claim 13 (depends on 1) The X-ray machine according to claim 1, wherein the instructions regarding the position of the X-ray machine comprise one or more shift signals associated with the actuation of a given positional command for the X-ray machine. ### Claim 14 A method for the automatic moving of an X-ray machine, comprising: using a processor found within a control unit of the X-ray machine, computing a trajectory from a current position of the X-ray machine determined by a navigation system of the control unit to a working position stored in a memory accessible to the processor, wherein the memory further stores position coordinates within a room being navigated and instructions regarding the movement of the X-ray machine at each coordinate; and based on one or more commands issued by the processor, moving a mobile device on which the X-ray machine is mounted across the computed trajectory. ### Claim 15 (depends on 14) The method of claim 14, further comprising: determining the current position prior to computing the trajectory.