MOVING PARTS IN A NUCLEAR MEDICINE (N-M) IMAGING SYSTEM

Abstract

A Nuclear Medicine (N-M) imaging system including a gantry having a stationary stator and a rotor rotatably mounted on the stator and including detection units. The rotor is driven by a rotor driving assembly including a linear encoder. The detection units mounted on the rotor include scanning columns having one or more Multi-Pixel Photon Counter (MPC) mounted on one or more extendable arm. The gantry also includes flat cables connecting the controller with gantry components, e.g., the scanning column Multi-Pixel Photon Counters (MPC). The scanning columns are pivotably moveable by a scanning column driver system including a rotary encoder.

Claims

1. A Nuclear Medicine (N-M) imaging system comprising: a gantry including at least one stationary stator; at least one rotor rotatably mounted on said stator and including at least one detection unit mounted on an extendable arm; at least one controller; a rotor movement encoder in communication with said controller, wherein said rotor movement encoder is configured to provide said controller with feedback information regarding a spatial position of said at least one detection unit at any point along a rotor path of rotor rotation; and a second encoder in communication with said controller, said second encoder positioned on at least one of said detection unit and said extendable arm and configured to provide said controller with second feedback information regarding a spatial position of said detection unit with respect to said gantry, said rotor, or another said detection unit.

2. The imaging system according to claim 1, wherein at least one of said rotor movement encoder and said second encoder is a linear encoder.

3. The imaging system according to claim 1 further including at least one rotor driving assembly, wherein said controller is in communication with said at least one rotor driving assembly.

4. The imaging system according to claim 3, wherein said at least one rotor driving assembly includes an output axis and wherein said rotor movement encoder is positioned on or after said output axis of said rotor driving assembly.

5. The imaging system according to claim 1, wherein said rotor movement encoder includes: at least one sensor coupled to said stator; and at least one scale strip disposed along a circumferential surface of said rotor and configured to move across said at least one sensor when said rotor rotates.

6. The imaging system according to claim 5, wherein said at least one scale strip is disposed such that it centrally faces an inner surface or a circular surface concentric with a circumferential surface of said rotor.

7. The imaging system according to claim 1, wherein said second encoder comprises a second sensor and a second scale strip, and wherein said second sensor is coupled to a stationary portion of said detection unit, said stationary portion remaining in a stationary position with respect to said extendable arm; and wherein said second scale strip is coupled to said extendable arm, and is movable across said second sensor as said extendable arm is extended or retracted.

8. The imaging system according to claim 1, wherein said second encoder comprises a second sensor and a second scale strip, and wherein said second scale strip is coupled to a stationary portion of said detection unit, said stationary portion remaining in a stationary position with respect to said extendable arm; and wherein said second sensor is coupled to said extendable arm, and is movable across said second scale strip as said extendable arm is extended or retracted.

9. The imaging system according to claim 1, further including at least one linear drive system that extends and retracts said extendable arm radially inward and outward with respect to said rotor, wherein said at least one linear drive system includes an output axis and wherein said second encoder is positioned on or after said output axis of said linear drive system.

10. The imaging system according to claim 1, wherein said at least one at least one detection unit includes at least one pivotable scanning column; and a scanning column pivot rotary encoder in communication with said controller, wherein said scanning column pivot rotary encoder is positioned on said pivotable scanning column and is configured to provide said controller with third feedback information regarding a spatial position of said pivotable scanning column along a path of pivot of said pivotable scanning column.

11. The imaging system according to claim 10, wherein said pivotable scanning column is configured to pivot along a single axis.

12. The imaging system according to claim 10, wherein at least one of: said feedback information includes information regarding a degree of rotation of said rotor with respect to said stator; said second feedback information includes information regarding a degree of radially inward or outward extension of said extendable arm with respect to said gantry, said rotor, or another said extendable arm; and said third feedback information includes information regarding a degree of pivot of said pivotable scanning column with respect to said gantry or a vector of gravity with respect to said extendable arm.

13. The imaging system according to claim 10, wherein at least one of: said rotor movement encoder includes at least one sensor coupled to a first one of said stator and said rotor and at least one scale strip on a second one of said stator and said rotor, said at least one scale strip configured to move across said at least one sensor when said rotor rotates; said second encoder comprises a second sensor and a second scale strip; and said scanning column pivot rotary encoder comprises a third sensor and a third scale strip.

14. The imaging system according to claim 10, wherein said scanning column pivot rotary encoder comprises a third sensor and a third scale strip, and wherein said third scale strip is a rotary scale strip or a scale disc.

15. The imaging system according to claim 10, wherein said pivotable scanning column is driven by at least one scanning column driver assembly and is configured to pivot in first direction or a second direction about a long axis of said pivotable scanning column at least partially along a circular path of less than 360 degrees.

16. The imaging system according to claim 14, wherein said third sensor is coupled to a stationary portion of said scanning column driver assembly, said stationary portion of said scanning column driver assembly remaining in a stationary position with respect to said pivotable scanning column; and wherein said third scale strip is coupled to said pivotable scanning column, and is movable across said third sensor as said scanning column pivots back or forth.

17. The imaging system according to claim 15, wherein said third scale strip is disposed circumferentially about a stationary portion of said scanning column driver assembly, said stationary portion of said scanning column driver assembly remaining in a stationary position with respect to said pivotable scanning column: and wherein said third sensor is coupled to said pivotable scanning column, and is movable across said third scale strip as said pivotable scanning column pivots back or forth.

18. The imaging system according to claim 15, wherein said scanning column driver assembly includes an output axis and wherein said scanning column pivot rotary encoder is mounted on or after said output axis of said scanning column driver assembly.

19. The imaging system according to claim 10, wherein at least one of: said rotor movement encoder includes at least one sensor coupled to said stator and at least one magnetic scale strip on said rotor configured to move across said at least one sensor when said rotor rotates; said second encoder comprises a second sensor and a second magnetic scale strip; and said scanning column pivot rotary encoder comprises a third sensor and a third magnetic scale disc.

20. The imaging system according to claim 10, wherein at least one of said rotor movement encoder, said second encoder, and said scanning column pivot rotary encoder is an optical encoder.

21. The imaging system according to claim 10, wherein at least one of: said rotor movement encoder includes at least one sensor coupled to said stator and at least one scale strip on said rotor configured to move across said at least one sensor when said rotor rotates, wherein said at least one sensor comprises a sensor flag; said second encoder comprises a second scale strip and a second sensor comprising a sensor flag; and said scanning column pivot rotary encoder comprises a third scale strip and a third sensor comprising a third sensor flag.

22. A Nuclear Medicine (N-M) imaging system comprising: a gantry including at least one stationary stator; at least one rotor rotatably mounted on said stator; and at least one detection unit having at least one extendable arm mounted on said rotor, said extendable arm including a pivotable scanning column configured to pivot along a single axis; at least one controller; wherein at least one of: (a) said imaging system includes a rotor movement encoder in communication with said controller, said rotor movement encoder configured to provide said controller with feedback information regarding a spatial position of said rotor at any point along a rotor path of rotor rotation; (b) said imaging system includes a second encoder in communication with said controller, said second linear encoder configured to provide said controller with second feedback information regarding a spatial position of said at least one extendable arm with respect to said gantry, said rotor, or another said extendable arm; and (c) said imaging system includes a scanning column pivot rotary encoder in communication with said controller, said scanning column pivot rotary encoder positioned on said pivotable scanning column and configured to provide said controller with third feedback information regarding a spatial position of said pivotable scanning column along a path of pivot of said pivotable scanning column.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0041] Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.

[0042] In the Drawings:

[0043] FIG. 1 is a part diagram and perspective view simplified illustration of a Nuclear Medicine (N-M) imaging system in accordance with some embodiments of the invention;

[0044] FIG. 2 is a front view and perspective view simplified illustration of an N-M imaging system gantry rotor in accordance with some embodiments of the invention;

[0045] FIG. 3 is a perspective view simplified illustration of an N-M imaging system rotor integrated into an N-M imaging system gantry in accordance with some embodiments of the invention;

[0046] FIG. 4 is a perspective view simplified illustration of an N-M imaging system gantry in accordance with some embodiments of the invention;

[0047] FIG. 5 is a perspective view simplified illustration of an N-M imaging system gantry in accordance with some embodiments of the invention;

[0048] FIGS. 6A, 6B, 6C and 6D are side view simplified illustrations of arrangement of an N-M imaging system detection units in an N-M imaging system gantry and a perspective view simplified illustration of a detection unit head and extendable arm in accordance with some embodiments of the invention;

[0049] FIG. 7 is a perspective exploded view simplified illustration of an N-M imaging system detection unit linear drive system in accordance with some embodiments of the invention;

[0050] FIG. 8 is a perspective view simplified illustration of a detection unit linear drive system in accordance with some embodiments of the invention;

[0051] FIG. 9 is a perspective exploded view simplified illustration of a detection unit linear drive system 608 in accordance with some embodiments of the invention;

[0052] FIG. 10 is a perspective view simplified illustration of an N-M imaging system detection unit in a “Home” or retracted position in accordance with some embodiments of the invention;

[0053] FIGS. 11A and 11B are perspective view simplified illustrations of a detection unit in retracted and extended configurations in accordance with some embodiments of the invention;

[0054] FIG. 12 is a perspective view simplified illustration of an N-M imaging system detection unit and driver assembly in accordance with some embodiments of the invention; and

[0055] FIG. 13 is a perspective view simplified illustration of an N-M imaging system detection unit rotation driver assembly in accordance with some embodiments of the invention.

DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

[0056] The present invention, in some embodiments thereof, relates to Nuclear Medicine Imaging devices and, more particularly, but not exclusively, to moving parts in a Nuclear Medicine Imaging device.

[0057] An aspect of some embodiments of the invention relates to a Nuclear Medicine (N-M) imaging system gantry comprising at least one stator and at least one rotor and a rotor driving assembly.

[0058] In some embodiments, the rotor driving assembly comprises a flat driving belt. In some embodiments, the flat belt comprises at least one smooth side. In some embodiments, the driving belt smooth side is positioned in contact with a circumferential flat surface of the rotor.

[0059] In some embodiments, the driving belt comprises an open belt having two ends. In some embodiments, the ends of the driving belt are coupled to respective clamps. In some embodiments, the clamps are fixedly attached to the outer circumferential flat surface of the rotor.

[0060] In some embodiments, the rotor driving assembly comprises at least one tensioning system including at least one tensioning arm. In some embodiments, the tensioning arm is pivotable. In some embodiments, the tensioning arm is controlled by a controller. In some embodiments, the pivotable tensioning arm comprises a pulley. In some embodiments, the pulley is an idle pulley. In some embodiments, the rotor driving assembly comprises a tension sensor.

[0061] In some embodiments, the rotor driving assembly comprises one or more stoppers. In some embodiments, the stoppers are mechanical. In some embodiments, the stoppers comprise a first lever mounted on the rotor and a second lever positioned on the stator. In some embodiments, the gantry rotor comprises a first rotation direction stopper and a second rotation direction stopper.

[0062] An aspect of some embodiments of the invention relates to a Nuclear Medicine (N-M) imaging system gantry comprising at least one stator and at least one rotor and at least one rotor movement encoder. In some embodiments, the encoder comprises a linear encoder. In some embodiments, the linear encoder comprises one or more sensors and a scale strip. In some embodiments and optionally, the linear encoder comprises a magnetic scale strip. In some embodiments and alternatively and optionally, the encoder comprises an optical encoder and scale strip. In some embodiments, the sensor comprises a sensor flag. In some embodiments, the sensor is coupled to the stator in a stationary position and the scale moves across the sensor as the rotor rotates. In some embodiments and optionally, the scale is disposed along a circumferential surface of rotor.

[0063] An aspect of some embodiments of the invention relates to a Nuclear Medicine (N-M) imaging system gantry comprising at least one stator and at least one rotor having one or more detection units carried by one or more extendable detection arms, each extendable detection arm extendable by an extendable arm driving system. In some embodiments, the extendable arm is movable from a fully retracted (Home) position to a fully extended position. In some embodiments, the extendable arm driving system comprises a linear drive system. In some embodiments, the linear drive system is in bidirectional communication with the controller. In some embodiments, the linear drive system moves the extendable arm and a scanning unit in a stepwise fashion.

[0064] In some embodiments, the linear drive system comprises one or more motors and one or more driving belts positioned on one or more pulleys. In some embodiments, at least one pulley is a belt driver pulley. In some embodiments, at least one pulley is an idler pulley. In some embodiments, the linear driving system motor rotates the belt driver pulley in a clockwise or counter clockwise in a continuous or stepped motion. In some embodiments, the one or more pulleys comprise a ribbed surface, which corresponds to a ribbed inner surface of the driving belt.

[0065] In some embodiments, the driving belt comprises at least one surface and is driven by a driver pulley having a flat surface. In some embodiments, the linear driving system comprises at least one tensioning arm. In some embodiments, the tensioning arm is pivotable. In some embodiments, the tensioning arm is controlled by a controller. In some embodiments, the pivotable tensioning arm comprises a pulley. In some embodiments, the pulley is an idle pulley. In some embodiments, the linear drive system comprises a tension sensor.

[0066] In some embodiments, the linear drive system comprises a looped belt mounted on the driving pulley and the idler pulley. In some embodiments, one or both pulleys are coupled to a stationary portion (e.g., chassis) of the extendable arm by adjustable couplings that allow adjusting the distance between the pulleys thereby adjusting tension of the belt mounted on the pulleys. In some embodiments, the linear driving system comprises a belt tension sensor in communication with the controller. In some embodiments, the tension sensor comprises an ultrasound sensor. Alternatively and optionally, in some embodiments the linear drive system comprises an arm system. In some embodiments, the tensioning system comprises a tensioning arm and a pulley.

[0067] In some embodiments, the linear drive system driving belt comprises an open flat belt having two ends. In some embodiments and optionally, the driving belt comprises a closed ring.

[0068] An aspect of some embodiments of the invention relates to a Nuclear Medicine (N-M) imaging system gantry comprising at least one stator and at least one rotor having one or more detection units including one or more flat data and power cables. In some embodiments, the flat cables transfer data and power between system components (e.g., the chassis and the extendable arm).

[0069] In some embodiments, the flat cable comprises a double-layered flat cable carrying both power and data. In some embodiments, the flat cable comprises one end attached to the detection unit chassis and a second end is attached to the detection unit extendable arm. In some embodiments, the flat cable flexes with a rolling-flex axial movement along an axis of movement (X) of the extendable arm with little or no lateral movement along an axis (R) perpendicular to axis (X).

[0070] An aspect of some embodiments of the invention relates to a Nuclear Medicine (N-M) imaging system gantry comprising at least one detection unit comprising at least one column mounted on an extendable arm. In some embodiments, the extendable arm is axially moveable and extendable along and from a stationary chassis. In some embodiments, the detection unit comprises a linear encoder. In some embodiments, the linear encoder comprises a sensor and a scale strip. In some embodiments and optionally, the linear encoder comprises a magnetic scale strip. Alternatively and optionally, the detection unit comprises an optical encoder and scale strip. In some embodiments, the sensor comprises a sensor flag. In some embodiments, sensor is coupled to the chassis, which remains in a stationary position in respect to extendable arm. In some embodiments and optionally, the scale is disposed along the chassis and the sensor is coupled to and moves with the extendable arm.

[0071] An aspect of some embodiments of the invention relates to a Nuclear Medicine (N-M) imaging system gantry comprising at least one detection unit comprising at least one pivotable column mounted on an extendable arm and a rotation driver assembly including a rotary encoder. In some embodiments, the rotation driver assembly comprises a motor. In some embodiments, the motor is configured to pivot the column bidirectionally at least partially along a circular path of less than 360 degrees, 300 degrees, 270 degrees, 210 degrees, 150 degrees, or any intermediate angle around a pivot axis (P) parallel to the longitudinal axis of the scanning column. In some embodiments, one or more scanning columns comprises Multi-Pixel Photon Counters (MPCs). In some embodiments, the motor generates a stepped rotational mechanical driving force effected on the scanning columns via a gearbox.

[0072] In some embodiments, the rotation driver assembly includes a rotary encoder comprising a sensor and a circular scale strip. Optionally the rotary encoder comprises a magnetic scale strip. Alternatively and optionally, the scanning column comprises an optical rotary encoder and scale strip. In some embodiments, the sensor comprises a sensor flag. In some embodiments, the sensor is coupled to the scanning column driver assembly chassis, which remains in a stationary position in respect to the scanning columns. In some embodiments, the scale disc is coupled to an output axis proximally to the coupling and moves across the sensor.

[0073] As used herein, the terms “Circumferential Movement” or “Circumferentially” refers to rotation of the gantry (e.g., rotor) and also includes movement of the detector heads on the gantry upon rotation of the rotor. Likewise, circumferential movement includes translational movement of each of the detector heads individually, i.e., independently, or in groups within the rotor, and/or movement of the entire rotor relative to other rings or the stator. As used herein, the terms “Axial Movement” or “Axially” refer to movement along a central axis of rotation of the rotor, perpendicular to a plane defined by the rotor.

[0074] Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and/or methods set forth in the following description and/or illustrated in the drawings and/or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.

Exemplary Nuclear Medicine Imaging System

[0075] Referring now to the drawings, FIG. 1 is a part diagram and perspective view simplified illustration of a Nuclear Medicine (N-M) imaging system in accordance with some embodiments of the invention. In some embodiments, the N-M imaging system communicates with a controller 101 and via controller 101 with one or more monitors 103, one or more input systems 105, e.g., a touch screen or keypad and a patient table 107. N-M imaging system also comprises or is connected to one or more sources of electrical power 109.

[0076] In the exemplary embodiment depicted in FIG. 1, N-M imaging system comprises a gantry 100 including a stator 104 and a rotor 112 that carries one or more scanning units 118.

[0077] In some embodiments, stator 104 comprises non-moving parts such as, for example, a fixed chassis 106 comprising one or more plates 108 coupled to chassis 106 on one or both sides. In some embodiments, walls 108 include one or more openings 110 at least one of which sized and fitted to receive a patient table (not shown). In some embodiments, rotor 112 comprises gantry 100 moving parts such as, for example, scanning units 118 mounted on one or more detection units 102. In some embodiments, rotor 112 comprises a ring circumferentially rotatable in one or more circumferential directions and driven by a rotor driving assembly 120. In some embodiments, rotor 112 comprises one or more structural support rings 114. In some embodiments, rotor 112 comprises one or more detection unit couplings 116 for coupling one or more extendable arm 604 (FIGS. 6A-6D) and Scanning unit 118 to rotor 112.

[0078] In some embodiments, extendable arm 604 comprise linear drive mechanisms that drive Scanning units 118 radially inwards or radially outwards in respect to rotor 112 as explained in greater detail elsewhere herein. In the exemplary embodiment depicted in FIG. 1 all but one detection unit have been removed in the interest of clarity.

[0079] In some embodiments, N-M imaging system comprises support legs and/or is fixed to a floor. In some embodiments, N-M imaging system is supported by a moveable dolly having adjustable and/or lockable wheels (not shown).

Exemplary Rotor Movement and Rotor Driving System

[0080] Reference is now made to FIG. 2, which is a front view and perspective view simplified illustration of an N-M imaging system gantry rotor and FIG. 3, which is a perspective view simplified illustration of an N-M imaging system rotor integrated into an N-M imaging system gantry in accordance with some embodiments of the invention. In the exemplary embodiment depicted in FIG. 2, rotor 112 comprises one or more rings 112-1, 112-2 and 112-3. Optionally, in some embodiments, rotor 112 comprises two or more concentric rings attached to each other by one or more radially oriented structural support rings 114. In some embodiments, rotor 112 comprises one or more scanning head attachments 116 for coupling one or more detection units to rotor 112.

[0081] In some embodiments, rotor 112 comprises one or more outer circumferential surfaces 302 and one or more centrally facing inner surfaces 304. In some embodiments, one or more outer circumferential surfaces 302 comprise flat surfaces.

[0082] In some embodiments, rotor 112 comprises a rotor mounting ring 202 that protrudes axially from centrally facing inner surface 304 beyond edges of rotor 112 one or more rings. Mounting ring 202 comprises couplings configured to couple ring 202 to bearing 310 as explain elsewhere herein.

[0083] In the exemplary embodiment depicted in FIG. 3, which is perspective view simplified illustration of N-M imaging system as viewed from a direction indicated in FIG. 1 by an arrow designated reference numeral 150, at least a portion of outer circumferential surface 302 is flat and configured to receive a driving belt 402. In some embodiments, outer circumferential surface 302 comprises a stepped cross section comprises one or more flat steps 302-1, 302-2, 302-3 at least one sized to receive driving belt 402. In some embodiments, outer circumferential surface 302 comprises a groove (not shown) having a flat floor configured to receive driving belt 402. In some embodiments, alternatively and optionally, outer circumferential surface 302 may comprise cogs (not shown) so that to form a cog wheel driven by a cogwheel driver, e.g. a motor or ribbed driving belt.

[0084] In some embodiments, rotor 112 is rotationally coupled to a bearing 302. In some embodiments, bearing 310 comprises a slewing bearing. In some embodiments, bearing 310 comprises a low-friction bearing enabling a low power motor to drive gantry 100 rotor 112. In the exemplary embodiment shown in FIG. 3, bearing 310 comprises an outer race 306 concentrically surrounding an inner race 308. Inner race 308 defines an aperture sized to correspond at least to inner diameter (1) of rotor 112. In the exemplary embodiment shown in FIG. 3, outer race 306 is fixedly coupled to a ring-shaped stator plate 108 that renders outer race 306 stationary. Rotor 112 mounting ring 202 is fixedly coupled to inner race 308 and is freely circumferentially rotatable in clockwise or counter-clockwise directions as indicated by a double-headed arrow 350. In some embodiments, rotor 112 rotates less than 360 degrees in either direction. In some embodiments, rotor 112 rotates a maximum circumferential rotation of 350, or 300, or 250, or 200, or 150, or 100 degrees in each direction, more than 350 degrees or any number in between. In some embodiments, rotor 112 rotates less than 210 degrees in either direction. In some embodiments, rotor 112 rotation comprises a stepped circumferential movement.

[0085] Alternatively and optionally, inner race 308 is fixedly coupled to a ring-shaped stator plate 108 that renders inner race 308 stationary. Rotor 112 mounting ring 202 is fixedly coupled to outer race 306 and is freely circumferentially rotatable in clockwise or counter-clockwise directions.

[0086] In some embodiments and as shown in FIG. 4, which is a perspective view simplified illustration of a partial N-M imaging system gantry in accordance with some embodiments of the invention, driving belt 402 comprises an open flat belt having two ends 404-1 and 404-2. In the embodiment depicted in FIG. 4, N-M imaging system rotor 112 may not necessarily need to rotate a full 360 degree circumferential rotation allowing for a belt 402 having a length shorter than the circumference of outer circumferential surface 302. Additionally and optionally, driving belt 402 does not necessarily comprise a closed ring.

[0087] A first potential advantage of this configuration is in that the length of driving belt 402 is shorter than the circumference of rotor 112 outer circumferential surface 302 on which it is disposed thus reducing cost of driving belt 402. A second potential advantage of this configuration is in that driving belt 402 can be removed and/or replaced by threading the belt onto outer circumferential surfaces 302 negating a need to remove and return gantry components from and onto rotor 112 that may interfere with mounting a ring-form driving belt 112 onto outer circumferential surfaces 302. This results in a faster and simpler belt replacement operation and overall N-M imaging system maintenance.

[0088] As shown in the exemplary embodiment depicted in FIG. 4, ends 404-1/404-2 are each coupled to respective clamps 406-1/406-2. In some embodiments, clamps 406-1/406-2 are fixedly attached to outer circumferential surface 302 of rotor 112. Replacement of driving belt 402 is executed by opening clamps 406-1/406-2, releasing ends 404-1/404-2 from their respective clamps and pulling on one end 404-1/404-2 to unthread driving belt 402. A new belt 402 can then be threaded along outer circumferential surface 302 and ends 404-1/404-2 reattached to their respective clamps 406-1/406-2.

[0089] In the exemplary embodiment depicted in FIG. 4, driving belt 402 is driven by rotor driving assembly 120 including at least one motor 408, one or more driving belts 402 and a tensioning system 450. Tensioning system 450 comprises at least one tensioning arm 410 and a pulley 412. In some embodiments, both motor and tensioning system 450 are controlled by controller 101. In some embodiments, rotor driving assembly 120 comprises one or more motors 408 and one or more gearboxes 422 that deliver power via an output axis 424. In some embodiments, during the belt 402 replacement process as described elsewhere herein, driving belt 402 is threaded onto a pivotable tensioning arm 410 pulley 412 and rotor driving assembly 120 pulley 414 mounted on output axis 424. In some embodiments, pulley 412 is an idle pulley. In some embodiments, as described elsewhere herein, driving belt 402 is flat and is placed around a circumferentially flat portion of rotor 112 outer circumferential surface 302. The ability of driving belt 402 to drive and bring rotor 112 to rotate depends on friction between flat surfaces of driving belt 402 and outer circumferential surface 302 in contact with each other. The force of friction should be sufficient to prevent sliding of driving belt 402 over flat outer circumferential surface 302, while, concurrently applying tension forces to driving belt 402 within allowable limits that will not bring driving belt 402 to tear. In some embodiments, the level of friction and/or tension are controlled by controller 101 via tensioning arm 410.

[0090] A potential advantage of adjustable tension of driving belt 402 is in that friction of driving belt 402 over rotor 112 can be adjusted and lessened for safety purposes.

[0091] Tensioning arm 410 is pivotally adjustable manually and/or automatically by controller 101. The degree of tension affects the accuracy of rotation of rotor 112 and requires calibration via tensioning arm 410. In some embodiments and optionally, gantry 100 comprises a driving belt tension sensor 426 in communication with controller 101 that provides controller 101 with feedback information regarding the level of tension in driving belt 402. In some embodiments, tension sensor 412 comprises an ultrasound sensor but may comprise any other compatible tension sensor.

[0092] As illustrated in the exemplary embodiment shown in FIGS. 4 and 5, gantry rotor 112 comprises one or more stoppers 416. In some embodiments, stoppers 416 comprise mechanical stoppers. In some embodiments, stopper 416 comprises a first lever and a second lever so that one of the levers unidirectionally interferes with a path of travel of the other lever as rotor 112 rotates in a first direction and allow rotor 112 to rotate in an opposite second direction. For example, in some embodiments, stopper 416 comprises a first lever 418 mounted on rotor 112 and a second lever 420 positioned on stator 104. In some embodiments and as showed in an embodiment depicted in FIG. 5, gantry rotor 112 comprises a first rotation direction stopper 416-1 and a second rotation direction stopper 416-2. Stoppers 416 block rotation of rotor 112 when respective clamps 406-1/406-2 approach rotor driving assembly 120.

Exemplary Rotor Movement Linear Encoder

[0093] In some embodiments, and as shown in FIG. 5, which is a perspective view simplified illustration of an N-M imaging system gantry in accordance with some embodiments of the invention, N-M imaging system optionally includes a rotor rotation linear encoder 502 comprising one or more sensors 504 and one or more scale strips 506. Rotor rotation linear encoder 502 is in communication with controller 101 and is configured to provide controller 101 with feedback regarding the degree of rotation of rotor 112 in respect to stator 104 at any point along rotor 112 path of rotation. Optionally linear encoder 502 comprises a magnetic scale strip. Alternatively and optionally, N-M imaging system comprises an optical encoder and scale strip. In some embodiments, sensor 504 comprises a sensor flag. In some embodiments, sensor 504 is coupled to stator 104 in a stationary position and scale 506 moves across sensor 504 as rotor 112 rotates. In some embodiments and optionally, scale 506 is disposed along a circumferential surface of rotor 112, e.g., centrally facing inner surface 304 or any circular surface concentric with a circumferential surface of rotor 112. Linear encoder sensor 502 provides controller 101 with feedback information regarding spatial position of gantry 100 rotor 112, for example, degree of circumferential rotation of rotor 112 in respect to a given point, e.g., stator 104.

[0094] A potential advantage in use of a linear encoding system is in that controller 101 is provided with units of movement of rotor 112 read by encoder sensor 504 directly off scale 506 negating the need to calculate a conversion ratio as done at times in other encoding systems. A potential advantage in the location of linear encoder is in that the encoder is positioned after the output axis of the driving system, e.g., motor, transmission and driving belt tensor. This configuration provides a true accurate reading of movement of the load (e.g., rotor 112) being driven and does not need to be corrected for tolerances in the driving system. For this reason, all encoders in the exemplary embodiments depicted elsewhere herein are positioned on or after the output axis of the respective driving systems.

Exemplary Detection Unit Extendable Arm Driving System

[0095] Reference is now made to FIGS. 6A, 6B, 6C and 6D, collectively referred to as FIGS. 6A-6D, which are side view simplified illustration of arrangement of an N-M imaging system detection units in an N-M imaging system gantry and a perspective view simplified illustration of a detection unit head and extendable arm in accordance with some embodiments of the invention.

[0096] FIG. 6A illustrates an exemplary embodiment of an N-M imaging system gantry 100 comprising twelve-detection units 602, all of which are in a “Home” or retracted position as shown in FIG. 6C. FIG. 6B illustrates the exemplary embodiment of the N-M imaging system gantry 100 depicted in FIG. 6A in which the twelve detection units 602 are all in a fully (maximal) extended position as shown in FIG. 6D.

[0097] As shown in FIGS. 6C and 6D, detection unit 602 comprises an extendable arm 604 and a scanning unit 118 comprising one or more scanning columns 1202 housing Multi-Pixel Photon Counters (MPCs) (FIG. 12, 1204). In some embodiments and as is explained in greater detail elsewhere herein, extendable arm 604 comprises a linear drive system 608 that extends arm 604 carrying scanning unit 118 radially inward towards a center of rotation of gantry 100 and retracts arm 604 carrying scanning unit 118 in an opposite direction radially outwards. The Linear drive system 608 of arm 604 is in bidirectional communication with controller 101 as explained elsewhere herein.

[0098] As shown in the exemplary embodiment illustrated in FIGS. 6C and 6D, detection unit 602 comprises a stationary chassis 606 and an extendable arm 604, axially moveable and extendable from and along chassis 606. In some embodiments, chassis 606 comprises a coupling 625 sized to couple to detection unit couplings 116 onto rotor 112 and one or more linear driving systems 608 that drives extendable arm 604 and Scanning unit 118 axially along stationary chassis 606 from a “Home” retracted position to a fully extended position and vice versa in direction indicated by arrow 650 as described elsewhere herein. In some embodiments, linear drive system 608 is configured to bidirectionally move extendable arm 604 and a scanning unit 118 in a stepwise fashion and is configured to stop at any point in accordance with input from controller 101.

[0099] Additionally and optionally, detection unit 602 comprises a counter weight 610 that balances the weight of extendable arm 604 and scanning unit 118 and thereby enables the use of low power driving motor 614. Each extension/retraction of extendable arm 604 brings concurrent movement of counter weight 610 in an opposite direction as indicated by double headed arrow designated reference numeral 652.

[0100] Reference is now made to FIG. 7, which is a perspective exploded view simplified illustration of an N-M imaging system detection unit linear drive system 608 in accordance with some embodiments of the invention. As shown in the exemplary embodiment shown in FIG. 7, linear drive system 608 is configured to axially extend and retract extendable arm 604 and comprises a motor 614 having an output axis 702 coupled to a driver pulley 704. In some embodiments, motor 614 rotates belt 706 driver pulley 704 in a clockwise or counter clockwise in a continuous or stepped motion as indicated by a double-headed arrow 750. In some embodiments, pulley 704 comprises a ribbed surface 710, which corresponds to a ribbed inner surface 708 of belt 706. In some embodiments, belt 706 comprises a looped belt mounted on driving pulley 704 and an idler pulley 712.

[0101] In some embodiments and as shown in FIG. 8, which is a perspective view simplified illustration of a detection unit linear drive system in accordance with some embodiments of the invention, a belt 806 comprises a smooth inner flat surface 808 mounted on a driver pulley 804 and an idler pulley 812 having smooth belt contacting surfaces 814.

[0102] Referring back to FIG. 7, in some embodiments, belt 706 comprises one or more couplings 730 for attaching extendable arm 604 (not shown) and one or more couplings 732 to couple a counter weight 610 (not shown) carrier 736 respectively to belt 706. Couplings 730 and 732 are positioned on opposite sides of belt 706 positioning extendable arm 604 carrying scanning unit 118 and counter weight 610 on opposite sides of belt 706. In some embodiments and as shown in FIGS. 6C and 6D, a longitudinal axis of a wide aspect of counter weight 610 parallels a longitudinal axis of scanning unit 118. In some embodiments, extendable arm 604 is coupled to a first portion 724 of belt 706 between pulleys 704/712 moving in a first direction, via a coupling 730 on inner surface 708 or outer surface 728 of belt 706. In some embodiments, counter weight 610 is coupled to a second portion 734 of belt 706 between pulleys 704/712 moving in a second opposite direction, via a coupling 732 on inner surface 708 or outer surface 728 of belt 706 between pulleys 704/712. In this configuration, when belt 706 moves for a distance (d), extendable arm 604 is driven in a first direction along the same distance (d) while counter weight 610 is concurrently driven at the same speed as extendable arm 604 but in an opposite second direction along the same distance (d). Being attached to belt 706 both extendable arm 604 and counter weight 610 move in opposite directions in reference to each other and to chassis 606 at the same speed and for the same distance. A potential advantage of this configuration is in that counter weight 610 balances the weight of extendable arm 604 enabling the use of a low power motor 614.

[0103] In some embodiments, one or both pulleys 704/712 are coupled to chassis 606 by adjustable couplings that allow adjusting the distance between pulleys 704/712 thereby adjusting tension of belt 706 mounted on pulleys 704/712. In some embodiments and optionally, chassis 606 comprises a belt 706 tension sensor 720 in communication with controller 101 that provides controller 101 with feedback information regarding the level of tension in driving belt 706. In some embodiments, tension sensor 720 comprises an ultrasound sensor but may comprise any other compatible tension sensor. Alternatively and optionally, in some embodiments linear drive system 608 comprises a tensioning arm system (not shown) as explained elsewhere herein.

[0104] In some embodiments, e.g. the exemplary embodiment shown in FIG. 9, which is a perspective exploded view simplified illustration of a detection unit linear drive system 608 in accordance with some embodiments of the invention, linear drive system 608 driving belt 906 comprises an open flat belt having two ends 904-1 and 904-2. In the embodiment depicted in FIG. 9 driving belt 906 may not necessarily need to rotate a full 360 degree circumferential rotation allowing for a belt 906 to have a length shorter than a full circumference of a looped belt as described elsewhere herein. Additionally and optionally, driving belt 906 does not necessarily comprise a closed ring.

[0105] A first potential advantage of this configuration is in that the length of driving belt 906 is shorter than a circumference of looped belt. A second potential advantage of this configuration is in that driving belt 906 can be removed and/or replaced by threading the belt around pulleys 704/712 negating a need to remove and return chassis 606 or extendable arm 604 components that may interfere with mounting a ring-form (looped) driving belt 112 onto pulleys 704/712. This results in a faster and simpler belt replacement operation and overall N-M imaging system maintenance.

[0106] As shown in the exemplary embodiment depicted in FIG. 9, ends 904-1/904-2 are each coupled to respective clamps 902-1/902-2. In some embodiments, clamps 406-1/406-2 are movably attached to chassis 606 and in some embodiments, to counter weight 610. Replacement of driving belt 906 is executed by opening clamps 902-1/902-2, releasing ends 904-1/904-2 from their respective clamps and pulling on one end 904-1/904-2 to unthread driving belt 906. A new belt 906 can then be threaded onto pulleys 704/712 and ends 904-1/904-2 reattached to their respective clamps 902-1/902-2.

Exemplary Extendable Arm Movement Linear Encoder

[0107] Referring now to FIG. 10, which is a perspective view simplified illustration of an N-M imaging system detection unit 1000 in a “Home” or retracted position in accordance with some embodiments of the invention viewed from a direction indicated in FIG. 7 by an arrow designated reference number 760. In some embodiments, and as shown in FIG. 10, detection unit 1000 linear drive system 608 optionally includes a linear encoder 1002 comprising a sensor 1004 and a scale strip 1006. Optionally linear encoder 1002 comprises a magnetic scale strip. Alternatively and optionally, detection unit 1000 comprises an optical encoder and scale strip. In some embodiments, sensor 1004 comprises a sensor flag. In some embodiments, sensor 1004 is coupled to a stationary portion of detection unit 1000 e.g., chassis 606, which remains in a stationary position in respect to extendable arm 604, being coupled to detection unit couplings 116 of rotor 112. Scale 1006 is coupled to extendable arm 604 and moves across sensor 1004 as extendable arm 604 is extended or retracted. In some embodiments alternatively and optionally, scale 1006 is disposed along chassis 606 and sensor 1004 is coupled to and moves with extendable arm 604 as it extends or retracts along linear scale 1006. Linear encoder sensor 1002 provides controller 101 with information regarding spatial position of extendable arm 604, for example, degree of radial inwards extension in respect to gantry 100 rotor 112 or other extendable arms.

[0108] A potential advantage in use of a linear encoding system is in that controller 101 is provided with units of movement of extendable arm 604 read by encoder sensor 1004 directly off scale 1006 negating the need to calculate a conversion ratio as done at times in other encoding systems. A potential advantage in the location of linear encoder is in that the encoder is positioned after output axis 702 of the extendable arm 604 driving system, e.g., motor 614 and driving belt 706 tensor, when exists. This configuration provides a true accurate reading of movement of the load (e.g., extendable arm 604) being driven and does not need to be corrected for tolerances in the driving system.

Exemplary Flat Cable

[0109] Referring still to the exemplary embodiment shown in FIG. 10, detection units 602 comprise flat (ribbon) data and power cables 1008 that transfer data and power between system components (e.g., chassis 606 and extendable arm 604). In some embodiments, flat cable 1008 comprises a double-layered flat cable carrying both power and data. In some embodiments, flat cables comprise a plurality of conducting wires running parallel to each other on the same flat plane. As a result, the cable is wide and flat. A potential advantage in using a flat cable is in that a single flat cable may transfer many types of data and thus reduce the number of cables and/or wires required to support each function on the N-M imaging system.

[0110] As shown in FIG. 10, flat cable 1008 comprises one end 1010 attached to a data information cable connector 1050 on chassis 606 and a second end 1012 attached to Scanning unit 118 mounted on extendable arm 604. FIGS. 11A and 11B, which are perspective view simplified illustrations of detection unit 1000 in retracted and extended configurations in accordance with some embodiments of the invention.

[0111] In the exemplary embodiment depicted in FIGS. 11A and 11B movement of a flat cable 1008 is shown in response to movement of extendable arm 604 from a “Home” or retracted position (FIG. 11A) to a fully extended position (FIG. 11B). As shown in the exemplary embodiments shown in FIGS. 11A and 11B, flat cable 1008 flexes with a rolling-flex axial movement along axis of movement (X) of extendable arm 604 with little or no lateral movement along axis (R) perpendicular to axis (X).

[0112] A potential advantage in using a flat cable is in that flat cables support rolling-flex movement and resist torsion or twisting. Hence, flat cables maintain movement in a single dimension (e.g., axial movement, parallel to movement of extendable arm 604 in respect to chassis 606) negate the need for a cable retractor and thus occupy less space reducing the bulkiness of detection unit 1000. This characteristic also allows to leave excess cable if necessary, the excess remaining along the same single dimension.

[0113] A potential advantage in using a flat cable is in that flat cables reciprocating movement along the single-dimension over long periods of time without breakage and are therefore suitable for connecting between parts that move axially in a reciprocating motion in respect to each other e.g., chassis 606 and extendable arm 604.

[0114] A potential advantage in using a flat cable is in that the characteristic reciprocating motion along a single dimension of flat cables enables connecting power and/or data conduits between stationary, moving or even rotating parts negating the need for slip ring/s and/or brushes used in conventional wiring solutions.

[0115] A potential advantage in using a flat cable is in that flat cables reciprocating movement along the single-dimension negating the need for retractors between moving parts.

Exemplary Detection Unit Moving Scanning Column (MPC)

[0116] Reference is now made to FIG. 12, which is a perspective view simplified illustration of an N-M imaging system detection unit and driver assembly in accordance with some embodiments of the invention. N-M imaging system gantry 100 rotor 112 carries one or more scanning columns 1202. In some embodiments, one or more scanning columns 1202 comprise Multi-Pixel Photon Counters (MPCs) 1230. In some embodiments, scanning columns 1202 pivot bidirectionally at least partially along a circular path of less than 360 degrees, or less than 300 degrees, or less than 270 degrees, or less than 210 degrees, or less than 150 degrees, or any intermediate angle around a pivot axis (P) parallel to the longitudinal axis of scanning columns 1202 as indicated by an arrow 1250.

[0117] In some embodiments, scanning columns 1202 is driven by a driver assembly 1275 comprising at least one dedicated motor 1214 positioned peripherally to scanning columns 1202. In some embodiments, motor 1214 generates a stepped rotational mechanical driving force effected on scanning columns 1202 via a gearbox 1222 and output axis 1206. Output axis 1206 terminates at a coupling 1208 that couples scanning columns 1202 to driving assembly 1204.

[0118] In some embodiments, one or more scanning columns 1202 are in data and power communication with controller 101 and electrical power source 109 via a flat cable 1210 in communication with flat cable 1008 of chassis 606 and extendable arm 604.

Exemplary Rotating Encoder

[0119] Referring now to FIG. 13, which is a perspective view simplified illustration of an N-M imaging system scanning columns 1202 rotation driver assembly 1204 in accordance with some embodiments of the invention. In some embodiments, and as shown in FIG. 13, scanning columns 1202 rotation driver assembly 1275 optionally includes a rotary encoder 1212 comprising a sensor 1216 and a scale disc 1218. Optionally rotary encoder 1212 comprises a magnetic scale strip. Alternatively and optionally, scanning columns 1202 comprises an optical rotary encoder and scale strip. In some embodiments, sensor 1216 comprises a sensor flag. In some embodiments, sensor 1216 is coupled to scanning columns 1202 driver assembly 1275 chassis 1224 which remains in a stationary position in respect to scanning columns 1202. In some embodiments, scale disc 1218 is coupled to output axis 1206 proximally to coupling 1208 and moves across sensor 1216 as scanning columns 1202 pivots back and forth. In some embodiments and optionally, rotary scale strip 1218 is disposed circumferentially about scanning columns 1202 driver assembly chassis and sensor 1216 is coupled to and moves with scanning columns 1202 as it pivots about rotary encoder scale strip 1218. Rotary encoder 1212 provides controller 101 with information regarding spatial position of scanning columns 1202, for example, degree of pivot in respect to gantry 100 or a vector of gravity.

[0120] A potential advantage in use of a rotary encoding system is in that controller 101 is provided with units of rotation/pivot of scanning columns 1202 read by encoder sensor 1216 directly off scale disc 1218 negating the need to calculate a conversion ratio as done at times in other encoding systems. A potential advantage in the location of rotary encoder 1212 is in that the encoder is positioned on or after output axis 1206 of the driver assembly 1204, e.g., motor 1214 and gearbox 1222. This configuration provides a true accurate reading of movement of the load (e.g., scanning columns 1202) being driven and does not need to be corrected for tolerances in the driving system.

[0121] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

[0122] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

[0123] It is the intent of the applicant(s) that all publications, patents and patent applications referred to in this specification are to be incorporated in their entirety by reference into the specification, as if each individual publication, patent or patent application was specifically and individually noted when referenced that it is to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting. In addition, any priority document(s) of this application is/are hereby incorporated herein by reference in its/their entirety.