Radiographic gantry with software collision avoidance
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United States of America Patent
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-
Jan 16, 1996
Grant Date -
N/A
app pub date -
Jul 26, 1994
filing date -
Jul 26, 1994
priority date (Note) -
Expired
status (Latency Note)
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Abstract
Computer control of a multi-axis radiographic instrument is utilized to prevent contact between moving surfaces of the instrument based on soft limits. The soft limits are established from a legal state table incorporating all combinations of axis movement of the equipment and relating those combinations to contacting or non-contacting states. The legal state table may be used to map efficient paths between a start and ending position and may be augmented with non-contacting transducers which may sense patient movement not incorporated into the legal state table.
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