RADIOGRAPHIC GANTRY WITH SOFTWARE COLLISION AVOIDANCE

摘要

Computer control of a multi-axis radiographic instrument (10) is utilized to prevent contact between moving surfaces of the instrument based on soft limits. The soft limits are established from a legal space table (51) incorporating all combinations of axis movement of the equipment and relating those combinations to contacting (53) or non-contacting (55) surfaces. The legal space table (51) may be used to map efficient paths between a start (sp) and ending position (dp) and may be augmented with non-contacting transducers (57) which may sense patient movement not incorporated into the legal space table (51).