Radiographic gantry with software collision avoidance

摘要

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.