• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    lO 16 ABSTRACT The disclosure is related to an apparatus, a system and methods for producingX-ray images. More particularly, the disclosure relates to a mobile X-rayapparatus for medical examination. The disclosure provide for fast, easy andsafe transportation of a mobile X-ray apparatus. ln one embodiment anapparatus for producing X-ray images is provided, which comprises a drivewheel and a base (1 OO), which base (100) comprises an elevating column (4),rotationally fixed in relation to the base (100), a control unit (2), adapted tocontrol at least the drive wheel and the elevating column (4), and a telescopicarm (5), the telescopic arm (5) being rotatable around the elevating column (4)and connected to the elevating column (4) with a connecting element (6) in ajoint. Figure to be published with the abstract: Fig. 1
    公开号:SE1151084A1
    申请号:SE1151084
    申请日:2011-11-15
    公开日:2013-05-16
    发明作者:Martin Goeran Kristoffer Yngvesson；Mattias Guldstrand；Jan-Olof Lundstroem
    申请人:Solutions For Tomorrow Ab；
    IPC主号:
    专利说明:

    lO SPECIFICATION TITLE: An apparatus, systems and methods for producing X-ray images.
    BACKGROUND OF THE INVENTIONField of the lnventionThis disclosure pertains in general to the field of X-ray imaging. Moreparticularly, the disclosure relates to a mobile X-ray apparatus for medicalexamination.
    Description of the Prior Art Various X-ray apparatuses are known. Some of the known X-rayapparatuses are stationary, and can not be moved. Others are mobile and canbe moved. However, the prior art mobile X-ray apparatuses are bulky, heavyand large. They have batteries, which contain lead and acid. Thus, they are notenvironmentally friendly. Furthermore, for height adjustments of an X-ray tube,a counter balanced mechanism with a counter-weight is used, which furtherincreases weight, and a tall vertical column, which blocks the view in front of themobile X-ray apparatus for the steering person behind it during movement. lnaddition, the prior art mobile X-ray apparatuses are too large for convenienttransportation. l/loreover, the prior art X-ray systems generally have many additionalcomponents, such as a manoeuver console, a computer for examination ofimages, a fixed X-ray generator, various holders and a separate display unit,positioned at various places in an examination room.
    Thus, it would be advantageous to reduce the number of componentsused for X-ray imaging.
    From US8021045 B2, a portable X-ray apparatus is known. However,as can be seen in figure 1 of this document, the portable system is rather bulkyand has a vertical column, which blocks the view in front of the mobile X-rayapparatus for the steering person behind it during movement.
    Thus, there is a need for an improved mobile X-ray apparatus, which iscompact, light and small.
    An environmentally friendly mobile X-ray apparatus, having lead andacid free batteries would also be advantageous. lO lt would also be advantageous to have a free view of what is in front ofthe mobile X-ray apparatus during driving or moving of the apparatus.
    A mobile X-ray apparatus, which can easily be transported, would alsobe advantageous.
    SUMMARY OF THE INVENTION Accordingly, embodiments of the present disclosure preferably seek tomitigate, alleviate or eliminate one or more deficiencies, disadvantages orissues in the art, such as the above-identified, singly or in any combination byproviding an apparatus, a system and methods for producing X-ray images,according to the appended patent claims.
    According to one aspect of the disclosure, an apparatus for producingX-ray images is provided. The apparatus comprises a drive wheel and a base.The base comprises an elevating column, which is rotationally fixed in relationto the base. The base further comprises a control unit, which is adapted tocontrol at least the drive wheel and the elevating column. The base alsocomprises a telescopic arm, which is rotatable around the elevating column andconnected to the elevating column with a connecting element in a joint. Theelevating column does not block the view in front of the driver, and theapparatus therefore provides for a safer driving or movement. The apparatus isalso of a compact size, so that it can be transported easily. Thus, fast, easy andsafe transportation of the mobile X-ray apparatus is provided.
    According to another aspect of the disclosure, a system for producingX-ray images is provided. The system comprises a workstation and anapparatus. The control unit of the apparatus is configured to align the X-ray tubeassembly with the workstation from data, provided by angle sensors,compasses, inclinometers, gyros, potentiometers, encoders and/or GPSreceivers at the workstation. The data used comprises identification data andposition data. Optionally angle data of the workstation is included. With theprovided data, embodiments simplify or facilitate the alignment of the X-ray tubeassembly with the workstation.
    According to yet another aspect of the disclosure, a system forproducing X-ray images is provided. The system comprises a workstation andan apparatus. The workstation comprises a movable Digital Radiography (DR)detector. The apparatus comprises a tracking unit for receiving spatial data of lO the DR detector in relation to the apparatus from at least one sensor. Sensorsthat can be used are angle sensors, compasses, inclinometers, gyros,potentiometers, encoders and/or GPS receivers. ln addition, local GPS or localsensor networks can be used for an absolute positioning. These systems mayinclude the use of magnets and/or triangulation. The control unit of theapparatus is configured to control actuators of the apparatus for aligning an X-ray tube assembly of the apparatus with the DR detector based on the spatialdata. Through the use of a tracking unit, automatic alignment of the X-ray tubeassembly and the DR detector is enabled. The alignment can be in a verticalplane or in a horizontal plane.
    According to a further aspect of the disclosure, a method of producingX-ray images is provided. The method comprises positioning of a mobile X-rayapparatus for use in medical examination. ln the method, tracking of a movableDR detector is performed. Furthermore, adjustment of the height of an elevatingcolumn is performed, if needed. lf needed, adjustment of a rotational angle of atelescopic arm is performed. ln addition, adjustment of a length of the telescopicarm is performed, if needed. Also tilting and/or rotating of an X-ray tubeassembly to align the X-ray tube assembly with the DR detector is performed, ifneeded. An X-ray image is obtained.
    According to another aspect of the disclosure, a method of producing X-ray images is provided, which comprises positioning of a mobile X-rayapparatus. Tracking of a movable DR detector is performed. Adjustment of theheight of an elevating column is performed, if needed. Also adjustment of arotational angle of a telescopic arm is performed, if needed. The length of thetelescopic arm is also adjusted, if needed. lf needed, tilting and/or rotating of anX-ray tube assembly to align the X-ray tube assembly with the DR detector isperformed. An X-ray image is obtained. Then, the movable DR detector may bemoved and more X-ray images can be obtained. The movement of the DRdetector and the obtaining of X-ray images may continue until a desired numberof X-ray images are obtained.
    Further embodiments of the disclosure are defined in the dependentclaims, wherein features for the second and subsequent aspects of thedisclosure are as for the first aspect mutatis mutandis. lO Some embodiments of the disclosure provide for enabling runningcables or electrical wires inside the elevating column instead of outside theelevating column.
    Some embodiments of the disclosure enable a compact size duringtransportation.
    Some embodiments of the disclosure provide for fast and easypositioning of the apparatus.
    Some embodiments of the disclosure provide for easy positioning andangling of the X-ray tube.
    Some embodiments of the disclosure provide for easy maneuverabilityof the apparatus.
    Some embodiments of the disclosure provide for convenient control ofthe apparatus.
    Some embodiments of the disclosure provide for easy movement of theX-ray tube.
    Some embodiments of the disclosure provide for easy adjustment of theheight when transporting the device.
    Some embodiments of the disclosure enable fast and easy imaging ofdifferent parts of a patient, since the apparatus can be driven along a patienttable. lt should be emphasized that the term “comprises/comprising” whenused in this specification is taken to specify the presence of stated features,integers, steps or components but does not preclude the presence or addition ofone or more other features, integers, steps, components or groups thereof.
    BRIEF DESCRIPTION OF THE DRAWINGS These and other aspects, features and advantages of whichembodiments of the disclosure are capable of will be apparent and elucidatedfrom the following description of embodiments of the present disclosure,reference being made to the accompanying drawings, in which Fig. 1 is a lateral view of a mobile X-ray apparatus; Fig. 2 is a top view of a mobile X-ray apparatus; Fig. 3a is a lateral view of a drive handle in a park position;Fig. 3b is a lateral view of a drive handle in a drive position; lO Fig. 4 is a lateral view of a patient table, with a mobile X-ray apparatusin the background; Fig. 5 is a top view of a patient table and a mobile X-ray apparatus;Fig. 6 is a lateral view of a patient table, with a mobile X-ray apparatusin the background; Fig. 7 is a lateral view of a workstation and a mobile X-ray apparatus;Fig. 8 is a lateral view of a wall stand and a mobile X-ray apparatus;Fig. 9 is a lateral view of a wall stand and a mobile X-ray apparatus,with an X-ray tube assembly angled; Fig. 10a is a lateral view of a mobile X-ray apparatus, with proximitysensors; Fig. 10b is a top view of a mobile X-ray apparatus, with proximitysensors; Fig. 11a is a lateral view of a mobile X-ray apparatus, with an integratedcamera for forward view; and Fig. 11b is a top view of a mobile X-ray apparatus, with an integratedcamera for forward view.
    DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of the disclosure will now be described withreference to the accompanying drawings. This disclosure may, however, beembodied in many different forms and should not be construed as limited to theembodiments set forth herein; rather, these embodiments are provided so thatthis disclosure will be thorough and complete, and will fully convey the scope ofthe disclosure to those skilled in the art. The terminology used in the detaileddescription of the embodiments illustrated in the accompanying drawings is notintended to be limiting of the disclosure. ln the drawings, like numbers refer tolike elements.
    The following description focuses on an embodiment of the presentdisclosure applicable to an apparatus for producing X-ray images and inparticular to a mobile X-ray apparatus. However, it will be appreciated that thedisclosure is not limited to this application but may be applied to many otherapparatuses for producing X-ray images, including for example stationary X-rayapparatuses. lO ln Fig. 1, which is a lateral view of a mobile X-ray apparatus 101, the core components of the mobile X-ray apparatus 101 can be seen. The mobileX-ray apparatus 101 comprises a base supported on two pairs of wheels, afront pair 17 and back pair 1, and the back pair 1 is separately motorized andacting as drive wheels. Alternatively, the front pair is utilized as drive wheels. Asanother alternative, only one wheel is used as a drive wheel. Although, fourwheels are described here, it should be understood that any other feasiblenumber of wheels can be used. The drive wheels are controlled by a control unit2, which receives user input from a user via the drive handle 3 duringtransportation. Also attached to the base 100 is a motorized elevating column 4.The elevating column 4 is controlled by a user via the drive handle 3 utilizing thecontrol unit 2. A rotatable telescopic arm 5 is attached to an outer columnsegment of the elevating column 4 in a joint by a connecting element 6, which istogether with the telescopic arm 5 rotatable around the elevating column 5. Thetelescopic arm 5 is balanced and can together with the connecting element bemoved freely outside the outer segment of the elevating column 4. Theconnecting element is in one embodiment provided with an actuator, such as amotor, for rotational movement. This actuator is preferably a non-counterweightand/or non-balanced actuator. The actuator is in some embodiments positionedoutside the elevating column 4. However, as an alternative the actuator may beplaced inside the elevating column or positioned elsewhere on the base 100. Atthe end of the telescopic arm 5, an X-ray tube assembly is attached. The X-raytube assembly comprises an X-ray tube 7 and a collimator 8. The X-ray tubeassembly can be rotated 9 and tilted 10 around a centre axis of the telescopicarm 5. The X-ray tube assembly may be rotated 360 degrees. Optionally, the X-ray tube assembly movements and the collimator light field can be motorized.Thus, a motor can be utilized for positioning of the X-ray tube assembly, inrelation to a desired image area. Since the telescopic arm 5 and the connectingelement are located outside the outer segment of the elevating column 4instead of inside the elevating column as in prior art, the space inside theelevating column 4 is available for other purposes, such as placement ofelectrical wires for the telescopic arm and the X-ray tube assembly. The energytransferred to the X-ray tube is generated by the built-in High Voltage generator11. The mobile X-ray apparatus 101 also comprises an lmage system PC 12, agraphical control and image preview screen and a Flat Panel Detector (FPD) lO slot 14, i.e. a slot for storage of an FPD. This slot may also be used for othertypes of DR detectors, such as High Density Line Scan Solid State detectors.Thus, the DR detectors used can be detachable from the workstation andstorable in a slot in the base (100), e.g. during transportation. The imagesystem PC 12 is used for image processing. A preview of images is shown onthe graphical screen _ ln addition or as an alternative, generator settings and/orsystem information is shown on the screen _ Patient information, a booking list,different settings for examination, image settings and exposure settings canalso be shown on the screen _ ln one embodiment, the screen is a touchscreen, thus enabling both viewing and inputting of data. An FPD is wirelesslyconnected to the lmage system PC. The batteries of the FPD are charged,when the FPD is positioned in the FPD slot. The FPD slot also protects the FPDduring transportation. The entire apparatus is powered utilizing one or severalbuilt-in batteries 15. The batteries 15 are in one embodiment lead free and acidfree. Thus, the batteries are environmentally friendly.
    Fig. 2 is a top view of the mobile X-ray apparatus. ln this figure,preferable positions of the wheels are depicted. Preferably, there is one pair ofrear wheels 1 and one pair of front wheels 17. From fig. 2, also the position oftelescopic arm 5 during transportation can be seen. During transportation, thetelescopic arm is placed in a transportation position on top of the mobile X-rayapparatus. This allows for a compact size of the mobile X-ray apparatus. lnorder to put the telescopic arm 5 into the transportation position, the telescopicarm 5 is either raised or lowered with the elevating column 4, dependent onwhere the telescopic arm is situated, so that the telescopic arm 5 is slightlyabove the top of the base 100. Thereafter, the telescopic arm is rotated into aposition on top of the base 100. Then the telescopic arm 5 is lowered into alocking position. Optionally, the telescopic arm 5 may also be locked in thelocking position for safe transportation.
    Fig. 3a is a lateral view of a drive handle 3 in a park position and Fig. 3bis a lateral view of a drive handle 3 in a drive position. Thus, these figures showthe different positions of a drive handle 3. ln figure 3a, the drive handle is in adrive position, and thus it is possible to move or drive the mobile X-rayapparatus. ln figure 3b, the drive handle 3 has been lowered and is thus in apark position. When the drive handle 3 is in the park position, the mobile X-rayapparatus can not be transported or moved by a user. However, in one lO embodiment, it is still possible to automatically move the mobile X-rayapparatus, when the drive handle 3 is in the park position, such as along apatient table. lt may also be possible to move the mobile X-ray apparatus slowlywithin a jog mode, even when the drive handle is in the park position. ln oneembodiment, the drive handle 3 is connected to and integrated with the X-raytube 7 with strain gauges, thereby facilitating easy movement. The drive handle3 may also be provided with a user interface, which is adapted to forward userinputs to the control unit 2. The X-ray tube 7 has an elongate shape and thedrive handle 3 is integrally connected to the X-ray tube 7 at each end of theelongate X-ray tube 7. The height adjustment of the drive handle is located onthe sides, i.e. at the ends of the elongate X-ray tube 7. The drive handle 3 canbe used for controlling movement of the mobile X-ray apparatus, e.g. movementof the X-ray apparatus during transportation, as well as positioning of the X-raytube assembly. ln figure 4, a workstation can be seen. The workstation in this figure is apatient table 400. X-ray images of a patient 401 can be produced by the mobileX-ray apparatus 101. ln one embodiment, a Digital Radiography (DR) detector402 is moved manually or automatically between different positions along apatient table 400. The different positions of the DR detector 402 correspond todifferent areas of a patient to be imaged. When the DR detector is moved fromone position to another position, the mobile X-ray apparatus tracks themovement and aligns the X-ray tube assembly with the DR detector. Thisalignment may in one embodiment be achieved simply by the movement of themobile X-ray apparatus in the direction of the wheels, i.e. the control unit 2 maycontrol the drive wheels and move the mobile X-ray apparatus by driving thedrive wheels until the mobile X-ray apparatus is aligned with the DR detector.Thus, in this embodiment, the tracking is performed only in one horizontaldirection. However, it should be understood that tracking can also be performedin more than one direction. Thus, in some embodiments, tracking is performedin three dimensions and movement of the mobile X-ray apparatus and/or X-raytube assembly is performed in the three dimensions with appropriate actuators.Tracking is in some embodiments performed by the use of different sensors,such as angle sensors, compasses, inclinometers, gyros and/or GPS receivers.ln some embodiments, there are sensors attached both to the X-ray tubeassembly and to the DR detector 402. The sensor signals from the DR detector lO can be transmitted wirelessly to the control unit 2, either directly or via atracking unit, located on the mobile X-ray apparatus. The tracking unit or thecontrol unit 2 will receive spatial data, such as position data from the sensors.This spatial data may be data related to a first spatial position, e.g. a position ofthe DR detector. The spatial data may as an alternative or in addition relate to asecond spatial position, e.g. a position of the mobile X-ray apparatus. The datareceived by the tracking unit may further include identification data, positiondata, angle data and a checksum. lf a separate tracking unit is used, then thecontrol unit 2 receives data from the tracking unit. The control unit 2 of theapparatus is configured to control actuators of the apparatus for aligning an X-ray tube assembly of the apparatus with the DR detector, based on the spatialdata. Through the use of a tracking unit, automatic alignment of the X-ray tubeassembly and the DR detector is enabled. As an alternative, the tracking unitmay be part of the control unit 2. Preferably, the sensors used for the DRdetector 402 utilize a Snap-On holder, so that they can be easily attached anddetached from the DR sensor.Fig. 5 is a top view of a patient table 400 and a mobile X-ray apparatus.
    From figure 5, it can be seen that the telescopic arm 5 of the mobile X-rayapparatus has been turned, so that it is perpendicular to the patient table 400.The mobile X-ray apparatus is positioned in parallel with the patient table 400.Thus, the mobile X-ray apparatus can be driven along the patient table 400, ifmore than one area of the patient 401 needs to be imaged. ln one embodiment,the mobile X-ray apparatus is driven along the patient table 400 according totracks, such as magnetic tracks, on the floor. ln this embodiment, the controlunit 2 may control movement of the mobile X-ray apparatus in accordance withposition data retrieved from the magnetic tracks. The position data may beaccompanied with ID data and/or a checksum. The control unit 2 may alsocompare the position data from the magnetic track with position data receivedfrom the DR detector 402, and based on this comparison align the X-ray tubeassembly with the DR detector 402. The track unit or tracks used may insteadof magnetic tracks be mechanical tracks or rails. The tracks do not need to beon the floor. lnstead, the tracks can be in the ceiling, on the wall or on a table,such as a patient table. lf mechanical rails are used, then position data may betransmitted to the control unit 2 from position sensors, such as potentiometersor encoders, via an electrical wire or wirelessly. As an alternative of using lO lO tracks, optical marks or indications may instead be followed by the mobile X-rayapparatus. ln another embodiment, the mobile X-ray apparatus may be guidedin its movement by a mechanical arm attached to the workstation or in proximityto the workstation. ln this embodiment, there is no need for retrieval of positiondata, since the position of the mobile X-ray apparatus is known, i.e.predetermined. ln an embodiment according to Fig. 6, the tracking of the DR detector402 is instead performed in a vertical direction. Once the DR detector 402 hasbeen tracked, the X-ray tube assembly will be positioned at an appropriatedistance from the DR detector 402 by adjusting the height of the X-ray tubeassembly with the elevating column 4.
    Fig. 7 shows another embodiment, in which the elevating column 4adjusts the height of the X-ray tube assembly in order to align it with the DRdetector 402. ln this embodiment, the DR detector is placed in a holder 404 ofanother type of workstation, i.e. a wall stand 700. ln this embodiment, the holder404 with the DR detector 402 can be moved into different positions at differentheights depending on which part of the patient 401 is to be imaged. ln oneembodiment, an actuator, such as a motor, is used for moving the holder 404into different positions automatically. This actuator can be controlled wirelessly,via wireless transceivers, from the control unit 2.
    Fig. 8 shows different positions of the X-ray tube assembly. The X-raytube assembly is put into the positions 800, 802 and 804 by moving theelevating column 4 as a response to a tracking action, which action tracks theDR sensor 402 to one of the positions 806, 808, 810. ln one embodiment, theactual holder 404 is tracked instead of the DR detector 402. Thus, in thisembodiment the sensors for tracking are located in or in proximity to the holder404 and the sensor signals are transmitted wirelessly to the control unit 2.
    Fig. 9 is a lateral view of a wall stand 700 and a mobile X-rayapparatus, with an X-ray tube assembly 702 angled. ln this figure, the X-raytube assembly 702 is angled. ln one embodiment, the X-ray tube assembly 702is first angled to an appropriate angle manually or automatically. Then, the DRdetector 402 is tracked and the X-ray tube assembly 702 lifted to theappropriate height by the elevating column 4, based on the angle of the X-raytube assembly 702 in relation to the elevating column 4. lf needed, the anglecan be measured with e.g. an angle sensor or an inclinometer. The height lO ll adjustment of the X-ray tube assembly 702 can instead or in addition be basedon the distance between the DR detector 402 and the mobile X-ray apparatus.This distance can be calculated from position data received from magnetictracks and from the DR detector. Alternatively, if mechanical rails are used, thenposition data may be transmitted to the control unit 2 from position sensors,such as potentiometers or encoders, via an electrical wire or wirelessly. Asanother alternative, the distance can be given from the optical marks, e.g. apredetermined distance is given at a certain optical mark. The angled X-raytube can also be utilized for tomography images, tomosynthesis, stitching ofimages into panorama images or automatic tracking of workstations and DRdetectors. Tracking can for instance be performed as pendulum tracking.
    Fig. 10a is a lateral view of a mobile X-ray apparatus, with proximitysensors. As can be seen in this figure, a proximity sensor 1002 is positioned atthe front of the mobile X-ray apparatus” base 100. The proximity sensor 1002 isable to detect the presence of nearby objects without any physical contact.When a proximity sensor 1002 senses an object, which intercepts the travellingpath of the mobile X-ray apparatus, the user may be warned, so that he or shecan stop the movement of the mobile X-ray apparatus. As an alternative, themobile X-ray apparatus may be stopped automatically when a proximity sensor1002 detects an object in front of the mobile X-ray apparatus. ln Fig. 10b, several proximity sensors 1002 are shown. These proximitysensors 1002 are positioned all along the front of the base 100, each proximitysensor 1002 with a short distance to the next proximity sensor 1002. Althoughthere are five proximity sensors 1002 displayed in the figure, it should beunderstood that any feasible number of proximity sensors can be used. ln another embodiment depicted in Fig. 11a and Fig 11b, a camera or avideo camera 1102 is mounted on the front part of the base 100. The imagesfrom the video camera 1102 are sent to the screen , so that the user can seewhat is in front of the mobile X-ray apparatus during transportation of the mobileX-ray apparatus. ln one embodiment, the mobile X-ray apparatus is equippedwith both proximity sensors 1002 and at least one camera 1102. By the use of acamera and/or proximity sensors, the mobile X-ray apparatus can be safelymoved and/or transported.
    Compared to prior art X-ray systems, the disclosed mobile X-rayapparatus comprises fewer components. As an example, the disclosed X-ray lO 12 apparatus does not need any additional manoeuver console, any additionalcomputer for examination of images, any fixed X-ray generator, any separatedisplay unit or the holders usually used in a prior art X-ray system. Thus, asimpler and more cost-effective X-ray system is provided.
    Furthermore, with the disclosed mobile X-ray apparatus, systems withanalogue detectors can easily be upgraded to use DR detectors, since the onlyadditional component needed to upgrade such a system is the mobile X-rayapparatus.
    The present disclosure has been described above with reference tospecific embodiments. However, other embodiments than the above describedare equally possible within the scope of the disclosure. Different method stepsthan those described above, may be provided within the scope of thedisclosure. The different features and steps of the disclosure may be combinedin other combinations than those described. The scope of the disclosure is onlylimited by the appended patent claims. l/lore generally, those skilled in the artwill readily appreciate that all parameters, dimensions, materials, andconfigurations described herein are meant to be exemplary and that the actualparameters, dimensions, materials, and/or configurations will depend upon thespecific application or applications for which the teachings of the presentdisclosure is/are used.
    权利要求:
    Claims (13)
    [1] 1. An apparatus for producing X-ray images, comprising: a drive wheel; anda base (100), comprising: lO an elevating column (4), rotationally fixed in relation to said base(100); a control unit (2), adapted to control at least said drive wheel andsaid elevating column (4); and a telescopic arm (5), said telescopic arm (5) being rotatable aroundsaid elevating column (4) and connected to said elevating column(4) with a connecting element (6) in a joint.
    [2] 2. _ The apparatus according to claim 1, wherein said base (100) further comprises an actuator, positioned outside said elevating column (4) foractuating a movement of said telescopic arm (5), and wherein saidactuator is preferably a non-counterweight and/or non-balanced actuator.
    [3] 3. _ The apparatus according to claim 2, wherein said connecting element (6) comprises said non-counterweight actuator, which is slidable around saidelevating column (4).
    [4] 4. _ The apparatus according to any of the preceding claims, wherein said telescopic arm (5) is rotatably positionable into a position on top of saidbase (100) for transportation; and wherein said telescopic arm (5) ispreferably arranged to first be rotated into a position on top of said base(100), and whereafter said telescopic arm (5) is lowerable into a lockingposition for locking in said locking position for safe transportation.
    [5] 5. _ The apparatus according to any of the preceding claims, comprising an X-ray tube assembly adapted for rotating (9) and tilting (10) motionaround a centre axis or an axis in parallel with said centre axis of saidtelescopic arm (5) and wherein said rotating (9) and tilting (10) motion isactuateable by a motor.
    [6] 6. _ The apparatus according to any of the preceding claims, wherein said base (100) further comprises a drive handle (3) comprising a userinterface unit adapted to forward user inputs to said control unit (2). lO 14
    [7] 7. The apparatus according to claim 6, wherein said drive handle (3) isconnected to and integrated with said X-ray tube (7).
    [8] 8. The apparatus according to claim 6 or 7, wherein strain gaugetransducers are arranged in a connection between said drive handle (3)and said X-ray tube (7), thereby providing a signal for feedbackmovement of said X-ray tube (7) and/or movement of said apparatus,during transportation; and/or wherein said X-ray tube (7) has an elongateshape and wherein height adjustment of said drive handle (3) is locatedat each end of said elongate X-ray tube (7).
    [9] 9. The apparatus according to any of the preceding claims, wherein saidcontrol unit (2) is configured to control movement of said apparatus inaccordance with position information retrieved from a track unit at a floor,wall or ceiling adjacent said apparatus.
    [10] 10.The apparatus according to any of the preceding claims, wherein said
    [11] 11. Telescopic arm (5) is rotatable into a direction perpendicular to a drivingdirection of said base (100). .A system for producing X-ray images, comprising: a workstation; and said apparatus according to any of claims 5-10; and wherein said control unit (2) is configured to align said X-ray tubeassembly with said workstation from data, comprising identification data,position data, and optionally angle data of said workstation, provided bysaid workstation.
    [12] 12.A system for producing X-ray images, comprising: a workstation, comprising:a movable Digital Radiography (DR) detector; andsaid apparatus according to any of claims 5-10, said apparatusfurther comprising:a tracking unit for receiving spatial data of said DRdetector in relation to said apparatus from at least onesensor, such as an angle sensor andwherein said control unit (2) is configured to control actuators of saidapparatus for aligning an X-ray tube assembly of said apparatus withsaid DR detector based on said spatial data. lO
    [13] 13. A method of producing X-ray images, comprising: a) O' O O. )))) CD ïh ) positioning a Digital Radiography (DR) detector; utilizing at least one drive wheel to position a mobile X-ray apparatus;optionally tracking a movable DR detector; adjusting the height of a rotationally fixed elevating column (4);adjusting a rotational angle of a telescopic arm (5); adjusting a length of said telescopic arm (5); and tilting and/or rotating an X-ray tube assembly to align said X-ray tubeassembly with said DR detector; obtaining an X-ray image; and optionally: moving said DR detector; and repeating b)-h) until desired number of X-ray images are obtained.
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