Abstract: A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.

Abstract: The invention relates to a method and device for imaging a cyclically moving organ of a human or animal body, with a device supported such that it can be rotated at an angular velocity around the body recording images of the organ from different angle positions, with the angular velocity being modulated with a reference signal representing the movement phase of the organ. During the rest phase of the organ images of the organ are recorded at nominal angular speed. In the movement phase of the organ the device is slowed down, turned back and accelerated again such that on entry into the next rest phase the device records images for the next angle range at nominal angular velocity without major angle gaps in respect of the previous angle range, to generate the most complete data record possible.

Abstract: The invention relates to a device for guiding at least one cable between a first system component connected to the cable and a second system component which is relatively rotatable and/or displaceable with respect to the first and is connected to the cable, whereby the cable exhibits a cable modality which can be changed by displacement and/or rotation of the second system component, whereby at least one device for adapting the cable modality is present. By making available a guide medium which allows the device for adapting the cable modality to be guided according to the displacement and/or rotation of the second system component, it is possible to provide a device which supports a mobile device without the function of the device being restricted by the cable guide.

Abstract: Method for operating a medical examination apparatus, having an image recording device, which is moved in a rotary motion through a predetermined angular range around the patient in order to produce image recordings of a periodically moving object, with several runs being carried out by the image recording device in order to produce the image recordings and the start of the individual runs being initiated as a function of a reference signal, which represents a current movement status of the organ to be mapped, such that image recordings are produced at different radiation angles with each run.

Abstract: In a biplane X-ray system, a robot is used for moving at least a pair comprising an X-ray radiation source and an X-ray detector. The robot can be a buckling arm robot bearing an X-ray C-arm. It is also possible for the X-ray radiation source and X-ray detector each to be suspended from the ceiling of the room by means of robot arms.

Abstract: The present intervention relates to a medical diagnosis or intervention system with a radiation source, a radiation detector, and a C-arm as a component carrier, to which the radiation source and the radiation detector are fastened. The distance between the radiation source and the radiation detector can be changed by means of a linear guide. The C-arm is fastened to an articulated arm of a robot and the linear guide is arranged in the vicinity of the fastening point of the C-arm on the articulated arm.

Abstract: The invention relates to a robot-controlled recording device comprising a robot with a number of axes of movement which are able to be controlled via a robot controller for moving a robotic hand and a recording system fitted to the robotic hand which is able to be moved by the robot for recording data of an object supported on a support unit. The robot controller is connected to an additional drive and controls this for moving the robotic hand synchronized to the axes of movement such that the additional drive would create a relative rotation and/or translation movement between the recording system and the support unit created by the movement of the robotic hand solely by a movement of the support unit with a stationary robotic hand. The drive is however connected not to the support unit but to an encoder for creating a synchronization signal for the recording.

Abstract: The invention relates to an X-ray device, in which an X-ray source and an X-ray detector are attached, in an opposed arrangement oriented toward a rotational axis, to a common holder capable of rotating about the rotational axis. To simplify the design of the X-ray device, it is proposed that the holder is attached to the hand of a robot displaying six axes of rotation.

Abstract: The invention relates to a method and a device for executing the method for spatial presentation of a predeterminable area under examination. By overlaying a movement of the axis of projection along an axis of examination onto a rotation of an axis of projection around the object under examination, and by interpolating from the recorded projection data sets image data sets for axes of projection not recorded, and by creating a spatial presentation of the area under examination from the projection and image data sets, a method and a device can be provided which increases the speed of an examination for an extended area under examination of an object under examination.