Radiation diagnostic apparatus

Disclosed is a radiation diagnostic apparatus that includes an examination table that has a length in a first direction, a fixing frame that is fixedly disposed on a floor to be separated from the examination table in the first direction and includes a guide member provided in the first direction, a transfer frame that contacts the guide member and moves along the first direction with respect to the fixing frame, a first rotary arm that is rotatably connected to the transfer frame, and a second rotary arm that is rotatably connected to the first rotary arm and is provided for a radiation source and a radiation detector to face each other.

RELATED APPLICATIONS

This application claims the benefit of Korean Patent Application No. 10-2013-0134365, filed on Nov. 6, 2013, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein in its entirety by reference.

BACKGROUND

One or more embodiments relate to a movable floor type radiation diagnostic apparatus.

2. Description of the Related Art

Examples of an imaging system of a medical diagnostic apparatus may include various imaging modalities such as an X-ray system, a computerized tomography (CT) system, an ultrasound system, an electronic beam tomography system, a magnetic resonance system.

The imaging system includes a radiation source and a radiation detector that are disposed to face each other. Radiation irradiated from the radiation source passes through a patient and reaches the radiation detector. The radiation detector detects variable attenuation of received radiation to generate an image.

For angiography, it is required to generate an image over a certain region in a height direction of a patient. To this end, in the related art, an examination table with a patient located thereon moves in a length direction of the examination table or a height direction of a patient. However, since the examination table moves, anxiety is caused to or in a patient, causing a reduction in accuracy of a diagnosis.

SUMMARY

One or more embodiments include a radiation diagnostic apparatus that solves anxiety of a patient, and enables an accurate diagnosis.

One or more embodiments include a floor type radiation diagnostic apparatus in which an imaging system moves in a length direction of an examination table, and a moving path of a worker around the table is sufficiently secured and safely available when the radiation diagnostic apparatus is not used.

According to one or more embodiments, a radiation diagnostic apparatus includes: an examination table that has a length in a first direction; a fixing frame that is fixedly disposed on a floor to be separated from the examination table in the first direction, and includes a guide member formed along the first direction; a transfer frame that contacts the guide member, and moves along the first direction with respect to the fixing frame; a first rotary arm that is rotatably connected to the transfer frame; and a second rotary arm that is rotatably connected to the first rotary arm, and is provided for a radiation source and a radiation detector to face each other.

The transfer frame may move to a first position, at which a front end of the transfer frame overlaps the fixing frame, and a second position at which the front end of the transfer frame deviates from or does not overlap the fixing frame.

When the transfer frame is disposed at the first position, respective front ends of the transfer frame and the first and second rotary arms may be disposed farther away from the examination table than a front end of the fixing frame.

When the transfer frame is disposed at the second position, a front end of the transfer frame may be disposed closer to the examination table than a front end of the fixing frame.

The radiation diagnostic apparatus may further include at least one rolling member that supports a weight of the transfer frame, and rotates according to movement of the transfer frame.

The radiation diagnostic apparatus may further include a supporting member that supports the rolling member, is formed to be extended in the first direction, and is disposed on the floor for a top of the supporting member to match a surface of the floor.

The radiation diagnostic apparatus may further include a sweeping member that removes foreign materials from the supporting member.

The fixing frame may be disposed to be separated from the examination table in a second direction intersecting the first direction.

According to one or more embodiments, a radiation diagnostic apparatus includes: an examination table that has a length in a first direction; a fixing frame that is buried in and fixed to a floor not to protrude from a surface of the floor, and includes at least one guide groove formed in the first direction; a transfer frame that includes a moving member inserted into the guide groove, and moves along the first direction with respect to the fixing frame; a first rotary arm that is rotatably connected to the transfer frame; and a second rotary arm that is rotatably connected to the first rotary arm, and is provided for a radiation source and a radiation detector to face each other.

The moving member may include a rolling member that is rotatable and a supporting shaft that supports the rolling member, and the guide groove may include a first region in which the rolling member moves and a second region in which the supporting shaft moves.

In the guide groove, a width of the second region may be narrower than a width of the first region.

The radiation diagnostic apparatus may further include a blocking member that is provided in the second region, and prevents foreign materials from penetrating from an outside.

The transfer frame may further include a sweeping member that removes internal foreign materials of the guide groove.

The fixing frame may be disposed to be separated from the examination table in a second direction intersecting the first direction.

The guide groove may include a first guide groove and a second guide groove that is separated from the first guide groove in a second direction intersecting the first direction.

The fixing frame may include: a first fixing frame in which the first guide groove is formed; and a second fixing frame in which the second guide groove is formed.

The fixing frame may be a single member in which the first and second guide grooves are formed.

The fixing frame may extend in the first direction for at least one portion of the fixing frame to overlap the examination table, and the examination table may be disposed on a top of the fixing frame.

The transfer frame may include a shaking prevention member that prevents the transfer frame from being shaken in a direction intersecting the first direction.

The shaking prevention member may include a side shaking prevention member that contacts both sides of the guide groove, and rotates according to movement of the transfer frame.

The shaking prevention member may include an upper shaking prevention member that contacts a top of the guide groove, and rotates according to movement of the transfer frame.

According to one or more embodiments an apparatus may include a patient examination table fixed to a position of a floor and a diagnostic apparatus movable along the floor to confront a patient on the table, where the table need not move as the diagnostic apparatus is moved relative to the patient and the diagnostic apparatus retracts away from the table to allow a free path for a worker around the table.

The diagnostic apparatus may include a cart that moves along the floor and an imaging system carried by the cart to image the patient.

The cart may have wheels that roll on a surface level with the floor where the diagnostic apparatus may further include a stabilization frame fixed to the floor and having a guide that mates with the cart to stabilize the cart when moving.

The cart may also have wheels that roll on a surface buried within the floor and may further include a guide embedded in the floor in which the wheels roll.

DETAILED DESCRIPTION

Hereinafter, a configuration and an operation of a radiation diagnostic apparatus according to embodiments thereof will be described in detail with reference to the accompanying drawings. In the following embodiments, it will be understood that although the terms first, second, and third are used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element.

FIG. 1is a view conceptually illustrating a radiation diagnostic apparatus according to an embodiment, andFIG. 2is a plan view illustrating the radiation diagnostic apparatus ofFIG. 1. Referring toFIGS. 1 and 2, the radiation diagnostic apparatus includes an examination table10and an imaging system20that generates an image of an object P located on the examination table10.

The examination table10has a length that enables the object P to be located thereon. A length direction X1 (hereinafter referred to as a first direction) of the examination table10is parallel to a length or height direction of the object P. The object P may be, for example, a patient or a part of the patient. The examination table10is an element separate from the imaging system20, and may be supported by a floor1. The examination table10may be fixed to the floor1, or may be movably supported. For example, the examination table10may be vertically moved to raise or lower the object P, and may be horizontally moved in the length direction X1 of the object P but need not do so during an examination.

The imaging system20includes a radiation source241and a radiation detector242that are disposed to face each other. The examination table10may be disposed between the radiation source241and the radiation detector242. The radiation source241irradiates radiation onto the object P located on the examination table10, and the radiation detector242analyzes the radiation passing through the object P to process an image of the object P. The radiation source241may be, for example, an X-ray source that emits X-ray. The radiation detector242may be, for example, an X-ray detector that detects the X-ray. However, the type of each of the radiation source241and the radiation detector242may be appropriately changed depending on the case.

The imaging system20includes a fixing frame210that is fixedly disposed on the floor1, a transfer frame220(or a type of cart) that is movably disposed at or on the fixing frame210, a first rotary arm230, a second rotary arm240, and a third rotary arm250. The imaging system20includes a driving member (not shown), which drives the transfer frame220, and a driving member (not shown) that rotates the first to third rotary arms230,240and250.

The second rotary arm240may be a C-arm that includes the radiation source241and the radiation detector242. The second rotary arm240may be pivot-connected to the third rotary arm250to be rotatable with respect to a third axis A3.

The first rotary arm230is connected to the second rotary arm240. The first rotary arm230may support the third rotary arm250in order for the third rotary arm250to rotate with respect to a second axis A2. The second axis A2 may intersect the third axis A3. The third rotary arm250may be pivot-connected to the first rotary arm230. The third rotary arm250may support the second rotary arm240to be rotatable with respect to the third axis A3, and may rotate with respect to the second axis A2 about the first rotary arm230. The third rotary arm250is an optional element, and may not be provided, in which case the second rotary arm240may be directly connected to the first rotary arm230.

The transfer frame220may support the first rotary arm230in order for the first rotary arm230to rotate with respect to a first axis A1. The first rotary arm230may be pivot-connected to the transfer frame220. The first axis A1 may be parallel to the second axis A2.

The transfer frame220may be connected or coupled to the fixing frame210, which may help to stabilize the transfer frame220, and may be movable along the first direction X1.FIG. 3is a front view schematically illustrating a connection or coupling relationship between the transfer frame220and the fixing frame210which are illustrated inFIG. 1. Referring toFIGS. 1 and 3, a guide rail structure may be provided between the transfer frame220and the fixing frame210. As an example of the guide rail structure, a guide member211that guides movement of the transfer frame220in the first direction X1 may be provided at both sides of the fixing frame210in the first direction X1. The guide member211may extend along the first direction X1. A moving member221(seeFIG. 3) that moves along the guide member211in contact with the guide member211may be provided at or on the transfer frame220. The moving member211may have a shape corresponding to the guide member211. For example, when the guide member211has a concave shape, the moving member221may have a convex shape that may be inserted into the guide member211. However, the shapes of the moving member221and the guide member211are not limited thereto, and the moving member221and the guide member211may have various shapes corresponding to and that mate with each other. Also, although not shown, a ball bearing may be provided between the moving member221and the fixing frame210so as to enable the moving member221to be smoothly and relatively moved.

When the moving member221of the transfer frame220moves along the guide member211, the transfer frame220moves along the first direction X1.

The transfer frame220may include at least one rolling member222(for example, a wheel) that supports a weight of the transfer frame220, and rotates according to movement of the transfer frame220. For example, a plurality of the rolling members222may be respectively disposed at both sides of the transfer frame220.

As described above, the imaging system20includes the transfer frame220that moves in the first direction X1 with respect to the fixing frame210, and thus, even without moving the examination table10on which the object P is located, the imaging system20may generate an image of the object P along the length direction X1 of the object P. Since an image of the object P in the length direction X1 is generated without moving the examination table10, anxiety of the object P is solved, and a more accurate diagnosis of the object P is achieved.

The present embodiments relate to a floor type radiation diagnostic apparatus in which the imaging system20that moves in the first direction X1 is disposed on the floor1. Since the radiation diagnostic apparatus has a structure in which the imaging system20is disposed on the floor1, it is required to consider a moving route of a patient or a worker (for example, a doctor or a nurse). Also, it is required to consider a moving path through which the other medical apparatus moves.

The fixing frame210is disposed to be separated from the examination table10in the first direction X1. Therefore, a certain distance W is secured or provided between the fixing frame210and the examination table10, and thus, a moving route or path of a worker or a patient around the table10is ensured or provided. A separation distance W between the fixing frame210and the examination table10may be about 1 m or less in consideration of that the second rotary arm240is needed to overlap the examination table10.

The transfer frame220may move in a front direction (which becomes closer to the examination table10) or a rear direction (which deviates or moves away from the examination table10) along the first direction X1 with respect to the fixing frame210. For example, the transfer frame220may move to a first position220a, at which a front end f1 of the transfer frame220overlaps the fixing frame210, and a second position220bat which the front end f1 of the transfer frame220deviates or is separate from the fixing frame210.

FIGS. 4 and 5are a side view and a plan view illustrating a state in which the imaging system20ofFIG. 1moves in the first direction X1, respectively. A position relationship between the transfer frame220and the other elements when the transfer frame220moves between the first and second positions220aand220bwill now be described with reference toFIGS. 1 to 5.

Referring toFIGS. 1 and 2, when the imaging system20is not used, the transfer frame220is disposed at the first position220a. The first position220amay be a position during which the imaging system20is in a parking state where the imaging system20is not used. When the transfer frame200is disposed at the first position220a, respective front ends f1 to f4 of the transfer frame220and the first to third rotary arms230,240and250may be disposed so as not to protrude in a direction from a front end f0 of the fixing frame210to the examination table10. For example, the respective front ends f1 to f4 of the transfer frame220and the first to third rotary arms230,240and250may be retracted or disposed farther away from the examination table10than the front end f0 of the fixing frame210. Here, each of the front ends is defined as an end portion in a direction closest to the examination table10.

Referring toFIGS. 4 and 5, when an image processing operation is performed by the imaging system20, the transfer frame220is disposed at the second position220b. In this case, the front end f1 of the transfer frame220protrudes or extends in a direction from the front end f0 of the fixing frame210to or toward the examination table10. For example, the front end f1 of the transfer frame220is disposed closer to the examination table10than the front end f0 of the fixing frame210. Also, the respective front ends f2 to f4 of the first to third rotary arms230,240and250protrude in the direction from the front end f0 of the fixing frame210to the examination table10. In this case, at least one of the radiation source241and radiation detector242of the second rotary arm240overlaps the examination table10.

When the transfer frame220moves between the first and second positions220aand220b, for example, when the transfer frame220moves with the front end of the transfer frame220protruding from the fixing frame210, the rolling member222supports a weight of the transfer frame220, and guides movement of the transfer frame220in the first direction X1. Since the rolling member222supports the weight (for example, weight of about 200 Kg to about 300 Kg) of the transfer frame220, the transfer frame220moves in the first direction X1 without being shaken in a vertical direction.

The rolling member222may move in the first direction X1 in contact with a supporting member260. The supporting member260may extend along the first direction X1 to support movement of the rolling member222.

In the supporting member260, a top surface facing the rolling member222is a planar surface. Therefore, the supporting member260may vertically support the rolling member222without being shaken. This is because when the rolling member222directly contacts the floor1without contacting the supporting member260, the transfer frame220is vertically shaken due to a bending of a floor surface1a.

The supporting member260may be formed of a material capable of supporting a load caused by the rolling member222. For example, the supporting member260may include steel having certain strength. Therefore, despite repeated movement of the rolling member222in the first direction X1, the floor1is prevented from being damaged.

The supporting member260may be disposed on the floor1not to protrude from the floor surface1aand in order for a top surface260aof the supporting member260to match or be level with the floor1. For example, the supporting member260may be buried in the floor1in order for the top surface260aof the supporting member260to be disposed in parallel with the floor surface1a. The supporting member260does not protrude from the floor surface1a, thereby preventing the supporting member260from obstructing movement of a worker, a patient, and another medical apparatus.

Referring again toFIG. 1, the transfer frame220may include a sweeping member270that removes foreign materials from the top surface260aof the supporting member260. The sweeping member270moves according to movement of the transfer frame220with an end of the sweeping member270contacting the supporting member260, thereby effectively removing foreign materials from the top surface260aof the supporting member260. The sweeping member270may be formed of a flexible material that is bent by a contact with the supporting member260. Also, the sweeping member270may be disposed at a front end and/or a rear end in the first direction X1.

In the above-described embodiment, an example in which the fixing frame210is disposed in parallel with the examination table10along the length direction X1 as inFIG. 2has been described above. However, the arrangement of the fixing frame210is not limited thereto, and as inFIG. 6, the fixing frame210may be disposed to be separated from (and somewhat beside) the examination table10in a second direction X2 intersecting the first direction X1.

FIG. 7is a view schematically illustrating a radiation diagnostic apparatus according to another embodiment.FIG. 8is a plan view illustrating the radiation diagnostic apparatus ofFIG. 7.FIG. 9is a view illustrating a state in which an imaging system20ofFIG. 8moves in a first direction X1.FIG. 10is a cross-sectional view schematically illustrating a transfer frame220′ and a fixing frame210′ which are illustrated inFIG. 7.

Referring toFIGS. 7 to 9, the radiation diagnostic apparatus includes an examination table10and an imaging system20that generates an image of an object P located on the examination table10. The imaging system20includes a fixing frame210′, a transfer frame220′, a first rotary arm230, a second rotary arm240, and a third rotary arm250. In the above-described prior embodiment and the present embodiment, like reference numerals refer to like elements, and repetitive descriptions are not provided. The following description will focus on differences between the above-described prior embodiment and the present embodiment described in more detail below.

The transfer frame220′ may move in a front direction (which becomes closer to the examination table10) or a rear direction (which deviates or separates from the examination table10) along the first direction X1 with respect to the fixing frame210′.

The transfer frame220′ may move to a first position220′a(seeFIG. 8), at which respective front ends f1 to f4 of the transfer frame220′ and the first to third rotary arms230,240and250are separated from the examination table10, and a second position220′bat which a portion (for example, at least one of a radiation source241and a radiation detector241) of the second rotary arm240overlaps the examination table10.

The present embodiments relate to a floor type radiation diagnostic apparatus in which the imaging system20that moves in the first direction X1 is disposed on a floor1. Since the radiation diagnostic apparatus has a structure in which the imaging system20is disposed on the floor1, it is required to consider a moving route of a patient or a worker (for example, a doctor or a nurse). Also, it is required to consider a moving path through which other medical apparatus moves.

The fixing frame210′ is buried in and fixed to the floor1so as not to protrude from a floor surface1a. The fixing frame210′ guides movement of the transfer frame220′ in the first direction X1. To this end, the fixing frame210′ includes a guide groove212that is formed along the first direction X1. A moving member223may be inserted into the guide groove212, and may move in the first direction X1 along the guide groove212. The moving member223includes a rolling member224(for example, a wheel), which is rotatable, and a supporting shaft225that is fixed to the transfer frame220′ to support the rolling member224. The guide groove212may include a first guide groove212A and a second guide groove212B that is separated from the first guide groove212A in a second direction X2 intersecting the first direction X1.

Referring toFIG. 10, the fixing frame210′ may include a first fixing frame201′-1, in which the first guide groove212A is formed, and a second fixing frame201′-2in which the second guide groove212B is formed. The first fixing frame201′-1and the second fixing frame201′-2may be disposed to be separated from each other in the second direction X2 intersecting the first direction X1.

Each of the first and second guide grooves212A and212B includes a first region2121, in which the rolling member224moves, and a second region2122in which the supporting shaft225moves. In the first and second guide grooves212A and212B, a width w2 of the second region2122may be narrower than a width w1 of the first region2121. To this end, an area exposed to the outside is minimized, thereby reducing foreign materials which may fall into the first and second guide grooves212A and212B. In the first and second guide grooves212A and212B, the width w2 of the second region2122may be set to a width through which the supporting shaft225passes and which does not obstruct or hinder movement of a patient, a worker, or the other medical apparatus. For example, in the first and second guide grooves212A and212B, the width w2 of the second region2122may be about 5 mm to about 30 mm, and for example, about 10 mm to about 20 mm. Here, the width w2 is defined as a width in a direction X2 intersecting the first direction X1.

When the moving member223moves along the first and second guide grooves212A and212B, the transfer frame220′ moves along the first direction X1 with respect to the fixing frame210′. The rolling member224of the moving member223supports a weight of the transfer frame220′, and rotates according to movement of the transfer frame220′.

Referring again toFIG. 8, in order to prevent foreign materials from penetrating into the first and second guide grooves212A and212B, a blocking member213may be provided in the each of first and second guide grooves212A and212B, and for example, in the second region2122. The blocking member213may be formed of a flexible material that is bent by a contact with the supporting shaft225when the supporting shaft225of the moving member223moves.

Referring again toFIG. 7, the transfer frame220′ may include a sweeping member271that removes foreign materials from the inside of the guide groove212, and for example, from the second region2122. The sweeping member271moves according to movement of the transfer frame220′ with an end of the sweeping member271contacting a wall surface of the guide groove212, thereby effectively removing foreign materials penetrating into or residing in the guide groove212. The sweeping member271may be formed of a flexible material that is bent by a contact with the guide groove212. Also, the sweeping member271may be disposed at a front end or a rear end of the moving member in the first direction X1.

In the above-described embodiment, an example in which the fixing frame210′ is disposed in parallel with the examination table10along the length direction X1 as inFIG. 8has been described above. However, the arrangement of the fixing frame210′ is not limited thereto, and as inFIG. 11, the fixing frame210′ may be disposed to be separated from the examination table10in the second direction X2 intersecting the first direction X1.

FIG. 12illustrates a modification example of the embodiment ofFIG. 7.FIG. 13is a plan view illustrating a radiation diagnostic apparatus ofFIG. 12.FIG. 14is a view schematically illustrating a transfer frame and a fixing frame which are illustrated in FIG.

The radiation diagnostic apparatus includes an examination table10and an imaging system20that generates an image of an object P located on the examination table10. The imaging system20includes a fixing frame210″, a transfer frame220″, a first rotary arm230, a second rotary arm240, and a third rotary arm250. The transfer frame220″ may move in a front direction (which becomes closer to the examination table10) or a rear direction (which deviates or separates from the examination table10) along a first direction X1 with respect to the fixing frame210″. In the above-described embodiment and the present embodiment, like reference numerals refer to like elements, and repetitive descriptions are not provided. The following description will focus on differences between the above-described embodiment and the present embodiment.

In the present embodiment, in consideration of accurate position movement of the imaging system20, the following description will focus on a configuration for accurate position movement of the transfer frame220″ with respect to the examination table10.

Referring toFIGS. 12 and 13, the fixing frame210″ may be a single member in which a first guide groove212A and a second guide groove212B are formed. Since the first guide groove212A and the second guide groove212B are formed in one member, separate work for setting a positional relationship between the first and second guide grooves212A and212B may not be performed when installing the first and second guide grooves212A and212B to the floor1.

The fixing frame210″ may extend in a first direction X1 in order for at least one portion of the fixing frame210″ to overlap an examination table10. The examination table10may be disposed on an upper portion210″-T of the fixing frame210″. Since the examination table10is disposed on the upper portion210″-T of the fixing frame210″, a height relationship between the examination table10and the transfer frame220″ moving along a guide groove212of the fixing frame210″ is accurately controlled. If the examination table10is disposed on a floor1instead of the fixing frame210″, separate work for adjusting a relative position between the examination table10and the transfer frame220″ may be performed. However, in the present embodiment, the separate work may not be performed.

The transfer frame220″ may include a plurality of shaking or wobbling prevention members281and283that prevent the transfer frame220″ from being shaken, wobbling or leaning in directions X2 and X3 intersecting the first direction X1. The shaking prevention members281and283may include a side shaking prevention wheel281and an upper shaking prevention wheel283.

Referring toFIG. 14, the side shaking prevention wheel281may be provided in at least one of the first and second guide grooves212A and212B. For example, as illustrated, the side shaking prevention wheel281may be provided in the first guide groove212A. However, an arrangement of the side shaking prevention wheel281is not limited to the first guide groove212A, and for example, the side shaking prevention wheel281may be provided in only the second guide groove212B or both the first and second guide grooves212A and212B. The side shaking prevention wheel281contacts both sides212-S1and212-S2of the first guide groove212A, and rotates according to movement of the transfer frame220″ in the first direction X1. The side shaking prevention wheel281prevents the transfer frame220″ from being shaken in the second direction X2 intersecting the first direction X1.

Referring again toFIG. 12, the upper shaking prevention wheel283may be provided in at least one of a front end and a rear end of the transfer frame220″. The upper shaking prevention wheel283contacts a top212-T of the guide groove212, and rotates according to movement of the transfer frame220″ in the first direction X1. The upper shaking prevention wheel283rotates in a state of contacting the top212-T of the guide groove212, and thus, even when external force is applied to the transfer frame220″ in the third direction X3 intersecting the first direction X1, the transfer frame220″ is not shaken in the third direction X3. Although not shown, the upper shaking prevention wheel283may be directly supported by a floor of the transfer frame220″, or may be supported through a supporting shaft225.

In the above-described embodiment, an example in which the first and second guide grooves212A and212B of the fixing frame210″ are illustrated in parallel with the examination table10in the first direction X1 has been described above. However, although not shown, the first and second guide grooves212A and212B may not be disposed in parallel with the examination table10in the first direction X1, and for example, the first and second guide grooves212A and212B may be disposed to be separated from the examination table10in the second direction X2. In this case, a width of the fixing frame210″ in the second direction X2 may increase in order for the examination10to be disposed on a top of the fixing frame210″. Also, in the present embodiment, although not shown, the fixing frame210″ may include a sweeping member that removes foreign materials from the inside of the guide groove212.

As described above, according to the one or more of the above embodiments, the radiation diagnostic apparatus performs an accurate diagnosis without moving a patient in a diagnostic process, and minimizes a moving restriction of a worker in a non-diagnostic process.

To aid in understanding the embodiments, reference numerals are used in the exemplary embodiments shown in the drawings, and specific terms are used to explain the exemplary embodiments; however, they are not intended to limit the embodiments and may represent all the components that could be considered by those skilled in the art.

Specific executions described herein are merely examples and do not limit the scope of the embodiments in any way. For simplicity of description, other functional aspects of conventional electronic configurations, control systems, software and the systems may be omitted. Furthermore, line connections or connection members between elements depicted in the drawings represent functional connections and/or physical or circuit connections by way of example, and in actual applications, they may be replaced or embodied as various additional functional connection, physical connection or circuit connections. Also, the described elements may not be inevitably required elements for the application of the embodiments unless they are specifically mentioned as being “essential” or “critical.” The term “include” or “comprise” used herein should not be interpreted to include all the various stages of the various components described in the specification, or the components some of them or some of these steps