Patent ID: 7748900

Claim:
An x-ray system, comprising: a trolley configured with wheels for movement; at least a first industrial robot mounted on the trolley and having multiple rotatable arms providing the robot with at least three axes of rotation; an x-ray source attached to an arm of the first robot for controlled movement; an x-ray detector positionable with respect to the source to effect an x-ray diagnosis; a system controller positioned on the trolley and configured to operate at least the first robot and effect movement of the source with respect to the detector to perform the x-ray diagnosis; a collision monitoring system, integrally formed and operable in conjunction with the system controller, including a plurality of collision sensors configured to prevent collision between the first robot and another robot; position sensors mounted to the first robot to provide position information of one or more of the arms of the first robot; and a stability monitoring system, integrally formed and operable in conjunction with the system controller, including a stability sensor operable to prevent an arm of the first robot from being extended so far that the trolley becomes unstable or collapses, wherein a signal received from the stability sensor stops movement of the first robot, wherein the stability monitoring system is configured to generate a warning signal when a first stability limit is exceeded, and, whenever a second stability limit is passed, to send a signal to the system controller.