Vibration suppression of mobile medical imaging system for diagnosis using zero vibration control

This paper presents a zero vibration control for mobile medical robot system when the gantry is rotated. ISO center needs to maintain its position while gantry is rotated to take multiple X-ray images for reconstructed 3D CT image. The gantry includes X-ray source and detector module causing unbalanced weight of rotor and the gantry is support in cantilever manner by support structure. This fact causes vibration of gantry in vertical axis, which is harmful for high quality of 3D CT image. In this paper, the manipulator is operated to give impulses to the system to reduce vibration and it is validated by experimental results.