A medical apparatus is provided. According to an example, the medical apparatus may include a gantry, a plurality of movable wheels disposed at a bottom of the gantry, and a movement controller where each of the movable wheels comprises a hub and a plurality of driven wheels disposed at the periphery of the hub, an axis of each of the driven wheels and an axis of the hub forming an included angle and rotation of the hub driving rotation of the driven wheels, and the movement controller configured to control a moving direction and a moving speed of the gantry by controlling rotation of the plurality of the movable wheels.
