CN107693118B - X-ray imaging apparatus and target area indication method thereof - Google Patents
X-ray imaging apparatus and target area indication method thereof Download PDFInfo
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- CN107693118B CN107693118B CN201610640735.XA CN201610640735A CN107693118B CN 107693118 B CN107693118 B CN 107693118B CN 201610640735 A CN201610640735 A CN 201610640735A CN 107693118 B CN107693118 B CN 107693118B
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Abstract
The invention discloses X-ray imaging equipment, which comprises a detector and an X-ray bulb tube which are oppositely arranged, wherein in the imaging process, a to-be-detected object is positioned between the detector and the X-ray bulb tube, and the X-ray imaging equipment also comprises a target indicator for indicating a target position on the surface of the to-be-detected object. According to the X-ray imaging equipment, the target indicator automatically points to the target position on the surface of the object to be detected, so that the step of target positioning is simplified, and redundant auxiliary positioning tools are omitted.
Description
Technical Field
The invention relates to the field of medical imaging, in particular to an X-ray imaging device with a target indication function and a target indication method thereof.
Background
In the prior art, the body surface needle insertion point or the surgical incision position needs to be positioned, and in the actual operation process, although imaging equipment suitable for an operating room such as a mobile C-arm machine is introduced, doctors generally have to look through the body surface position for many times due to the lack of a practical and effective positioning method. For example, during minimally invasive spine surgery, after a patient is positioned to locate an intervertebral foramen, a doctor takes an iron wire or other imaging fine needle and places the iron wire or other imaging fine needles on the body surface near a target area, the iron wire is adjusted by observing the position relation between the iron wire and the intervertebral foramen in a perspective image after perspective, the operation of perspective and adjustment of the position of the iron wire is repeated until the iron wire is positioned above the intervertebral foramen in the perspective image, and at the moment, the doctor marks the position of the iron wire on the body surface by using a marking pen. At least two lines need to be drawn at the needle insertion point or the incision position, so the doctor can continuously repeat the operations until the body surface mark can guide the subsequent operation position.
The imaging equipment in art such as current portable C arm machine, suspension type C arm machine, console mode C arm machine or G horn also can possess the laser lamp, and the important effect of laser lamp is just auxiliary positioning. For example, the laser light of the mobile C-arm machine can indicate the imaging center position, but since the current laser light can only indicate the image center position, if the position of the target of interest is to be indicated, the target of interest needs to be adjusted to the imaging center position by adjusting the C-arm, and then the laser light indicates the position of the target of interest on the body surface. The operation of the process is complex, and the patient needs to be irradiated more in the adjusting process, and the operation process is inconvenient and less clinically used.
Disclosure of Invention
In order to solve the technical problem, the invention provides an X-ray imaging device, which comprises a detector and an X-ray bulb tube which are oppositely arranged, wherein an accommodating space capable of accommodating an object to be detected is formed between the detector and the X-ray bulb tube, and the X-ray imaging device further comprises a target indicator for indicating a target position, and the target indicator is suspended near the outer edge of the accommodating space.
Optionally, in the X-ray imaging apparatus, the detector and the X-ray tube are respectively connected to two ends of a curved support.
Optionally, in the X-ray imaging apparatus, the target indicator is located at one end of the detector.
Optionally, the X-ray imaging device further includes a distance meter for measuring a distance between the detector and the object to be detected.
Optionally, in the X-ray imaging apparatus, the target indicator includes a dot type or cross type laser light.
Optionally, in the X-ray imaging device, the target indicator includes a first laser light and a second laser light, and the first and second laser lights are line laser lights and indicate the target position through the intersection point of the two line lights.
Optionally, in the X-ray imaging device, the detector includes a rectangular frame, and the first laser light and the second laser light are located on two adjacent sides of the rectangular frame and respectively project line lights perpendicular to each other.
Optionally, the X-ray imaging apparatus further includes a first driving system and a second driving system for driving the first laser light and the second laser light to move along the sides.
Optionally, in the X-ray imaging apparatus, the first driving system and the second driving system respectively include a driving wheel and a driven wheel, the driving wheel and the driven wheel are linked through a belt, and the laser lamp is connected to the belt.
Optionally, in the X-ray imaging apparatus, the laser lamp is connected to the belt through a moving plate, and is fixed to the moving plate through a fixing band.
Optionally, in the X-ray imaging device, the target indicator further includes a third laser light and a fourth laser light, and an area defined by line lights emitted by the first, second, third, and fourth laser lights is an indication target area.
Optionally, in the X-ray imaging device, the first laser light and the third laser light are located on the same side of the rectangular frame; the third and fourth laser lamps are located on the same adjacent side.
Optionally, in the X-ray imaging device, the first, second, third, and fourth laser lamps are respectively located on four sides of the rectangular frame.
The invention also provides a target indication method of the X-ray imaging equipment, which comprises the following steps:
shooting an image of an object to be detected;
determining a target location in the image;
calculating the surface position of the object to be detected corresponding to the target position;
calculating a driving distance of the target indicator.
The invention also provides a target area indicating method of the X-ray imaging equipment, which comprises the following steps:
shooting an image of an object to be detected;
determining a target region in the image;
calculating a target area on the surface of the object to be detected corresponding to the target position;
calculating a driving distance of the target indicator;
and driving the target indicator according to the driving distance.
According to the technical scheme, the target indicator is driven according to the target position defined by the user on the image, so that the target indicator automatically indicates the position of the target position in the image on the body surface for guiding the doctor to insert the needle or perform incision operation, the target position is simple and accurate to operate, and the patient and the doctor are prevented from receiving more radiation.
Furthermore, the X-ray imaging equipment provided by the invention is provided with the target indicator, so that an auxiliary tool for additional positioning is omitted; and the target indicator may include one or more laser lights to indicate a target point or target area, facilitating the treatment process for the physician.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of a C-arm machine of the X-ray imaging apparatus of the present invention;
FIG. 2 is a schematic view of a laser lamp used in the present invention;
FIG. 3 is a schematic structural diagram of a target indicator according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a driving process of the target indicator according to the first embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a target indicator according to a second embodiment of the present invention;
FIG. 6 is a schematic diagram of target location indication according to the first embodiment;
fig. 7 is a schematic diagram of a process of calculating a mobile position according to the first embodiment;
fig. 8 is a schematic driving flow according to the first embodiment;
FIG. 9 is a schematic illustration of target area indication according to a second embodiment;
fig. 10 is a schematic driving flow diagram according to the second embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
Generally, in order to guide the operation during the operation, the operation process is photographed in real time by an X-ray imaging device, guided and confirmed. The X-ray imaging apparatus includes: an X-ray tube for emitting X-rays; and the detector receives the X-ray passing through the object to be detected, and the X-ray bulb tube and the detector are oppositely arranged. The most common X-ray imaging device used during surgery is the C-arm machine, which may also be called G-arm machine or U-arm machine, mainly because the support connecting the X-ray tube and the detector is shaped like the letter C. In other devices, the support can also be made into an O shape (circular shape), and the X-ray tube and the detector are oppositely arranged at the inner side of the O-shaped support.
Fig. 1 is a schematic structural diagram of a C-arm machine of an X-ray imaging apparatus of the present invention. As shown in fig. 1, the C-arm machine includes a C-shaped support 10, and an X-ray tube 30 and a detector 20 respectively located at two ends of the C-shaped support, wherein the X-ray tube 30 and the detector 20 are oppositely arranged. This C-shaped configuration facilitates moving the patient to be examined between the X-ray tube 30 and the detector 20 for imaging.
The C-arm machine can be divided into a movable type, a suspension type, a floor type and the like. The C-shaped support is fixed on a movable trolley, and an operator can push the trolley to move the C-arm machine (or move the C-arm machine through a driving device arranged on the trolley) and shoot a patient at a required position; the C-shaped bracket is generally slightly larger than the movable C-shaped bracket in a suspension type, is fixed on a ceiling through a fixed bracket, can be provided with a guide rail on the ceiling and moves along the guide rail under the driving of a driving device, and can also rotate freely in the horizontal or vertical direction in the suspension type; the floor type is similar to the mobile type, and is different from the floor type in that the floor type is connected with a fixed support on the ground and cannot move.
However, various existing C-arm machines do not have a target indication function, and particularly cause certain inconvenience for imaging in the surgical process.
In the invention, the X-ray imaging device is taken as a mobile C-arm machine, and the target indicator comprises a laser light for illustration, but the technical scheme of the invention is not limited thereto. In the technical scheme of the invention, the laser lamp is arranged at one end of the detector, the detector is positioned above the detector in the imaging process, and the incision of the operation or the insertion opening of the needle is also positioned above the body surface, so that the laser lamp is convenient for a doctor to operate, but is not limited to the above arrangement. In other embodiments, the laser light may be suspended at other positions of the C-arm machine, such as by being disposed on a C-shaped support, or by being disposed at one end of the X-ray tube when the X-ray tube is located above (detector below).
The distance measuring instrument for measuring the distance from the detector to the object to be detected is arranged at one end of the detector besides the laser lamp, the distance from the detector to the object to be detected is used when calculating the target position on the body surface, and the specific calculation process is described in detail below.
The laser lamp adopted in the invention can be one of a point type laser lamp, a line type laser lamp and a cross-shaped laser lamp. Fig. 2 is a schematic view of a laser lamp used in the present invention, and as shown in fig. 2, the laser lamp includes a light emitting body 2111 and a light emitting adjustment portion 2112, and the laser lamp can emit light of different shapes by adjusting or replacing the light emitting adjustment portion 2112.
First embodiment
When the line type laser lamp is adopted, the target indicator at least comprises two laser lamps, and the intersection point of two beams of line light emitted by the two laser lamps is used as the indicated target position. Fig. 3 is a schematic structural diagram of a target indicator according to a first embodiment of the present invention, and fig. 4 is a schematic driving process diagram of the target indicator according to the first embodiment of the present invention. As shown in fig. 3 and 4, the C-shaped support 10 and the detector 20 are connected by an L-shaped connecting member 28, the detector 20 includes a rectangular frame, the first laser lamp 211 and the second laser lamp 221 are respectively located at two adjacent sides of the rectangular frame to respectively project line lights perpendicular to each other, as shown in fig. 3, the first laser lamp 211 emits a first line light parallel to the X-axis, the second laser lamp 221 emits a second line light parallel to the Y-axis, and the first line light and the second line light are perpendicularly intersected.
The plane where the first laser lamp 211 and the second laser lamp 221 are located further comprises a first driving system used for driving the first laser lamp 211 and a first driving system and a second driving system used for driving the second laser lamp 221, and the first driving system and the second driving system are respectively used for driving the laser lamps to move back and forth along the Y axis or the X axis. Taking the first driving system as an example, the first driving system includes a driving pulley 215 and a driven pulley 217, the driving pulley 215 and the driven pulley 217 are linked by a belt 216, and the first laser light 211 is fixed on the belt 216 and moves along with the rotation of the belt 216. In the above structure, the first laser light 211 can be fixed on a moving plate 213, and the moving plate 213 is connected to the belt 216, which can conveniently fix the first laser light 211 and maintain the stability of the first laser light 211 in moving. Further, first laser lamp 211 is fixed in through mounting 212 on the movable plate 213, mounting 212 is through the screw fixation in movable plate 213 to make things convenient for first laser lamp 211's dismantlement and replacement increase first backing plate 214 between movable plate 213 and belt 216, first backing plate 214 can play the distance between the rectangle frame of regulation movable plate 213 and detector.
The first driving system and the second driving system may be other driving structures besides the above-mentioned driving structure, such as a chain driving structure, a gear driving structure, a sliding driving structure, etc., as long as the driving structure can move the laser lamp along the set track. Further, the first driving system and the second driving system may also adopt different driving structures, and the uniformity of the driving structures of the first driving system and the second driving system is not limited in the present invention.
Second embodiment
In this embodiment, a line laser is also used, and the target area is indicated by a combination of a plurality of lines of light. Fig. 5 is a schematic structural diagram of a target indicator according to a second embodiment of the present invention, and as shown in fig. 5, the connection manner between the C-shaped bracket 10 and the detector 20 is the same as that of the first embodiment, and the structures of the first laser light 211 and the second laser light 221 and the corresponding structures of the driving system are also similar to those of the first embodiment, and are not repeated herein. The difference between the present embodiment and the first embodiment is that a third laser light 231 and a fourth laser light 241 are respectively added on one side of the rectangular frame of the detector where the first laser light 211 and the second laser light 221 are located. The third and fourth laser lights 231 and 241 respectively correspond to corresponding driving systems, as shown in fig. 5, taking the third driving system of the third laser light 231 as an example, the third driving system includes a driving wheel 235 and a driven wheel 237, the driving wheel 235 and the driven wheel 237 are linked by a belt 236, the third laser light 231 is also fixed on a moving plate 233, a third pad 234 may also be included between the moving plate 233 and the belt 236, and in order to provide two sets of driving systems on the same frame, the first driving system and the third driving system are arranged in a front-back manner, so the structure of the third pad 234 is slightly different from that of the first pad 214, and a structure (not shown) extending into the third pad is required near the third belt 236, and the structure of the fourth pad 244 is similar to that of the third pad 234, and will not be described herein again.
In this embodiment, the third laser 231 and the third driving system may also be disposed on a frame opposite to the rectangular frame of the detector where the first laser lamp 211 is located (another frame parallel to the frame where the laser lamp 211 is located), and the fourth laser lamp 241 and the fourth driving system are disposed on a frame opposite to the rectangular frame of the detector where the second laser lamp 221 is located.
The present invention also provides a target indication method of the target indicator according to the first embodiment. FIG. 6 is a schematic diagram of target location indication according to the first embodiment; fig. 7 is a schematic diagram of a process of calculating a mobile position according to the first embodiment; fig. 8 is a schematic driving flow according to the first embodiment. The following describes in detail a target indication method of an X-ray imaging apparatus according to a first embodiment with reference to fig. 6, 7, and 8.
The target indication method according to the first embodiment includes: s11, firstly, imaging the object to be detected, wherein X-rays emitted by the X-ray bulb 30 pass through the patient 40 on the bracket 50 and irradiate the detector plate 27, the detector plate 27 collects the X-rays and is used for imaging, a dotted line five-pointed star in the figure 6 is the position of the object to be detected in the image, a solid line five-pointed star is the position of the actual object to be detected, coordinates of a target position C ' and C ' on a Y axis in the image are determined to be A, and a Y axis coordinate of a body surface position C corresponding to the target position C ' is determined to be B; s12, determining a target position C on the body surface according to the target position C' in the image, as shown in FIG. 7, Δ ABC- Δ ADF, DE-BC (error acceptable), AD distance is known (distance on the detector plate, which can be obtained by system operation), FD distance is known (fixed distance between the X-ray tube and the detector plate), and obtaining DB distance requires knowing AB (AB distance is coordinate distance on the Y axis of the target position in the image and the target position on the body surface) and DE distance, the distance of DE can be approximately measured by the distance meter 29 as a, the distance of AB can be easily determined by calculating a similar triangle, the distance of AB is known, and DB can be obtained by subtracting AB, namely determining the position (coordinate) of B point on the Y axis; and S13, calculating the driving distance of the laser lamp and driving the laser lamp, wherein the position of the laser lamp is known by the system, and the position of the point B is calculated through S12, so that the driving distance can be calculated according to the position of the laser lamp and the position of the point B. Similarly, the coordinate (position) of the target position C on the X axis may also be calculated by referring to the coordinate (position) of the calculated target position C on the Y axis, and when the position of the target position C on the X axis is determined, the driving distance of another laser lamp can be obtained according to the position of another laser lamp and the coordinate of the target position C on the X axis, and when the two laser lamps are driven to be in place, the intersection of the straight lines of the two laser lamps is the target position.
The present invention also provides a target area indicating method of the target indicator according to the second embodiment. FIG. 9 is a schematic illustration of target area indication according to a second embodiment; fig. 10 is a schematic driving flow diagram according to the second embodiment. As shown in fig. 9, four laser lights are respectively located on four frames of a rectangular frame of a detector, and the target area indication method of the X-ray imaging device includes: s21, imaging the object to be detected and determining a target area in the image, wherein the target area is selected by an operator in the image; s22, acquiring maximum and minimum Y values (Y ') in the image according to the target area'max、Y'min) Values and maximum, minimum X values (X ') in the image'max、X'min) (ii) a S23, according to the imageMaximum and minimum Y values (Y'max、Y'min) And maximum, minimum X value (X'max、X'min) Obtaining the maximum and minimum Y values (Y) of the body surfacemax、Ymin) And maximum and minimum X values (X) of body surfacemax、Xmin) The calculation process of calculating the corresponding target position on the body surface according to the target position on the image is similar to the calculation process of calculating the corresponding target position on the body surface of the first embodiment, and is not repeated herein; s24, according to Ymax、YminCalculating the driving positions of the first and third laser lamps 211 and 231 according to Xmax、XminThe driving positions of the second laser lamp 221 and the fourth laser lamp 241 are calculated.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (12)
1. An X-ray imaging device comprises a detector and an X-ray bulb tube which are oppositely arranged, wherein a containing space capable of containing an object to be detected is arranged between the detector and the X-ray bulb tube, and the X-ray imaging device is characterized by further comprising a target indicator which indicates a target position on the body surface of the object to be detected, the target indicator is suspended near the outer edge of the containing space, wherein the target position is defined on an X-ray image, and the X-ray image is formed by imaging the object to be detected by the detector and the X-ray bulb tube; wherein, X ray imaging equipment is still including measuring the detector with wait to examine the distancer of the distance between the object, target indicator includes first laser lamp and second laser lamp, first, second laser lamp are line laser lamp, point indication target location through the nodical of two line lights.
2. The X-ray imaging apparatus of claim 1 wherein the detector and X-ray tube are attached to respective ends of a curved support.
3. An X-ray imaging device according to claim 1 or 2, wherein the target indicator is located at one end of the detector.
4. The X-ray imaging device of claim 1, wherein the detector comprises a rectangular frame, and the first laser light and the second laser light are located on two adjacent sides of the rectangular frame and respectively project line light perpendicular to each other.
5. The X-ray imaging apparatus of claim 4, further comprising a first drive system and a second drive system for driving the first laser light and the second laser light to move along the sides.
6. The X-ray imaging apparatus of claim 5 wherein the first and second drive systems comprise a drive wheel and a driven wheel, respectively, the drive wheel and the driven wheel being coupled by a belt, the laser light being coupled to the belt.
7. The X-ray imaging apparatus of claim 6, wherein the laser light is connected to the belt by a moving plate and fixed to the moving plate by a fixing band.
8. The X-ray imaging apparatus of claim 4, wherein the target indicator further comprises a third laser light and a fourth laser light, and an area defined by lines emitted by the first, second, third, and fourth laser lights is an indication target area.
9. The X-ray imaging device of claim 8, wherein the first and third laser lights are located on the same side of the rectangular bezel; the second laser lamp and the fourth laser lamp are located on the same side of the rectangular frame and are adjacent to the side where the first laser lamp and the third laser lamp are located.
10. The X-ray imaging device of claim 8, wherein the first, second, third, and fourth laser lights are located on four sides of the rectangular bezel.
11. A target indication method of an X-ray imaging device, wherein the X-ray imaging device comprises a detector and an X-ray bulb which are oppositely arranged, an accommodating space capable of accommodating an object to be detected is arranged between the detector and the X-ray bulb, the X-ray imaging device further comprises a target indicator which indicates a target position on the body surface of the object to be detected, the target indicator is suspended near the outer edge of the accommodating space, the target position is defined on an X-ray image, the X-ray image is formed by imaging the object to be detected by the detector and the X-ray bulb, and the X-ray imaging device further comprises a distance meter which measures the distance between the detector and the object to be detected; the method comprises the following steps:
shooting an X-ray image of an object to be detected;
determining a target location in the X-ray image;
calculating the surface position of the object to be detected corresponding to the target position;
calculating the driving distance of the target indicator according to the surface position of the object to be detected corresponding to the target position;
and driving the target indicator according to the driving distance.
12. The target indicating method of claim 11, wherein the target location comprises a target area.
Priority Applications (10)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610640735.XA CN107693118B (en) | 2016-08-08 | 2016-08-08 | X-ray imaging apparatus and target area indication method thereof |
| EP20173789.7A EP3725228B1 (en) | 2016-06-13 | 2017-06-13 | Systems and methods for x-ray scanner positioning |
| EP17175783.4A EP3284410B1 (en) | 2016-06-13 | 2017-06-13 | Systems for x-ray scanner positioning |
| JP2017116324A JP7001371B2 (en) | 2016-06-13 | 2017-06-13 | X-ray scanner positioning system and method |
| EP20175112.0A EP3735907A1 (en) | 2016-06-13 | 2017-06-13 | Systems and methods for x-ray scanner positioning |
| US15/620,967 US10638985B2 (en) | 2016-06-13 | 2017-06-13 | Systems and methods for x-ray scanner positioning |
| US16/866,294 US11006908B2 (en) | 2016-06-13 | 2020-05-04 | Systems and methods for X-ray scanner positioning |
| US16/866,284 US11000243B2 (en) | 2016-06-13 | 2020-05-04 | Systems and methods for X-ray scanner positioning |
| US17/322,891 US11564644B2 (en) | 2016-06-13 | 2021-05-17 | Systems and methods for X-ray scanner positioning |
| JP2021211158A JP7450593B2 (en) | 2016-06-13 | 2021-12-24 | X-ray scanner positioning system and method |
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| CN107714060B (en) * | 2016-08-11 | 2020-09-22 | 上海联影医疗科技有限公司 | X-ray imaging apparatus |
| JP7001371B2 (en) | 2016-06-13 | 2022-01-19 | シャンハイ ユナイティッド イメージング ヘルスケア カンパニー リミティッド | X-ray scanner positioning system and method |
| CN108852355A (en) * | 2018-06-29 | 2018-11-23 | 上海东软医疗科技有限公司 | Nuclear magnetic resonance equipment and patient's displacement method for nuclear magnetic resonance equipment |
| CN113418558A (en) * | 2021-06-22 | 2021-09-21 | 河南中烟工业有限责任公司 | Appearance is examined with portable point of power equipment in cigarette factory |
| CN113686906A (en) * | 2021-08-27 | 2021-11-23 | 江苏新宏大集团有限公司 | Industrial X-ray flat weld defect positioning method |
| CN115120256A (en) * | 2022-07-19 | 2022-09-30 | 邦世科技(南京)有限公司 | Automatic X-ray equipment and shooting method thereof |
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