CN1162129C - Computerized 3D positioning equipment for X ray to target and its method - Google Patents
Computerized 3D positioning equipment for X ray to target and its method Download PDFInfo
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Abstract
The present invention discloses a computerized three-dimensional positioning device for an X ray to targets, and a method thereof. In the present invention, X, Y axial plane images generated by X-ray irradiation to targets in human bodies, such as calculi, and three-dimensional position data of a position sensor are mathematically analyzed by a computer, and methods of reference point setting and secondary displacement measurement meet calculation conditions. An electric drive device obtains three-dimensional position movement by control after calculation, and thus, the present invention achieves the purpose of automatically controlling targets in human bodies to superpose a focus of a therapeutic device. Owing to the adoption of the computer control, the present invention has the advantages of simple operation and time saving and needs only a plurality of frames of images in the positioning process. Therefore, a high-voltage power supply of an X-ray device is only turned on for a moment, and as a result, the present invention effectively reduces X-ray radiation for personnel. The present invention is applied to the diagnosis location of various diseases, such as calculi, tumors, etc. which can be observed by X rays as well as the location work of object flaw detection, etc.
Description
Technical field
The present invention relates to positioner and the method thereof of X ray to target.
Background technology
At present in the clinical practice, X ray to the location of target most of by the medical worker observe image, the people finishes positioning action for pressing the push-botton operation actuating device.Here the target of mentioning for can observed calculus by the x-ray bombardment human body, tumor etc.For example the X ray location extracorporeal lithotiptor mainly is made up of swing arm list beam X-ray device and XTV television system, shock wave generation therapy equipment, special-purpose sick bed, electric transmission machanism etc. with 3 D auto degree.The image amplifier of XTV television system and photographic head are installed on C shape arm one end of Wei Rao the horizontal axis swing of swing arm list beam X-ray device, and the X ray bulb of x ray generator is installed on the other end of C shape arm.X ray bulb emission X ray, X ray penetrates tissue and target in the body (calculus) is imaged on the image input face of image amplifier, and photographic head is with this image capture and be sent to video monitor for medical worker's observation.Shock wave generation therapy equipment is characterized in by focusing on the pulse energy height being gathered on the focus; Adopt mechanical rigid to connect and make this focus aim at C shape upper-arm circumference all the time on the intersection point of horizontal axis of swinging and X-ray beam central axis, place this intersection point (focus) can carry out external stone crushing target (calculus).Special-purpose sick bed is for the calculus patient undergoing treatment.3 D auto degree electric transmission machanism can be installed on the main frame that device such as C shape arm forms also can be installed on special-purpose sick bed; Its purpose is target in the human body (calculus) is overlapped with the focus of shock wave generation therapy equipment by displacement or relative displacement.When the medical worker operates this equipment, at first observe the projected position of target in the video monitor display image (calculus), the people for press the corresponding button adjust X, Y coordinate position with target (calculus) Projection Display in the video monitor picture centre.Then C shape arm is swung an angle along horizontal axis, if the interior target (calculus) of patient body's this moment does not place on the horizontal hunting centrage of C shape arm, the projected position of target (calculus) on monitor image will be offset, and the people finishes positioning action with target (calculus) Projection Display in the video monitor picture centre for pressing the corresponding button adjustment Z coordinate position.For example, on November 1st, 2000, disclosed publication number was disclosed a kind of " extra chock wave lithotriptor " that utilizes the X ray location to carry out calculus-smashing of 2403369 Chinese utility model patent; Its action principle and above narration are similar substantially.This kind equipment medical worker in to the position fixing process of target (calculus) need observe the continually varying image, and the people progressively adjusts the interior target (calculus) of patient body to intersection point (focus) for pressing button.So patient needs the Continuous irradiation X ray; The X-radiation dosage that patient and medical worker accept is bigger, influences their health; Medical worker's labor intensity is bigger simultaneously.
Summary of the invention
The object of the present invention is to provide Computerized 3 D positioning equipment and the method thereof of a kind of X ray to target.
The present invention carries out mathematical analysis by computer to the data such as plane picture that target in the x-ray bombardment patient body produces, determine the spatial coordinate position of target and automatically the control electric transmission machanism with patient body's internal target displacement of targets or relative displacement to position that the focus of therapy equipment overlaps after treat.The target that the present invention mentions for can observed calculus by the x-ray bombardment human body, pathological changes such as tumor, also can be for can observed various inherent targets by x-ray bombardment.
X ray of the present invention comprises the Computerized 3 D positioning equipment and the method thereof of target:
One is detected patient body's internal target target location and also can adjust the device that the focus of the energy that makes the line focus of treatment usefulness overlaps with target, this device comprises swing arm list beam X-ray device and XTV television system, can use the high power pulse energy focusing in the therapy equipment of a focus treatment, a plurality of position sensors and electric transmission machanism.
A Computer Control Unit, it comprises a computer that contains specific software, an image display device and a keyboard special that shows human body internal target objective plane image.Described computer run specific software is carried out following localization method: after the picture position data of target in the X of display target target, the Y coordinate diagram picture being converted to the extension position data and the current location data of this position data and position sensor detection being reached the relevant position data that are written in advance and calculate, satisfy design conditions with the method that the measurement of reference point and second displacement is set, produce three-dimensional position and move by calculating the corresponding electric transmission machanism of back control, reaching in the automatic control human body that target overlaps with the focus of therapy equipment is localized purpose; Swing arm list beam X-ray device changes an observation together with the XTV television system and takes measurement of an angle, computer acquisition changes the position deviation between the focus that calculates current target position and blast wave generating apparatus after target location drawing picture behind the observed bearing and the detected position data of position sensor, control Z coordinate electric transmission machanism carries out displacement operation by this deviation data, finishes location and check.
The invention has the beneficial effects as follows, fully used Computer Control Technology in the invention, thereby make it compared with the prior art easy to use, accurate positioning; It is several down only need to control the computer mouse click, and system can finish three-dimensional location action automatically; Diagnostic procedure is efficient and convenient, shortens positioning time and improves prescription on individual diagnosis efficient, alleviates medical workers; Because computer only needs several two field pictures that image pick-up card is gathered are handled in this positioner, so the X-ray apparatus high voltage power supply is to connect moment; After medical worker's skilled operation, patient accepts the time of x-ray bombardment and will calculate with millisecond; Whole diagnostic procedure is very little to personnel's X-radiation.The life-span of X-ray apparatus also greatly improves simultaneously, and effectively reduces electric power of equipment consumption.The present invention is applicable to can observed diagnosis location as multiple diseases such as calculus, tumors by the x-ray bombardment human body.
Description of drawings
Below in conjunction with accompanying drawing the present invention is done concrete description in detail.
Fig. 1 is a basic structure front view of the present invention;
Fig. 2 is a basic structure side view of the present invention;
Fig. 3 is the sketch map of computer screen display target target X, Y coordinate position image;
Fig. 4 is the XDZ floor map after simplify in the x-ray bombardment path among Fig. 1;
Fig. 5 is that Fig. 4 is the sketch map of center behind pendulum angle e on the XDZ plane with the D point;
Fig. 6 is a computer control part sketch map;
Fig. 7 is the computer software flow chart.
1. photographic head among the figure, 2. image amplifier, 3. image input face, 4.C the shape arm, 5. target, 6.X coordinate electric transmission machanism, 7.Z the coordinate electric transmission machanism, 8.X ray tube, 9.Y coordinate electric transmission machanism, 10. electric transmission machanism, 11. electric transmission machanisms, 12. therapy equipments, 13.X coordinate position pick off, 14.Z the coordinate position pick off, 15. position sensors, 16. angular transducers, 17.Y coordinate position pick off, 18. special-purpose sick bed, 19. TU Trunk Units, 20. computers, 21. display, 22. image pick-up card, 23. transition cards, 24. keyboard specials.
The specific embodiment
Followingly Computerized 3 D positioning equipment and the method thereof of X ray of the present invention to target is described with reference to Fig. 1, Fig. 2 and Fig. 6.
One is detected patient body's internal target target location and can adjust the device that the treatment that makes line focus overlaps with target with the focus of energy: comprise that one is installed on and can centers on the C shape arm 4 that horizontal axis Y swings, the one end is installed image amplifier 2 and photographic head 1, the other end is installed the X ray bulb 8 of emission X ray, the image input face 3 of image amplifier 2 is accepted x-ray bombardment, make the central axis of the X-ray beam of X ray bulb 8 emission run through two coordinate axes intersection points of image input face 3 and perpendicular to image input face 3, the central axis of X-ray beam is vertical around the horizontal axis Y of swing with C shape upper-arm circumference again simultaneously; 2 of C shape arm 4 and image amplifiers are equipped with electric transmission machanism 10 and position sensor 15, in order to adjust image input face 3 and 8 distances of X ray bulb; Drive electric transmission machanism 11 and the angular transducer 16 of C shape arm 4 around horizontal axis Y swing; Drive the X coordinate electric transmission machanism 6 and the X coordinate position pick off 13 of X coordinate displacement, drive the Y coordinate electric transmission machanism 9 and the Y coordinate position pick off 17 of Y coordinate displacement, drive the Z coordinate electric transmission machanism 7 and the Z coordinate position pick off 14 of Z coordinate displacement; Can will treat the therapy equipment 12 that focuses on a focus with pulse energy, adopt the special machine structure that this focus is overlapped with the intersection point D of the central axis of X-ray beam with the horizontal axis Y of C shape arm 4 around swing all the time; The energy of therapy equipment 12 can be the device that high-voltage spark, laser, ultrasound wave, electromagnetic wave etc. can produce high energy pulse; Among the figure electric transmission machanism 6,9 and 7 and position sensor 13,17 and 14 be installed on special-purpose sick bed 18 times, also can be installed on C shape arm 4 under the horizontal axis Y of swing, be the purpose that intersection point D overlaps as long as reach target 5 by relative displacement with the focus of therapy equipment 12.
Computer Control Unit: comprise a computer 20 that contains specific software, receive the image pick-up card 22 of photographic head 1 image of taking the photograph, the display 21 that is used for data such as display image, be used for the artificial keyboard special 24 that sends instruction and manual control displacement, positions and angle-data that pick off 13,14,15,16 and 17 is detected are the transition card 23 of the digital quantity input computer 20 of standard through mould/number or number/number conversion, and the displacement signal that computer 20 is exported is through the TU Trunk Unit 19 of amplification rear drive electric transmission machanism 6,7,9,10 and 11.The focus that computer 20 calculates target 5 and blast wave generating apparatus 12 by the following preset program that will illustrate is the relative position between intersection point D, and displacement data is driven corresponding electric transmission machanism by TU Trunk Unit 19, and target 5 is overlapped with intersection point D.
Below carry out theoretical explanation with regard to the present invention.But at first operate the range of observation that keyboard special 24 regulation and control X, 6,9 projections with target 5 of Y coordinate electric transmission machanism place display 21.As Fig. 3, visual observation is also by the whole intersection points B that the X ray projection (hereinafter to be referred as projection) of target 5 is moved on to picture centre two coordinate axess of computer bit transposition in the position fixing process '.The projection initial position of target 5 is assumed to be coordinate points A ' among Fig. 3; X ' the coordinate figure of A ' point is A '
x, Y ' coordinate figure is A '
yThis image is that the image input face 3 by image amplifier 2 receives after image amplifier 2 is converted to visible images transfers to image pick-up card 22 input computers 20 after by photographic head 1 picked-up and be shown in display 21; Still equivalence think that image shown in Figure 3 is the actual image on the image input face 3 of x-ray bombardment image amplifier 2.So far we to have ready conditions the three-dimensional fix PROBLEM DECOMPOSITION be that XDZ and two plane positioning problems of YDZ are handled.Elder generation Analysis of X DZ plane is reduced to Fig. 4 with x-ray bombardment path among Fig. 1: A ' among the figure
x, B ' point is the respective point among Fig. 3, is present in the X ' coordinate axes of image input face 3; The O point is the X ray launching centre of X ray bulb 8 among the figure, for ease of measurement vertical survey axis Z is set, and OB ' line segment is the central axis of X-ray beam and overlaps with vertical survey axis Z in vertical state the time when it; Image input face 3 is vertical with the central axis OB ' of X-ray beam.The front is mentioned the D point and is overlapped with the intersection point of the central axis OB ' of X-ray beam and with the focus of therapy equipment 12 for the horizontal axis Y of C shape arm 4 around swing, and position fixing process need move to the position that overlaps with intersection point D with target 5 in Fig. 4.For positioning calculating, on OB ' line segment arbitrfary point, establish reference point b; For preventing the control bit amount of moving past, establish Ob＜OB.The A point is that target 5 is in the planar coordinate points of XDZ.Be noted that here digital image processing apparatus such as computer screen, image amplifier show and arbitrary image of reception all reaches the pixel composition of row-coordinate formation longitudinally with horizontal row coordinate, all arrange with a constant spacing between row and row pixel, it is exactly the extension position data that the pixel count in the same coordinate between any two pixels adds the average headway of taking advantage of adjacent two pixels; So computer 20 directly X ', the Y ' coordinate position of measurement image input face 3 any point on the image that receives also can calculate any distance between two points.Cross the A point and establish the parallel lines AB of X ' coordinate axes, cross the parallel lines ab that the b point is established X ' coordinate axes; A '
xBe the X ' coordinate figure of target 5 projections in the image input face 3, line segment A '
xB ' can be calculated by computer 20 and try to achieve; According to right angled triangle principle A ' as can be known
xThere is proportionate relationship between B ' and ab,, can tries to achieve ab because of Ob length is known.The coordinate points A ' at target 5 projection places in the screen of computer mouse cursor aligning display 21 is clicked, and computer 20 carries out following calculating:
In OB '=m+n formula, m is that the electric transmission machanism 10 of image amplifier 2 places stroke the most following in limited time, and the O point is to image
The distance that input face is 3,
N is that position sensor 15 detects image amplifier 2 electric transmission machanisms 10 in current location
Travel position, establishing electric transmission machanism 10 is zero in the most following this value in limited time of stroke.
ab＝(A’
xB’/OB’)Ob
After computer 20 made X coordinate electric transmission machanism 6 do corresponding displacement according to the ab line segment length, target 5 arrived the C point of AB line segment, i.e. AC=ab in the planar position of XDZ.Target 5 by the displacement first time after its X ' coordinate figure that is projected in image input face 3 be C '
xDo ray by the O point and arrive C ' through the C point
x, line segment OC '
xIntersect with line segment ab, establishing this intersection point is c.The new coordinate points C ' of target 5 projections in the screen of computer mouse cursor aligning display 21 is clicked, and computer 20 carries out following computing:
cb＝(C’
xB’/OB’)Ob
∵AB/ab＝(AB-AC)/cb
AB×cb＝(AB-AC)×ab
AB×ab-AB×cb＝AC×ab
∴AB＝AC×ab/(ab-cb)
CB＝AB-AC
After computer 20 made X coordinate electric transmission machanism 6 do corresponding displacement by the CB line segment length, target 5 arrived the B point in the planar position of X-Z; So far system finishes the position fixing process of target 5 at the X coordinate.
When carrying out the YDZ two dimensional analysis, only need the X coordinate axes among Fig. 4 is replaced by the Y coordinate axes, the X ' coordinate axes of image input face 3 is replaced by Y ' coordinate axes; Adopt identical method and formula, make Y coordinate electric transmission machanism 9 do corresponding second displacement after, can finish the positioning action of target 5 at the Y coordinate.
Below carry out the location Calculation of Z coordinate; Line segment OD is known, asks DB:
OB＝Ob/(ab/AB)
DB＝OB-OD
Computer 20 makes Z coordinate electric transmission machanism 7 do displacement by the DB line segment length, and target 5 overlaps with the D point.
So far finished in theory by the solid location of X ray to target 5.But, and be based on X, Y-axis plane picture in the computational process because target 5 is spatial; Below the error that may exist the Z coordinate carry out verification operation.Computer 20 is clockwise swung unspecified angle e with C shape arm 4 around horizontal axis Y (being the D point in Fig. 4) by electric transmission machanism 11, below analyzes referring to Fig. 5.Because through aforementioned position fixing process, target 5 is positioned on the not far vertical survey axis Z of D point.We suppose that target 5 is positioned at the E point, and projection is in the E ' of image input face; Target 5 projection centres in the screen of computer mouse cursor aligning display 21 are clicked, line segment OB ' and OD are known, line segment E ' B ' machine 20 calculating as calculated tries to achieve, ∠ e is the measurement result of angular transducer 16, do the F point that horizontal line intersects at vertical survey axis Z by the O point, then:
∠E’OB’＝tg
-1(E’B’/OB’)
Put the right side if E ' point is positioned at B ', then this angle value is a negative value.
OF＝OD×sin∠e
DF＝OD×cos∠e
∠DOF＝90°-∠e
∠EOF＝∠E’OB’+∠DOF
EF＝OF×tg/EOF
ED＝EF-DF
Computer 20 makes Z coordinate electric transmission machanism 7 do displacement by the ED line segment length; Finish verification operation to target 5 position fixing processs.
Certainly if after C shape arm 4 swings one angle, the coordinate position of display 21 display target targets 5 projections proves then that still at B ' some target 5 accurate positionings need not to proceed verification operation.
Determined the specific software of computer 20 according to above-mentioned control principle, its flow process as shown in Figure 7.
Referring to Fig. 7, at the current location data of step S01 by transition card 23 receiving position pick offs 13,17,14 and 15 each electric transmission machanism of gathering; Detect C shape arm 4 by angular transducer 16 and whether be in plumbness, otherwise adjust.Step S02 gathers being projected in display 21 images X ', Y ' coordinate position and calculating displacement data first of target 5, this displacement data is amplified rear drive X, Y coordinate electric transmission machanism 6,9 by step S03 output through TU Trunk Unit 19, and 5 projections of display 21 display target targets are close to the image coordinate center.Step S04 judges that whether target 5 projections are at display 21 image coordinate intersection points, be then to forward step S08 to, otherwise execution in step S05, gathering for the second time target 5 is projected in X ', Y ' coordinate position in display 21 images and enters step S06 and calculate X, Y, Z coordinate relative distance data between target 5 and intersection point (focus) D, after then entering step S07 and making X, Y, Z coordinate electric transmission machanism 6,9,7 carry out, target 5 overlaps with the D point.Step S08 enters the verification stage, makes electric transmission machanism 11 drive C shape arm 4 swings one angle, and the conversion viewing angle is with check Z coordinate setting accuracy.Whether step S09 people is for observing target 5 projections still at display 21 image coordinate intersection points, be then to forward step S13 to, otherwise execution in step S10, gather the coordinate position of target 5 projections in display 21 images and enter step S11 and calculate the position deviation on the Z coordinate between target 5 and intersection point (focus) D, then enter step S12 and make Z coordinate electric transmission machanism 7 these deviation datas of execution.The location of finishing target 5 enters step S13, make the system recovery original state after program withdraw from.If target 5 is less and operator have and can forward step S13 to behind the execution in step S07 after the experience and needn't enter the checking routine section.
Implementing the present invention says with regard to hardware aspect: improve a little as present domestic existing most of X ray location extracorporeal lithotiptor, as can adopt the present invention after setting up displacement, angular transducer and computer control system.Displacement, angular transducer can be selected polytypes such as potentiometer, linear potentiometer, grating encoder, current vortex, ultrasound wave; Mould/number, number/number conversion card need flux matched with the sensor output signal.Image pick-up card resolution adopts 800 * 600 or higher.Computer selects for use the also optional industrial computer of using of the popular type in market to improve reliability, reaches more than 1024 * 768 for ease of the observation display resolution requirement.Target is observed the visual field that should possess than broad, and 9 inches or the bigger image amplifier of bore are selected in suggestion for use.
Talk with regard to the software aspect: in the whole automatic position fixing process, localization method and computing formula have had clear and definite concrete elaboration in this article; Only need above-mentioned localization method, computing formula, displacement transducer feedback information are enrolled in the computer runs programs by software flow, programming language is not limit.
Claims (3)
1. an X ray is to the Computerized 3 D positioning equipment of target, it comprises a therapy equipment (12) that pulse energy is focused on a focus, one cover swing arm list beam X-ray device and XTV television system wherein contain one can be around the C shape arm (4) of horizontal axis Y swing, the one end is installed image amplifier (2) and photographic head (1), the other end is installed the X ray bulb (8) of emission X ray, the image input face (3) of image amplifier (2) is accepted x-ray bombardment, it is characterized in that: comprise the X coordinate electric transmission machanism (6) and the X coordinate position pick off (13) that drive the X coordinate displacement, drive the Y coordinate electric transmission machanism (9) and the Y coordinate position pick off (17) of Y coordinate displacement, drive the Z coordinate electric transmission machanism (7) and the Z coordinate position pick off (14) of Z coordinate displacement, electric transmission machanism (10) and position sensor (15) are housed between C shape arm (4) and image amplifier (2), drive electric transmission machanism (11) and the angular transducer (16) of C shape arm (4) around horizontal axis Y swing, a computer (20) that contains specific software, an image display (21), an image pick-up card (22), the TU Trunk Unit (19) that the displacement signal of computer (20) output is amplified the rear drive electric transmission machanism, a transition card (23) and a keyboard special (24) that mould/number or number/logarithmic data are changed.
2. localization method that adopts the described X ray of claim 1 to the Computerized 3 D positioning equipment of target, but the artificial adjustment actuating device moves to the projection of target the range of observation of image display device, it is characterized in that: computer (20) operation specific software adopts the X with the x-ray bombardment target, the picture position data of target are converted to the method for extension position data in the Y coordinate diagram picture, if the target projection is in the A ' of image input face (3) point, two coordinate axess of image input face (3) are X ', Y ', its intersection point is B ', the X ray launching centre of X ray bulb (8) is the O point, because the central axis of the X-ray beam of X ray bulb (8) emission runs through B ' and perpendicular to image input face (3), connect above-mentioned 2 for line segment OB ', intersection point D is positioned on the OB ' line segment and at O, B ' point-to-point transmission; The image that image input face (3) is received is measured the source as a kind of extension position, three-dimensional fix is decomposed into XDZ and two plane positioning of YDZ, the X ' coordinate figure of A ' point is A '
x, Y ' coordinate figure is A ' y; In the XDZ plane, line segment A ' is arranged
xB '; Connect O, A '
x2 is line segment OA '
x, the A point is present in OA ' for target at the planar coordinate figure of XDZ
xOn the line segment and at O, A '
xPoint-to-point transmission, the parallel lines AB that establishes X ' coordinate axes by the A point meets at the B point of line segment OB '; For positioning calculating, on OB ' line segment arbitrfary point, establish reference point b, for preventing the control bit amount of moving past, establish Ob＜OB, the parallel segment ab that is established X ' coordinate axes by the b point meets at line segment OA '
xThe a point; Line segment Ob, A '
xB ', OB ' are known quantity, adopt mathematical method to try to achieve line segment ab; The displacement that computer makes X coordinate electric transmission machanism (6) produce ab length, target arrives C point, i.e. AC=ab at the planar coordinate figure of XDZ near the B point; The X ray that is sent by the O point is with the C ' of C spot projection in X ' coordinate axes
xPoint is line segment OC '
xLine segment OC '
xIntersect with line segment ab, its intersection point is c; Still adopt mathematical method to try to achieve line segment CB; The displacement that computer makes X coordinate electric transmission machanism (6) produce line segment CB length, target arrives the B point at the planar coordinate figure of XDZ and has finished its position fixing process at the X coordinate; In the YDZ plane, adopt with X coordinate setting similar methods and can finish the position fixing process of target at the Y coordinate; Line segment OD is known, still adopts mathematical method to try to achieve line segment OB, and line segment OB subtracts line segment OD and equals line segment DB; Computer makes Z coordinate electric transmission machanism (7) produce the displacement of line segment DB length, and target overlaps with intersection point D and finished position fixing process; Be this position fixing process of verification, with C shape arm (4) around horizontal axis Y swing unspecified angle e, as Z coordinate setting exist deviation then change target after the viewing angle in the projection of image input face (3) with slip chart picture two coordinate axes intersection points B '; Cross intersection point D and be vertical survey axis Z perpendicular to horizontal plane, target is positioned on the not far vertical survey axis Z of intersection point D point, supposes that target is positioned at the E point, and projection is in the E ' of image input face (3) point; Line segment E ' B ', OB ' and OD are known, and angle e can be measured by angular transducer (16) and obtain, and does the F point that horizontal line intersects at vertical survey axis Z by the O point; Adopt mathematical method to try to achieve line segment ED; Computer makes Z coordinate electric transmission machanism (7) produce the displacement of ED length, finishes the localized verification operation of target.
3. according to the described localization method of claim 2, wherein said X with target, Y coordinate diagram look like the to hit picture position data of target location are converted to the method for extension position data: the image pixel number of the image of display (21) display target target and image input face (3) receiving target target image is made as in full accord, otherwise need multiply by a conversion coefficient; Pixel count between any two pixels in the same coordinate of image added take advantage of adjacent two pixel average headways to be the extension position data.
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| CN106546209B (en) * | 2016-11-22 | 2020-07-31 | 云南电网有限责任公司电力科学研究院 | Device and method for measuring shooting angle of X-ray machine |
| CN107550508B (en) * | 2017-10-16 | 2020-10-16 | 上海联影医疗科技有限公司 | X-ray machine |
| CN109172001B (en) * | 2018-07-19 | 2021-12-03 | 苏州铸正机器人有限公司 | Pre-alignment device for X-ray equipment and X-ray equipment |
| CN111091736A (en) * | 2020-01-14 | 2020-05-01 | 宁波创导三维医疗科技有限公司 | C-arm-imitated mechanism |
| CN112315547B (en) * | 2020-11-05 | 2021-09-10 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | External shock wave bladder stone breaking device |
| CN112315546B (en) * | 2020-11-05 | 2021-12-17 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Bladder stone breaking device |
| CN114166122B (en) * | 2021-12-02 | 2023-08-01 | 中国工程物理研究院流体物理研究所 | Automatic target adjusting device |
-
2002
- 2002-04-09 CN CNB021165653A patent/CN1162129C/en not_active Expired - Fee Related
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