GB2533803A

GB2533803A - Mammography device and method

Info

Publication number: GB2533803A
Application number: GB1423378.7A
Authority: GB
Inventors: Louis Wilfrid Muller Serge; Gabriel Iordache Razvan; Boudier Aurelie; Vancamberg Laurence
Original assignee: General Electric Co
Current assignee: General Electric Co
Priority date: 2014-12-31
Filing date: 2014-12-31
Publication date: 2016-07-06
Also published as: GB201423378D0

Abstract

A mammography device comprises an X-ray detector (4 in figure 1) placed under a breast support plate 6, and an X-ray source 2 coupled with a positioning assembly (10 in figure 1) comprising a collaborative robot arm (12 in figure 1) with multiple degrees of freedom. The robotic arm may consist of a plurality of portions or segments 12a,b,c, which are pivotally connected to each other in respective joints 12a,b, so they can rotate or translate with respect to each other. The robotic arm may be mechanically coupled to a supporting element 8 of the X-ray detector, or be attached to a vertical guide (15 in figure 2), or a mobile platform (14b in figure 3), which add more freedom of movement. The supporting element 8 may also be a collaborative robot. The device may also comprise an auxiliary arm 20 carrying a secondary device 20b, such as a biopsy device, an ultrasonic probe, a compression system, or another interventional device. The auxiliary arm may be a robot or cobot with its movement and position in cooperation with those of the X-ray source and detector.

Description

Mammography Device and Method

Technical Field

[0001] The present disclosure relates to the field of medical apparatuses. More particularly, the present disclosure relates to a mammography device and related method for performing a mammography.

Background

[0002] Breast cancer is a prolific cause of life threatening disease that affects millions worldwide. Because early detection greatly improves survival rates, screening methods, such as mammography, have been established to detect malignant lesions as early as possible, resulting.in earlier diagnosis and treatment.

[0003] Mammography devices, also referred as mammographs, conventionally comprise at least one x-ray source and a console which is arranged opposite said source and intended to receive and support the patient's breast. This console integrates a detector for detecting the x-rays after they have passed through the patient's breast (array of sensors, x-ray sensitive film cassette, etc.) and is associated with a breast compression paddle which is designed to compress the breast against the console when images are being taken. The x-ray source is supported by a mechanical arm of the mammograph, while the x-ray detector is placed under the console. The arm and the console are movable relative to one another and are mechanically coupled.

[0004] The physician, in order to perform the examination, has to move the arm above the breast so as to acquire the x-ray images and he can move it step-by-step by pressing different buttons provided on it, each button making the arm move in a predefined direction and/or orientation. When the arm has to be removed from above the x-ray detector so as to let the physician reach the patient's breast, a parking button has to be pressed, thus moving the arm to predefined parking positions.

[0005] The mammographs can be further provided with devices for an assisted manipulation of an instrument, such as for example an echographic probe, which the physician may want to use to conduct an additional examination over an area in which there is a possible lesion. However the physician, in order to use such devices, has to localize the lesion to be evaluated by mentally "superimposing" the image acquired by the mammograph over the breast. This requires a lot of efforts and often leads to imprecise localization of the lesion, which may be particularly detrimental.

[0006] In addition to the above, the mammographs can be also provided with an apparatus for performing the breast biopsy called biopsy positioner. Such positioner is an auxiliary device fixed, in a manner per se known, to the mammograph, to be used to perform a breast biopsy.

[0007] Collaborative robot or "cobot" are moreover well known in the art. A cobot makes possible a direct physical collaboration between a person and a computer controlled manipulator. Cobots may take a number of configurations common to conventional robots. In place of the actuators that move standard robots, cobots use variable transmission elements whose transmission ratio is adjustable under computer control by use of small steering motors. Cobots guide, redirect or steer motions that originate with the human operator. Thus, both the cobot and the human operator apply forces on a common object, which may be for example a tool.

[0008] Cobots are used in medical applications, for example applied to devices for performing a biopsy. However, in the medical field cobots are used only for small tools, which are light and easy to move, due to the difficulty in applying cobots design to big devices.

[0009] A first problem with the common mammography devices is that the physician has to press many buttons to move the arm in the desired position when performing the examination, thus requiring time to complete each examination. A second problem is that, when parked, the arm cannot be completely pushed away from the detector because the number of parking positions is limited, and the console is mechanically linked to the arm, thus preventing the physician from easily accessing the breast. A further problem is that, when using the mammograph for performing a breast biopsy, guided by stereotaxy or digital breast tomosynthesis, the biopsy positioner is fixed relatively to the detector, thus resulting in images that are partially unusable because the biopsy device itself hides a too big portion of the x-ray detector. In addition, as the biopsy device is above the detector, there is a risk of collision between the x-ray source and the biopsy device, thus forbidding some image acquisition. Accordingly, there is the need to improve the mammography device so that the physician can perform a quicker and more precise examination by moving faster the arm above the patient's breast allowing, at the same time, to perform additional interventional steps such as a biopsy in a more comfortable way.

Summary of the invention

[0010] The embodiments of the present invention described herein are directed to a mammography device and a related method for performing mammography which solves the problems and disadvantages with the background art. This can be achieved by the features as defined by the independent claims. Further enhancements are characterized in the dependent claims.

[0011] In one aspect, the present disclosure is directed to a mammography device comprising an x-ray source, an x-ray detector placed under a breast support plate for supporting a patient's breast and arranged to detect the x-rays coming from the x-ray generator after they have passed through the patient's breast, and a positioning assembly for positioning the x-ray source with respect to the breast support plate, wherein the positioning assembly comprises an arm having multiple degrees of freedom, said arm being a collaborative robot.

[0012] In another aspect of the present disclosure, the arm comprises a plurality of arm portions pivotally connected each other in respective joints, so that each arm portion can rotate with respect to its adjacent arm portions.

[0013] In another aspect of the present disclosure, the arm comprises a plurality of arm portions connected each other in respective joints, so that each arm portion can translate with respect to its adjacent arm portions.

[0014] In another aspect of the present disclosure, the device further comprises a mobile platform to which the arm is fixed.

[0015] In another aspect of the present invention, the arm is supported by a column having at least a vertical guide in which the arm slides along a vertical direction z. [0016] In another aspect of the present invention, the column also moves along a non vertical direction z. [0017] In another aspect of the present disclosure, the device further comprises at least one supporting element for supporting the breast support plate and the detector.

[0018] In another aspect of the present disclosure, the at least one supporting element is mechanically decoupled from the arm.

[0019] In another aspect of the present disclosure, the device further comprises an auxiliary arm arranged to cooperate with the x-ray source and the x-ray detector for performing a breast imaging, said arm being a robot or a cobot.

[0020] In another aspect of the present disclosure, the at least one supporting element is a robot or a cobot.

[0021] In another aspect, the present disclosure is directed to a method for performing mammography by a device comprising an x-ray source, an x-ray detector placed under a breast support plate for supporting a patient's breast and arranged to detect the x-rays coming from the x-ray source after they have passed through the patient's breast, and a positioning assembly for positioning the x-ray source with respect to the breast support plate comprising a collaborative robot arm, wherein the method comprises: placing a patient's breast on the breast support plate; placing the x-ray source in a first position by moving arm portions of the arm through mechanical joints connecting such arm portions, said arm being controlled so as to obtain collaborative guides and/or redirection of the motions.

[0022] In another aspect, in the method of the present disclosure the first position is a parking position or an initial position of an imaging trajectory.

[0023] In another aspect of the present disclosure, the method further comprises moving an auxiliary robot or cobot arm to help to perform an additional examination.

[0024] In another aspect of the present disclosure, the method further comprises moving at least one robot or cobot supporting element supporting the breast support plate.

[0025] At least one of the above embodiments provides one or more solutions to the problems and disadvantages of the background art. One advantage that may be realized in the practice of some embodiments of the described mammography device is that easy displacement of the gantry can be obtained, and free work space around the breast support can be gained. In addition, optimized screening, diagnostic or interventional breast procedures can be performed. Other technical advantages of the present disclosure will be readily apparent to one skilled in the art from the following description and claims. Various embodiments of the present application obtain only a subset of the advantages set forth. No one advantage is critical to the embodiments. Any claimed embodiment may be technically combined with any other claimed embodiment(s).

Brief description of the Drawings

[0026] The accompanying drawings illustrate exemplary embodiments of the disclosure and serve to explain, by way of example, the principles of the disclosure.

[0027] FIG. I is a perspective view of a mammography device according to an exemplary embodiment of the invention; [0028] FIG. 2 is a perspective view of a mammography device according to another exemplary embodiment of the invention; [0029] FIG. 3 is a perspective view of a mammography device according to another exemplary embodiment of the invention; [0030] FIG. 4 is a top view of the mammography device of fig. 1; [0031] FIG. 5 is a top view of the mammography device of fig. 1 in a parking position; [0032] FIG. 6 is a perspective view of a mammography device according to another exemplary embodiment of the invention.

[0033] FIG. 7 shows a flow chart of a method for performing mammography.

Detailed description

[0034] With reference first to FIG. I, a mammography device according to an exemplary embodiment of the disclosure is generally indicated 1. The device 1 basically comprises an x-ray source 2, an x-ray detector 4 placed under a breast support plate 6 supported by at least one supporting element 8, and a positioning assembly 10 for positioning the x-ray source 2 with respect to the breast support plate 6.

[0035] The breast support plate 6 is arranged to receive and support the patient's breast; the x-ray detector 4 is arranged to detect the x-rays coming from the x-ray source 2 after they have passed through the patient's breast. The device 1 further comprises, in a manner per se known, a breast compression paddle (not shown in the figures) which is designed to compress the breast against the breast support plate when images are being taken.

[0036] The positioning assembly 10 comprises an arm 12 supported by a base 14, said arm 12 being decoupled from the x-ray detector 4 and having multiple degrees of freedom so that it can be easily moved in any desired direction above the patient's breast. The arm 12 preferably comprises a plurality of arm portions 12a, 12b, 12c pivotally connected each other in respective joints 12a', 12b', so that each arm portion 12a, 12b, 12c can rotate with respect to its adjacent ones. Alternatively, the arm portions 12a, 12b, 12c are connected each other with other mechanical joints so that each arm portion 12a, 12b, 12c can translate with respect to its adjacent ones. Alternatively, the arm portions 12a, 12b, 12c can both rotate and translate each other. In the present description, when referring to the motion of the arm portions 12a, 12b and 12c, it is meant both translation and rotation of them, and any other combination of such movements. The supporting element 8 may be either mechanically coupled or decoupled to the arm 12.

[0037] The arm 12 is a collaborative robot (cobot) which can be moved in a co-manipulated mode. This cobot is a computer-controlled robotic apparatus arranged to assist the physician by guiding and/or redirecting motions initiated by him/her. The cobot is therefore intended to physically interact with the physician in a predefined workspace and it includes, in a manner per se known, a plurality of force sensors in each joint 12a', 12b', motors analysis units, sensitive surfaces, etc. The cobot compensates the gravity forces applied by the x-ray source 2 and enables the physician to manipulate the arm 12 easily.

[0038] In FIG. 2 is shown a perspective view of a mammography device according to another exemplary embodiment of the invention wherein the base 14 is replaced with a column 14a having at least vertical guide 15 in which the arm 12 slides along a vertical direction z. Alternatively, the column 14a may also move in another non vertical direction.

[0039] In FIG. 3 is a perspective view of a mammography device according to another exemplary embodiment of the invention, wherein the base 14 is replaced with a mobile platform 14b to which the arm 12 is fixed. The arm portions 12a, 12b, 12c are therefore arranged to move with respect to the mobile platform 14b, thus allowing supplementary degrees of freedom to position the x-ray source 2.

[0040] In FIG. 4 is shown a top view of the same device of figure 1, in which the x-ray source 2 is placed above the breast support plate 6.

[0041] In FIG. 5 is shown a top view of the device of fig. 1 wherein the arm 12 is placed in a parking position completely removed from the breast support plate 6, so that the x-ray source 2 and the arm 12 don't cover the breast support plate 6 when parked, thus allowing the physician to easily reach the patient's breast on the breast support plate 6. Thanks to the fact that the x-ray source 2 is hold the cobot arm 12, the physician can place it in any desired parking position (and not only in a predefined one) gaining a lot of free working space around the breast.

[0042] In FIG. 6 is shown a perspective view of a mammography device according to an alternative embodiment of the invention. In this embodiment the device 1 further comprises an auxiliary arm 20 supported by a base 22 and arranged to cooperate with the x-ray source 2 and the x-ray detector 4 to perform a breast imaging procedure. The auxiliary arm 20 includes as non-limiting examples a US probe, a biopsy device, a compression system, or another interventional device that could be useful during a breast imaging procedure. Preferably, the auxiliary arm 20 includes at least a first portion 20a supporting the interventional instrument 20b. The auxiliary arm 20 is a robot or, more preferably, a cobot.

[0043] In an alternative embodiment of the invention, the arm 12 is a cobot, the auxiliary arm 20 is a robot or a cobot and also the supporting element 8 is a robot or, more preferably, a cobot.

[0044] The three robots/cobots have to be synchronized and exchange data in order to avoid collisions and optimize the image acquisition. For example, the robot/cobot of the auxiliary arm 20 sends its position to the robot/cobot of the supporting element 8, so that a control unit (not shown in the figures) associated in a manner per se known to all the robots/cobots calculates the optimal collision-free trajectory for the arm 12, in order to get the best image quality by minimizing artifacts of the images and by reducing zones hidden by the other components of the device 1. Similarly, the robot of the auxiliary arm 20 can adapt its position and orientation to the trajectory performed by the arm 12.

[0045] Thanks to the collaboration between multiple robots/cobots, the imaging trajectories of the x-ray source 2 and the auxiliary arm 20 can be optimized, maximizing the usable part of the images to perform additional interventional steps on the patient's breast such as for example a biopsy or an echography.

[0046] In another embodiment of the present disclosure, the first portion 20a of the auxiliary arm 20 is arranged to be repositionable with respect to the interventional instruments 20b, thus maximizing the usable part of the device 1.

[0047] FIG. 7 shows a flow chart according to a method 100 for performing mammography (e.g. a mammography examination or procedure) using a mammography device 1. The device comprises an x-ray source 2, an x-ray detector 4 placed under a breast support plate 6 for supporting a patient's breast and arranged to detect the x-rays coming from the x-ray source 2 after they have passed through the patient's breast, and a positioning assembly 10 for positioning the x-ray source 2 with respect to the breast support plate 6, said assembly comprising a collaborative robot arm 12. The method comprises at least the following steps. According to a first method step 101, a patient's breast is placed on the breast support plate 6. In method step 102 the x-ray source 2 is placed in a first position by moving arm portions 12a, 12b, 12c of the arm12 through mechanical joints 12a', 12b' connecting such arm portionsl2a, 12b, 12c, thus obtaining a collaborative guide and/or redirection of the motions. In method step 103 the x-ray source 2 is activated and the x-ray detector 6 detects the x-rays coming from the x-ray source 2 after they have passed through the patient's breast, thus obtaining a set of x-ray images.

[0048] In the present description, by the expression "collaborative guide and/or redirection of the motions" it is defined as follows. Because the arm 12 is a collaborative robot arm, when its portions 12a, 12b, 12c are moved they can each collaborate with the source of the motion so as to adjust it. The cobot arm portions 12a, 12b, 12c guide, redirect and/or steer motions that originate with an operator, human or otherwise, when the operator places the x-ray source 2 in the first position. Thus, both the cobot arm 12 and the operator apply forces on the x-ray source 2, with the cobot arm 12 "guessing" and/or "interpreting" the desired motions (rotations, translation, etc.) of the operator. The cobot arm portions 12a, 12b, 12c use variable transmission elements whose transmission ratios are adjustable under computer control by use of small steering motors.

[0049] Moreover, the method may further comprise an additional step 104 of placing the x-ray source in second positions by moving arm portions 12a, 12b, 12c of the arm12 through mechanical joints 12a', 12b' connecting such arm portionsl2a, 12b, 12c, thus obtaining a collaborative guide and/or redirection of the motions.

[0050] Preferably, the first position is the parking position, as previously disclosed with reference to FIG. 5, while the second position is an initial position of the imaging trajectory of the x-ray source 2, preferably any position above the breast or in any case related to the examination and the acquisition of the images, for example right or left to the breast or another parking position.

[0051] Moreover the method may further comprise an additional step 105 of moving an auxiliary robot or cobot arm 20 above the breast to perform an additional examination such as, for example, a biopsy or an echography.

[0052] Moreover the method may further comprise an additional step 106 of moving an auxiliary robot or cobot supporting element 8 supporting the breast support plate 6.

[0053] This description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art.

LIST OF ELEMENTS

1 mammography device 2 x-ray source 4 x-ray detector 6 breast support plate 8 supporting element positioning assembly 12 arm 12a, 12b, 12c arm portions 12a', 12b' joints 14 base 14a column 14b mobile platform auxiliary arm 20a first portion 20b interventional device 22 base method 101 first method step 102 second method step 103 third method step 104 fourth method step fifth method step 106 sixth method step

Claims

What is claimed is: 1. A mammography device comprising an x-ray source, an x-ray detector placed under a breast support plate for supporting a patient's breast and being arranged to detect the x-rays coming from the x-ray source after they have passed through the patient's breast, and a positioning assembly for positioning the x-ray source with respect to the breast support plate, wherein the positioning assembly comprises an arm having multiple degrees of freedom, said arm being a collaborative robot.
2. The device according to claim 1, wherein the arm comprises a plurality of arm portions pivotally connected each other in respective joints, so that each arm portion can rotate with respect to its adjacent arm portions.
3. The device according to claim 1 or 2, wherein the arm comprises a plurality of arm portions connected each other in respective joints, so that each arm portion can translate with respect to its adjacent arm portions.
4. The device according to claim 1 or 2, further comprising a mobile platform to which the arm is fixed.
5. The device according to claim 1 or 2, wherein the arm is supported by a column having at least a vertical guide in which the arm slides along a vertical direction z.
6. The device according to claim 5, wherein the column also moves along a non vertical direction.
7. The device according to any of the preceding claims, further comprising at least one supporting element for supporting the breast support plate and the x-ray detector.
8. The device according to claim 7, wherein the at least one supporting element is mechanically decoupled from the arm.
9. The device according to any of the preceding claims, further comprising an auxiliary arm arranged to cooperate with the x-ray source and the x-ray detector for performing a breast imaging, said arm being a robot.
10. The device according to any of the preceding claims, further comprising an auxiliary arm arranged to cooperate with the x-ray generator and the x-ray detector for performing a breast imaging, said arm being a cobot.
11. The device according to claims 7 or 8, wherein the at least one supporting element is a robot.
12. The device according to claims 7 or 8, wherein the at least one supporting element is a cobot.
13. A method for performing a mammography by a device comprising an x-ray source, an x-ray detector placed under a breast support plate for supporting a patient's breast and arranged to detect the x-rays coming from the x-ray source after they have passed through the patient's breast, and a positioning assembly for positioning the x-ray source with respect to the breast support plate comprising a collaborative robot arm, the method comprising: placing a patient's breast on the breast support plate; placing the x-ray source in a first position by moving arm portions of the arm through mechanical joints connecting such arm portions, said arm being controlled so as to obtain collaborative guides and/or redirection of the motions.
14. The method according to claim 13, wherein the first position is a parking position.
15. The method according to claim 13, wherein the first position is an initial position of an imaging trajectory.
16. The method according to any of the claims 13 to 15, further comprising moving an auxiliary robot arm to help performing an additional examination.
17. The method according to any of the claims 13 to 15, further comprising moving an auxiliary cobot arm to help to perform an additional examination.
18. The method according to any of the claims H to 17, further comprising moving at least one robot supporting element supporting the breast support plate.
19. The method according to any of the claims 13 to 17, further comprising moving at least one cobot supporting element supporting the breast support plate.