CN102119862B - System and method to automatically assist mobile image acquisition - Google Patents
System and method to automatically assist mobile image acquisition Download PDFInfo
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- CN102119862B CN102119862B CN201010604230.0A CN201010604230A CN102119862B CN 102119862 B CN102119862 B CN 102119862B CN 201010604230 A CN201010604230 A CN 201010604230A CN 102119862 B CN102119862 B CN 102119862B
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Abstract
A system and a method to perform image acquisition of a subject is provided. The system includes a mobile device to move an imaging system across a floor, and a brake system that restrains movement of the mobile device. A controller includes a memory having program instructions to instruct a processor to perform the steps of: instructing movement of the mobile device in support of the imaging system to a first position for image acquisition of the subject; receiving feedback that the mobile device is located at the first position; and applying a brake force to restrain movement of the mobile device. The step of applying the brake force includes generating from the mobile device an electromagnetic force in restraint of movement of the mobile device with respect to the floor.
Description
Related application
The application is the part continuation application (CIP) of the title submitted on May 22nd, the 2009 french application No.0953407 that is " X-ray production apparatus " and requires its priority, by reference it is intactly attached to herein.
Technical field
In general, theme herein relates to Image Acquisition, more particularly, relates to method and the layout of the Image Acquisition of assisting person under inspection.Although more than describe and refer to imaging of medical, this system is also applicable to industrial imaging.
Background technology
Medical imaging system comprises various imaging forms, such as x ray system, computed tomography (CT) system etc.Medical imaging system for example produces as the image of patient's and so on object as the energy source through x ray of patient and so on by being exposed to.The image producing can be used for many objects.For example, internal flaw in, can detected object.In addition, can determine the variation of internal structure or aligning.Fluid in also can indicated object flows.In addition, image can show whether the object in patient body exists.The information obtaining from medical diagnosing image is applied during comprising many fields of medical science and manufacture.
Certain conventional medical imaging system comprises mobile C type arm system.Mobile C type arm system can be used for for example general surgery, vascular surgery and operation on heart.Conventional mobile C type arm system is equipped with radioactive source or the emitter for example, with radiation monitor (image intensifier) in a confronting relationship, and both with respect to being imaged person under inspection, moves.When person under inspection being positioned between radioactive source and detector, make C type arm system move and rotate, to make radiation be imaged person under inspection from various directions processes.When radiation process person under inspection, anatomical structure causes the variable attenuation of the radiation through being imaged person under inspection and receiving at detector.Detector converts the radiation through decay to adopt in diagnostic assessment image.In the typical medical procedure around this class imaging system, a plurality of internists, nurse and skilled worker are positioned at the very approaching person under inspection's of being imaged part.
Summary of the invention
Need a kind of mobile imaging system, it can be easily and is automatically positioned at the optional position in crowded working environment.Above-mentioned need to by herein in the following description described embodiment solve.
According to an embodiment, the method that provides a kind of person under inspection's moving images to obtain.The method comprises the following steps: to provide the imaging system being bearing on mobile device, so that the movement on the ground of guiding imaging system; The restriction of release to the movement of mobile device; The mobile device of indication supporting imaging system moves to the primary importance for person under inspection's Image Acquisition; Receive the feedback that mobile device is positioned at primary importance; And apply brake force with the movement of moving-limiting device, the step that wherein applies brake force comprise from mobile device produce electromagnetic force with moving-limiting device with respect to the movement that is attached in ground plate.
According to another embodiment, provide the system of a kind of person under inspection's of execution Image Acquisition.This system comprises: imaging system, can operate to carry out person under inspection's Image Acquisition; Mobile device, can operate so that imaging system moves on the ground; Brakes, its moving-limiting device is with respect to the movement on ground; The controller communicating with imaging system, mobile device and brakes, controller comprises memorizer, and described memorizer has a plurality of programmed instruction that indication process is carried out the following step: the mobile device of indication supporting imaging system moves to the primary importance for person under inspection's Image Acquisition; Receive the feedback that mobile device is positioned at primary importance; And apply brake force with the movement of moving-limiting device, the step that wherein applies brake force comprise from mobile device produce electromagnetic force with moving-limiting device with respect to the movement that is attached in ground plate.
According to another embodiment, a kind of computer program is provided, it is controlled by being bearing on mobile device so that the Image Acquisition that mobile imaging system is carried out on the ground.Computer program comprises computer-readable medium, has stored computer executable instructions and has carried out for processor, to carry out the following step: the mobile device of indication supporting imaging system moves to the primary importance for person under inspection's Image Acquisition on it; Receive the feedback that mobile device is positioned at primary importance; And apply brake force with the movement of moving-limiting device, the step that wherein applies brake force comprise from mobile device produce electromagnetic force with moving-limiting device with respect to the movement that is attached in ground plate.
System, the method and computer program product of excursion are described herein.Except the aspect described in this general introduction and advantage, by describing in detail with reference to accompanying drawing and with reference to following, other side and advantage will become apparent.
Accompanying drawing explanation
Fig. 1 illustrates the schematic diagram of an embodiment of the mobile imaging system of theme described herein.
Fig. 2 illustrates the detailed maps of an embodiment of the brakes that optionally limits the mobile platform parts of Fig. 1 and the movement of imaging system, and described brakes is in standby or indentation state.
Fig. 3 illustrates the detailed maps of an embodiment of the brakes that optionally limits the mobile platform parts of Fig. 1 and the movement of imaging system, and described brakes is in to the mobile restriction of the mobile device of Fig. 1 and imaging system or clamp down in state.
Fig. 4 illustrates the schematic flow diagram of an embodiment of the method for the navigation mobile device of being combined with the imaging system of Fig. 1.
Fig. 5 illustrates the flow chart of an embodiment of the transportation of imaging system of control chart 1 and the movable support bracket system of Fig. 1 of restriction.
Fig. 6 explanation according to theme described herein, be bearing in an embodiment of the imaging system on the mobile device of being combined with brakes, described brakes is in release conditions.
Fig. 7 explanation according to theme described herein, be bearing in an embodiment of the imaging system on the mobile device of being combined with brakes, described brakes is in restriction state.
Fig. 8 illustrates the plate of movement or an embodiment of insert of being combined moving-limiting device and supporting imaging system thereon with the brakes of Fig. 6 and Fig. 7.
Fig. 9 explanation according to theme described herein, be bearing in another embodiment of the imaging system on the mobile device of being combined with brakes, described brakes is in release conditions.
The schematic flow diagram of an embodiment of the method for the brakes that Figure 10 explanation is combined with mobile imaging system according to theme described herein, operation.
The specific embodiment
In the following detailed description, with reference to the accompanying drawing that forms its part, in accompanying drawing, the mode of explanation illustrates enforceable specific embodiment by way of example.These embodiment are carried out to enough detailed description, to enable those skilled in the art to implementing these embodiment, and be appreciated that and can utilize other embodiment, and can carry out logic, machinery, electric changing with other, and not deviate from the scope of embodiment.Therefore, below describing in detail is not to be appreciated that as restrictive.
Fig. 1 illustrates the system 5 of the person under inspection of theme described herein or patient 8 Image Acquisition.An embodiment of system 5 can comprise as the imaging system of X-ray production apparatus 10 and so on, and X-ray production apparatus 10 can operate so that X ray through person under inspection or patient 8, then detects and process obtained view data for explaining.Yet, the type of imaging system (for example, computed tomography (CT), ultrasound wave (US), Electron beam CT (EBT), magnetic resonance (MR), cryptoscope, angiography, positron-electron transmitting (PET) etc.) can change.
An embodiment of X-ray production apparatus 10 is vascular types, and is arranged in inspection chamber or operating room or mixing chamber (to be labeled as the form of 12 frame, representing).Can operated from a distance X-ray production apparatus 10, for example make to protect operator to avoid radiation.Alternatively, X-ray production apparatus 10 can be placed in inspection chamber or operating room 12, makes health care supplier when patient 8 is carried out to medical procedure, to check obtained view data.
X-ray production apparatus 10 can comprise gantry 13, and gantry 13 comprises the arm 14 that can rotate at least two dimension in the space around patient 8.Arm 14 generally can be C shape, and at one end bearing the X-ray tube 16 as x-ray source, and at its other end supporting detector 18.Yet, the shape of arm 14 can be curve, that have angle, circular or O shape, etc., rather than theme described herein is limited.The example of arm 14 can be as GENERALELECTRIC
the mobile C shape arm C shape that Corporation manufactures, that manufacture as Ziehm Imaging Incorporated and as MEDTRONIC
inc. the O-ARM manufacturing
x ray tube 16 generally can operate to send X-ray beam 20 along transmit direction.
Detector 18 is relative and on transmit direction, hang on arm 14 with pipe 16.X-ray tube 16 and visual detector 18 can be arranged on the opposite end of arm 14, make to manage that 16 X ray of launching can incide detector 18 and by its detection.Detector 18 can be connected to for the elevator (not shown) at transmit direction rising and reduction detector 18.
For example, during radiographic exposure, x ray tube 16 and detector 18 can be located so that when patient 8 is for example during between X-ray tube 16 and detector 18 and by x-ray bombardment, the data of the patient's 8 that detector 18 generation expressions get involved characteristic, it can show routinely and store in electronics mode on monitor (not shown).
An embodiment of arm 14 can be installed on movable support bracket or platform or device 22 by supporting member 24.Supporting member 24 can be fixedly mounted on mobile device 22.Arm 14 can be connected to supporting member 22 by turning arm 26.Arm 14 can be mounted to slide with respect to turning arm 26.Turning arm 26 can be around the axle rotation through X-ray beam 20.This rotary part of turning arm 26 on supporting member 24 can make X-ray tube 16 and visual detector 18 can along or around the arc rotary of turning arm 26 mobile.Arm 14, supporting member 24 and turning arm 26 can be used hinge joint mutually, to make X-ray production apparatus 10 can make x ray tube 16 and detector 18 move in general three-dimensional, thereby obtain the patient's 8 who checks with different incident values internal's image.By the rotatablely moving of movable part of combination X-ray production apparatus 10, X-ray beam 20 can be described all sending directions of the X ray being included in spheroid.
The embodiment of mobile device 22 can generally be configured to make X-ray production apparatus 10 to move on the ground.That an embodiment of mobile device 18 can include wheel or roller system 40, it can operate so that each direction of mobile device 22 plane represented on ground moves or is shifted, and comprises that mobile device 22 is around the rotation of the vertical axis through X-ray beam 20.An embodiment of roller system 40 comprises at least one Motor Drive and directive wheel 44 and at least one flywheel 48.Another example of roller system 32 can comprise complete wheel.There is type wheel or roller system 32 to change.Fig. 2 illustrates an embodiment of mobile device 18, and it comprises two Motor Drive and the directive wheel 44 that is relatively arranged on mobile device 18 rear portions with arm 14.Fig. 3 illustrates an embodiment of mobile device 18, and it comprises two Motor Drive arranging to front portion and directive wheel 44 and to a flywheel 48 of location, rear portion.Quantity and the position of Motor Drive and directive wheel 44 or flywheel 48 can change.
Mobile device 22 also can comprise driver (for example, electricity, pneumatic, hydraulic pressure, etc.) 50, and it can operate so that take turns 44,48 and move.An embodiment of driver 50 can comprise the direction motor that is coupled to drive motor.Wheel 44,48 can be according to mode known to those skilled in the art to the connection of driver 50.The mode that can be independent of the power supply of X-ray production apparatus 10 is powered to mobile device 22.
The examining table that can lie in conjunction with patient 8 or bed 34 operate x radiography unit 10.X-ray production apparatus 10 can be shifted in mode of operation, mobile or location, so that examining table 34 is placed in the C shape of arm 14, make x ray tube 16 can be positioned at the below of examining table 34, and detector 18 is positioned at the top of examining table 34, vice versa, and the patient 8 of examine is positioned in the path of X-ray beam 20.
As shown in Figure 2, X-ray production apparatus 10 can comprise controller or control unit 60, to automatically control driver 50, the wheel 44 of mobile device 22 is moved.An embodiment of control unit 60 can comprise processor or microprocessor 62 and program storage 66 and the data storage 68,70 that is connected to bus 64.Program storage 66 can be divided into some regions or module, and each module is corresponding to function or operator scheme or the action of X-ray production apparatus 10.Action can be corresponding to the realization by being connected to 62 pairs of one or more modules of processor of program storage 66, and memory module in program storage 66 is instruction code all or part of that forms module.Action can be the result of program, and action can be carried out by processor 62, and wherein processor 62 can be controlled by the instruction code being recorded in the program storage 66 of x radiography unit 10.These instruction codes can be realized the parts that machine 10 can perform an action.
The discussion of region as herein described or memorizer 66,68,70 and diagram are illustrating of the layout of assembly and the record of data for example.According to the speed of the restriction of Database size and/or desirable processing operation, these regions or memorizer 66,68,70 can be unified or distribute.
An embodiment of program storage 66 comprises the region 70 of instruction code, so as to receive with mobile device 22 or X-ray production apparatus 10 on movable signal corresponding to the activation of position control (for example button, touch screen, trigger, stick etc.).Position control 72 can be also the ingredient of remote control unit 73.
Region 74 can comprise according to extracting the instruction code of the position coordinates being reached by X-ray production apparatus 10 from data storage 68 for the reception signal described in region 70 above.
The region 74 of instruction code can communicate or order navigation system 78 with navigation system 78, to determine the coordinate of the current location of X-ray production apparatus 10.Navigation system 78 can comprise manual position control 72, the movement of the drive system of the arm 14 of its control mobile device 22 and/or X-ray production apparatus 10.An embodiment of position control 72 for example can control mobile device 22, in the movement of various directions (, forward, backward, to the left or to the right) and for example control, to the similar displacement of Image Acquisition (, panorama, level, vertical and zoom).Navigation system 78 can operate to convert the displacement of position control 72 or movement to can be explained by the control unit 60 of mobile device 22 the signal of telecommunication.Stick 79 can be controlled the movement of the pre-programmed track that mobile device 22 wishes along operator thus.
Region 80 can comprise the instruction code of order navigation system 78, so as to set up from current location and from x radiography unit 10 by the mobile route of the position reaching.
Region 82 can comprise operation, activation, work or the mobile instruction code of command-driven device 50.
Region 84 can comprise the instruction code of the task orientation signal of the arm 14 that receives the X-ray production apparatus 10 corresponding with the startup of the orientation order of Image Acquisition for patient 8.These orientations and position command can be different.
Region 86 can comprise that order comprises the instruction code of movement of X-ray production apparatus 10 movable parts of arm 14, turning arm 26, supporting member 15 and/or roller system 40.Can carry out the movement of these parts 14,24,26,40 fixed with oriented signal, patient to be imaged 8 interest region is remained in X-ray beam 20.
An embodiment of data storage 68,70 can comprise predetermined parking and operating position.Stand can be wherein X-ray production apparatus 10 park or during idle pulley in the outside orientable place of the required restricted clearance of medical procedure or position.Operating position can be place or the position that wherein X-ray production apparatus 10 is carried out patient 8 Image Acquisition.An example of data storage 68,70 can form according to the table format of row and column, and wherein each row is corresponding to the coordinate of the position of X-ray production apparatus 10, and each row are corresponding to this locational information of X-ray production apparatus 10.For example, row can be corresponding to the predetermined work position of X-ray production apparatus 10 or the coordinate of stand, and row can be corresponding to the associated shift signal of startup of the given position order with X-ray production apparatus 10.
Data storage 68,70 also can comprise the movable part 14,24,26 of X-ray production apparatus 10 or the predetermined work of roller system 40 orientation.Task orientation can be the configuration of X-ray production apparatus 10, and wherein arm 14, supporting member 24, turning arm 26 and roller system 40 can or move in radiography position according to oriented signal displacement.This displacement can not affect patient 8 the interest region of examine with respect to the position of X-ray beam 20.
An embodiment of data storage 68,70 can form according to the table format of row and column, and wherein each row is corresponding to the movable part 14,24,26 of X-ray production apparatus 10 or 40 task orientation, and each row are corresponding to an information in this orientation.For example, row can be corresponding to by by each movable part 14,24,26 or 40 movements of carrying out, and the movable signal that row can be associated corresponding to the startup of the given orientation order with X-ray production apparatus 10.Position and orientation order can start simultaneously or successively.
Fig. 4 illustrates an embodiment of the method 100 of theme herein.The first preliminary step 104 can comprise makes X-ray production apparatus 10 enter standby mode.Step 106 can comprise position or the orientation order that receives X-ray production apparatus 10.
Step 108 can comprise identifies the type (for example position signalling) of obtaining signal.Step 109 can comprise according to the receiving position signal in step 106 to be calculated and makes X-ray production apparatus 10 enter the path of desired location.Realize this aspect, control unit 60 can activate navigation system to carry out the following step: the current location of calculating X-ray production apparatus 10; The best or pre-programmed track between the coordinate comprising in the position signalling that calculating current location and step 106 receive; And the movement of instructing X-ray production apparatus 10 by reference to this path.
In one embodiment, navigation system 78 can comprise with various fixed reception devices or the emitter with unique identification code or position coordinates carries out radio communication or (for example links, the optical identification of global positioning satellite (GPS), radio frequency, infrared ray, bar code or shape, ultrasound wave, electromagnetism, etc.) 111 radio communication or tracking system (for example, comprising antenna, transceiver, receptor, transmitter or emitter or their combination) 110.Fixed reception device or emitter can be positioned on certain height and/or on the ground and/or on ceiling or on workbench 34.
For example, navigation system 78 can comprise be equipped with battery wireless identification tag (for example, electromagnetism, radio frequency, hyperacoustic, ultrared, light, etc.) 112, battery transmits low frequency, intermediate frequency or the required energy of high-frequency signal for they provide by certain distance (for example, from one centimetre to several centimetres).From energy viewpoint, wireless identification tag 112 can be response various electromagnetism or radiofrequency signal and autonomous activation.
Navigation system 78 can generally can operate to exchange or calculate X-ray production apparatus 10 with respect to the position coordinates of predefine path or track.According to position coordinates, navigation system 78 can be calculated current location, and calculates track or path or its correction with respect to predefine track.
An example of navigation system 78 can comprise optical pickup, and it can operate with for example, for example, to representing that (two dimension) bar code 114 of the two-dimensional coordinate of their positions of (on the ground in room 12 and/or on ceiling or on workbench 34) in the environment of X-ray production apparatus 10 reads or decodes.Navigation system 78 can comprise and is designed to the optical pickup that the information to comprising in bar code is decoded.Optical pickup can be placed on towards ground under mobile device 22 and/or towards ceiling and be placed on mobile device 22 or in any variant towards the direction between them, to detect and read bar code.From the coordinate of the position of bar code 114, navigation system 78 can be calculated current location, and with respect to track primary Calculation or pre-programmed, calculates the track of track and corrected X radiography unit 10 or mobile device 22.
In another embodiment, navigation system 78 can communicate with GPS or global positioning system 116, to can operate to calculate current location, its track or path or its pre-programmed track of X-ray production apparatus 10.
Another example of navigation system 78 can comprise the system 118 of optics or generating laser and/or detector, it can operate with executing location and the general real-time tracking of new route or track or its correction more, so that the X-ray production apparatus 10 of positioning support on mobile device 22.The system 118 of generating laser and/or detector can be positioned at one of fixed position that the navigation system 78 with X-ray production apparatus 10 or mobile device 22 communicates.Response receives according to the framing signal of predefine track or artificial input, and navigation system 78 can activate the transmitting of laser beam, and measures the duration between incoming laser beam and reflection lasering beam.According to measured duration, navigation system 78 can be calculated X-ray production apparatus 10 or mobile device 22 with respect to the current location of the best or pre-programmed track, and can produce signal, to guide mobile device 22 with respect to the best or pre-programmed track or path and corresponding adjustment thereof.An embodiment of system 118, antenna 110 can be mounted in the generating laser in mobile device 22 or system 5.Generating laser 110 rotatable and measuring system 5 and the distance between one or more reflectors of room wall.
In another embodiment, navigation system 78 can comprise electromagnetic field link 120, so that path or the track of definition X-ray production apparatus 10 or mobile device 22.Navigation system 78 can detect according to electromagnetic field link 120 position of X-ray production apparatus 10 and/or mobile device 22, to guide path or the track of X-ray production apparatus 10 and/or mobile device 22 with respect to track precomputation or pre-programmed or path.
In another embodiment, navigation system 78 can comprise optical guidance system 122, it have the track that forms X-ray production apparatus 10 and/or mobile device 22 reference through scale designation.Optical guidance system 122 can be included in camera or the similar device of mobile device 22 forward direction parts, to form the image in the path of mobile device 22 or X-ray production apparatus 10.According to pass to the data of control unit 60 from optical guidance system 122, control unit 60 can calculate the position of X-ray production apparatus 10 and/or mobile device 22, and comes correcting track or path with respect to the track of precomputation or pre-programmed.
Another embodiment of optical guidance system 122 can comprise at least one camera communicating from 12Zhong fixed position, room and X-ray production apparatus 10 and/or mobile device 22.Control unit 60 can operate to process the data of obtaining from optical guidance system 122, and calculates the environment with predetermined adjacency or threshold value or the scene of X-ray production apparatus 10 and/or mobile device 22, comprises and detects possible barrier.Control unit 60 can calculate position or the location of X-ray production apparatus 10 and/or mobile device 22, and proofreaies and correct its track with respect to precomputation or pre-programmed track.
In another embodiment, navigation system 78 can comprise sensor (for example accelerometer) 124, and sensor 124 can be measured displacement or mobile direction and/or the size of the roller system 40 of X-ray production apparatus 10 and/or mobile device 22.The measurement result of obtaining according to these, control unit 60 can calculate with ranging technology the position of X-ray production apparatus 10 and/or mobile device 22.From known initial position, start and calculate measured movement, control unit 60 can calculate the current location of X-ray production apparatus 10 and/or mobile device 22.According to the result of this calculating, control unit 60 can come with respect to the track of precomputation or the track of pre-programmed track or the path of corrected X radiography unit 10 and/or mobile device 22.
In another embodiment, data storage 68,70 can comprise the information relevant with the drawing of the environment of X-ray production apparatus 10, the reference coordinate of the predefine stand that comprises X-ray production apparatus 10 of drawing.
Fig. 5 describes another embodiment of mobile device 22 that is connected to the X-ray production apparatus 10 of fixed platform (for example wall in ceiling or room 12) 132 by mechanical connection 130.An example of mechanical connection 130 can comprise the first arm 134 that is connected to mobile device 22 by the first hinge means 136.This first arm 134 can be connected to the second arm 138 by the second hinge means 140.The quantity of arm and hinge can change.This second arm 138 can be by hinge means 132 couplings 10 at mobile device 22.The mechanical connection 130 of the arm 134,138 of hinge joint can comprise encoder (not shown), it can operate that the Mechanical Moving that detected of arm 134,138 is converted to numerical variable and passes to control unit 60, and the movement of mobile device 22 is instructed or guided in the trail angle position of control unit 60 different coding device capable of being combined.
One or more in above-described embodiment of navigation system 78 or its assembly can combine to improve computational accuracy with other embodiment.The type of navigation system 78 can change.
Step 150 can comprise the driver that move is passed to mobile device 22.Step 152 can comprise to be controlled guiding or instructs the driver of mobile device 22 by the movement of planned orbit.Control unit 60 is bootable or instruct X-ray production apparatus 10 movement from starting point to the position by determining position, track or pre-programmed track, controlling through overcorrect if desired via mobile device 22, and with reference to this track, causes correction or the variation of guidance.
If the type that control unit 60 detects reception command signal in step 108 is navigation or oriented signal, control unit 60 can be carried out the following step.Processing before institute receives oriented signal, step 155 can comprise one or more whether being just performed in calculating above-mentioned steps.If situation is like this, step 156 can comprise storage or cause that navigation or oriented signal are in the free time, and does not further process.Step 158 can comprise calculates the inspection whether stopping about the one or more execution in above-mentioned steps, so that authorisation process navigation or oriented signal.If the one or more execution in above-mentioned steps do not detected, step 160 comprises mandate further this navigation of processing or oriented signal.
Step 162 can comprise that the movement of one or more navigation of making in arm 13, supporting member 24, turning arm 26 and/or roller system 40 or orientation is corresponding to the instruction in navigation or oriented signal, to X-ray beam 20 is positioned to anticipated orientation, thus the Image Acquisition of execution patient's 8 the expected areas of paying close attention to.
In the situation that receive new orientation order, control unit 60 can, according to controlled way and expecting the movement of navigating or being orientated lead arm 14, supporting member 24, turning arm 26 and/or roller system 40, make X-ray beam 20 remain in the interest region of examine simultaneously.
A technique effect of theme described herein is to make X-ray production apparatus 10 move to another operating position from an operating position by the roller system 40 via mobile device 22, for the variation of the interest region of examine, strengthens the variation in Image Acquisition.
Fig. 6 and Fig. 7 illustrate the schematic diagram of the imaging system (305) that an embodiment by movable support bracket or platform or device 310 supports, similar to the above imaging system 5 being bearing on mobile device 22.
Mobile device 310 generally comprises chassis or the framework 325 of supporting flexible driver 330, to make mobile chassis supported 325 one or morely take turns 335 and move.Chassis 325 generally comprises imaging system (305) is bearing in to the structural framing in train 335.Flexible driver (for example motor, pneumatic motor, fluid pressure motor etc.) 330 can generally be configured to make the wheel 335 of the imaging system (305) on chassis supported 325 to move.
Mobile device 310 also comprises brakes 350, so that the movement of moving-limiting device 310.An embodiment of brakes 350 can be Electromagnetically-operating, and comprises electromagnetic pads 355, electromagnetic pads 355 and electric coil 360 combinations that are configured to optionally produce in electromagnetic pads 355 magnetic field.The type of the material of the intensity of the electric current at coil 360 places, the number of turns of coil 360 and electromagnetic pads 355 and coil 360 can change, so that the magnetic field that produces expection intensity at magnetic pad 355.In addition, the quantity of electromagnetic pads 355 and position can change, to the non-yielding prop to the expection restriction of the movement on chassis 325 and imaging system (305) is provided.
The embodiment of brakes 350 also can comprise flexible driver (for example electronic, pneumatic, hydraulic pressure, etc.) 365, and it can operate so that chassis 325 raises and reduces with respect to wheel 335.Brakes 350 can comprise brake pad 370, and it can operate to mesh or contact wheel 335, the movement of limited wheel 335 while reducing chassis 325 with convenient flexible driver 365 with respect to wheel 335.Reducing chassis 325 makes brake pad 370 joggle(d) joints contact plate or insert 372 that wheel 335 also can be configured to make (for example embedding wherein) on electromagnetic pads 355 engagements or kiss the earth 375.
An embodiment of plate 372 can generally comprise the plate of continuous U-shaped or annular or ground insert (such as ferromagnetic sheet etc.), so as around supporting patient 8 periphery for the workbench 34 of Image Acquisition.Yet the plate on ground 375 or insert 372 can be included in a plurality of independently plates 372 of the predefine position in ground 375, and can have any anticipated shape and length.
Electromagnetic pads 355 and brake pad 370 can be configured to move with respect to chassis 325, so that difference engaging plate 372 and wheel 335, thereby the movement of restriction chassis and supporting imaging system thereon.The electric power that is sent to coil 360 can cause the generation in pad 355 and the magnetic field by plate 372, so that the further movement of moving-limiting device 310.
Fig. 9 illustrates according to theme described herein, by another embodiment of the imaging systems (305) of the movable support bracket in conjunction with brakes 380 or platform or device 310 supportings, and brakes 380 is in release conditions.Brakes 380 generally comprises one or more electric coils 382, it arranges with respect to electromagnetic pads 384, to produce and the plate or the interactive magnetic field of ground insert 386 that are attached in ground 375, constructing and comprising that to the above the brakes 350 of coil 360, electromagnetic pads 355 and plate 372 is similar in function.
Brakes 380 also can comprise spring 390, to make electromagnetic pads 384 be biased in 375 positions that raise from ground.The electric power that is sent to electric coil 382 can produce and the interactive magnetic field of plate 386 at pad 384, to cause or force electromagnetic pads 384 to be reduced at least close to contact or actual contact plate or ground insert 386, so that moving-limiting device 310 is with respect to the movement on ground 375.The reciprocal action in the magnetic field between electromagnetic pads 384 and plate 386 can have certain intensity, make to pad 384 and plate 386 between little space do not have to stop or for example hinder mobile device 310, with respect to the abundant restriction of the movement on ground 375 (, vibration or mobile predefine restriction).When interrupting being sent to the electric power of coil 382, spring (for example, Compress Spring or tension spring) 390 can operate so that electromagnetic pads 384 departs from plate 386, to produce the spacing increasing between brakes 380 and ground 375, mobile device 310 is easier to mobile.According to an embodiment, spring 390 can be interconnected to electromagnetic pads 384 by structure support 392.Spring 390 can be between structure support 392 and chassis 325.By contacting with chassis 325, the movement of structure support 392 can be restricted to predefine displacement.Chassis 325 can comprise groove 394, to hold biasing to resist the spring moving down 390 of structure support 392.Spring 390 can and be positioned at structure support 392 tops in tension state, or can and be positioned at structure support below in compressive state, so that biasing 375 moves down towards ground to resist electromagnetic pads 384.
The above description having with the formation of the embodiment of the system 300 of the mobile device 310 of brakes 350,380 combinations of theme described herein is generally provided, and is the general description of method (400) (referring to Figure 10) of operation of brakes 350,380 of movement of controlling the mobile device 310 of supporting imaging system (305) below.It is also understood that the action of the method described in above description (400) or the order of step or seriality can change.It is also understood that method (400) can not need each action or the step in above description, or can comprise undocumented additional move herein or step.The one or more forms that also can take to have the computer program 401 of module or region or computer-readable program instructions in the following step of method (400) and action, computer-readable program instructions can be stored in computer-readable medium or memorizer 402, processor 403 for controller or control unit or other computer programmable device 404 is carried out, and they can be arranged in the program storage 66 that communicates with the processor 64 of above-mentioned control unit 60 or imaging system (305) or remote unit 385 or at least partly together with it or irrelevant with it.
In order to give an example, suppose that mobile device 310 and imaging system (305) thereon of supporting are positioned at and park or deposit position 381, and operate and long-range or controlled in wireless mobile device 310 from thering is all or part of remote unit 385Yi robot mode of control unit 60.Chassis 325 can be in reducing position, make brake pad 370 engagements with the movement of limited wheel 335.Although do not do requirement, also can encourage the coil 360 at electromagnetic pads 355 places, to produce magnetic field in electromagnetic pads 355, described electromagnetic pads 355 is at deposit or stand 381 engagements or contact plate or insert 372.
One or more instruction that also supposition is carried out in the following step can receive via the radio communication from remote unit 385 to mobile device 310.
With reference to Figure 10, step 410 can comprise the restriction discharging the movement of mobile device 310.This step 401 can comprise the electric power that interrupts being sent to coil 360, so that the magnetic field that interruption produces in electromagnetic pads 355.Step 410 also can comprise that excitation flexible driver 365 is to raise with respect to wheel 335 or to promote chassis 325 and supporting imaging system (305) thereon, so that allow wheel 335 move freely.
Step 415 can comprise that the mobile device 350 of indication flexible driver 330 guiding supporting imaging systems (305) moves to desired location with respect to the adjacent plate of the workbench 34 of the Image Acquisition with for person under inspection 8 or insert 372.An embodiment of step 415 can comprise transmission instruction, for according to predefined type and/or body region and/or the agreement of the Image Acquisition that person under inspection 8 is carried out, make flexible driver mobile device 310 and the imaging system (305) supporting are directed to predefine position and align with respect to plate or insert 372.In addition, mobile device 350 can supplement mobile device 310 to manual command's (for example, via stick) of the movement of desired location receiver selectivity.
Step 420 can comprise that receiving mobile device 350 and imaging system (305) is positioned at the expection alignment of the patient support platform 34 obtaining with respect to metallic plate or insert 372 and carries out image and the feedback of position.
Step 425 can comprise brake force is applied to mobile device 350.An embodiment of step 425 can comprise that indication flexible driver 365 reduces chassis 325 with respect to wheel 335, so that engagement brake pad 370 contact wheels 335, thereby the movement of moving-limiting device 310.Step 425 also can comprise reduction electromagnetic pads 355, so that plate or the insert 372 on engagement or kiss the earth 375.
Step 430 can comprise that transmitting electric power is with excitation coil 360, and produces magnetic field in electromagnetic pads 355.The electromagnetic force being applied between the electromagnetic pads 355 at plate or insert 372 places is combined with location and brake force that the brake pad 370 at wheel 335 places on chassis 325 applies, vibration or the inclination of (for example, high speed while, comprising location C type arm 14 (referring to Fig. 1) accelerate and between deceleration phase or for capable of acquiring three-dimensional images) restriction imaging system (305) so that when carries out image is obtained.
Step 435 can comprise and detects completing in the Image Acquisition of the current location of mobile device 310 and imaging system (305).
Step 440 can comprise the electric power that interrupts being sent to coil 360, so that the magnetic field that interruption produces in electromagnetic pads 355.
Step 445 can comprise with respect to wheel 335 lifting chassis, to remove the restriction to mobile device 350.
Step 450 can be included in and when additional Image Acquisition is carried out in other selected location of the periphery of patient support platform 34, repeat above-mentioned steps 215 to 245.
Step 455 can comprise receiving to be moved to mobile device 310 and supporting imaging system (305) thereon to park or the instruction of reserve position 380.
Step 460 can comprise the movement of moving-limiting device 350, comprises and reduces chassis 325, so that engagement or contact brake pad 370 are limited in the movement of the wheel 335 of reserve position 380.
One or more in the above-mentioned steps of method (400) can be according to selected pre-programmed agreement from depend on a plurality of Image Acquisition agreements of the input that receives in system 5 or expection diagnosis or treatment agreement.Pre-programmed agreement can comprise that response detects the proper alignment/location of system (305) and automatically causes that the brakes 350,380 by mobile device 310 applies brake force, to prepare for Image Acquisition.Equally, pre-programmed agreement can comprise that response detects the completing of Image Acquisition of current alignment/position and causes by the automatic releasing brake power of brakes 350,380.
Although the above description of system 5,300 and method (400) is described for the Image Acquisition that is bearing in the person under inspection 8 on workbench 34, but be to be understood that, mobile device 310 and supporting imaging system (305) thereon for example can be used for, in various application (airport examination, industry or business application etc.), and are not limited to theme described herein.
Said system 5 and 300 and a technique effect of method (400) be included in the power that the movement of restriction imaging system 10, (305) is provided during Image Acquisition.Brakes 350 improves stability, reduces the inclination of imaging system (305) during Image Acquisition or the risk of vibration, if these are uncontrolled, can affect picture quality and increase personnel or imaging person under inspection's 8 security risk originally.
This written description usage example openly comprises the present invention of optimal mode, and enables those skilled in the art to make and use the present invention.Patentable scope of the present invention is defined by claim, and can comprise other example that those skilled in the art can expect.If other example of this class has with the word language of claim and does not have discrepant structural element, or if they comprise the equivalent structure key element having with the non-essence difference of the word language of claim, they should be fall into the scope of claim within.
Reference numeral is quoted
5 systems
8 patients
10 X-ray production apparatus
12 operating rooms
13 gantrys
14 arms
15 supporting members
16 X-ray tubes
18 visual detectors
20 X-ray beams
22 movable support brackets, mobile platform, mobile device
24 supporting members
26 turning arms
32 roller systems
34 examining tables
40 roller systems
44 directive wheels
48 flywheels
50 drivers
60 controllers or control unit
62 processors, microprocessor
64 buses
66 program storages
68 data storages
70 data storages
72 position control
73 remote units
74 regions
78 navigation system
79 sticks
80 regions
82 regions
84 regions
86 regions
100 methods
104 preliminary steps
106 steps
108 steps
109 steps
110 wireless communication systems, radio tracking system
111 radio communications, wireless link
112 wireless identification tags
114 bar codes
116 global positioning systems
118 systems
120 electromagnetic field links
122 optical guidance systems
124 sensors
130 mechanical connections
132 fixed platforms
134 first arms
136 first hinge means
138 second arms
150 steps
152 steps
155 steps
156 steps
158 steps
160 steps
162 steps
300 systems
305 imaging systems
310 movable support brackets, mobile platform, mobile device
325 chassis, framework
330 flexible drivers
335 take turns
350 brakes
355 electromagnetic pads
360 electric coils
365 flexible drivers
370 brake pads
372 plates, insert
375 ground
380 brakes
381 park, deposit position
382 electric coils
384 electromagnetic pads
385 remote units
386 plates, ground insert
390 springs
392 structure supports
394 grooves
400 methods
401 computer programs
402 media or memorizer
403 processors
404 controllers or control unit
410 steps
415 steps
420 steps
425 steps
430 steps
435 steps
440 steps
445 steps
450 steps
455 steps
460 steps
Claims (8)
1. the method (400) that a person under inspection's (8) moving images obtains, described method (400) comprises the following steps:
Provide the imaging system being bearing on mobile device (22,310) (305), to guide the movement of described imaging system (305) on ground (375);
The restriction of release to the movement of described mobile device (22,310);
The described mobile device (22,310) of the indication described imaging system of supporting (305) moves to the primary importance for described person under inspection's (8) Image Acquisition;
Receive the feedback that described mobile device (22,310) is positioned at described primary importance;
Apply brake force to limit described mobile device (22,310) movement, the wherein said step that applies brake force comprises from described mobile device (22,310) produce electromagnetic force to limit described mobile device (22,310) with respect to the movement that is attached in the plate (372,386) on described ground (375);
Wherein, described in apply brake force step also comprise with respect to wheel (335) and reduce chassis (325), to make to contact in described wheel (335) brake pad (370) engagement of at least one.
2. the method for claim 1 (400), wherein, the described step that applies brake force also comprises that transmitting electric power is with excitation coil (382,360), to be attached to described mobile device (22,310) electromagnetic pads (355 on, 384) produce magnetic field, described magnetic field be attached in the plate (372 on described ground (375), 386) reciprocal action, makes described electromagnetic pads (355,384) and is attached in the described plate (372 on described ground (375), 386) mobile device described in the magnetic confinement between (22,310) is with respect to the movement of described ground (375).
3. a system (100,300) of carrying out person under inspection's (8) Image Acquisition, comprising:
Imaging system (305), can operate to carry out the Image Acquisition of described person under inspection (8);
Mobile device (22,310), can operate so that described imaging system (305) is mobile on (375) on ground;
Brakes (350,380), limits described mobile device (22,310) with respect to the movement of described ground (375);
With described imaging system (305), described mobile device (22,310) and described brakes (350,380) controller communicating (60), described controller (60) comprises memorizer (66), and described memorizer (66) has a plurality of programmed instruction that indication process (64) is carried out the following step:
The described mobile device (22,310) of the indication described imaging system of supporting (305) moves to the primary importance for described person under inspection's (8) Image Acquisition;
Receive the feedback that described mobile device (22,310) is positioned at described primary importance;
Apply brake force to limit described mobile device (22,310) movement, the wherein said step that applies brake force comprises from described mobile device (22,310) generation electromagnetic force to limit with respect to the movement that is attached in the plate (372,386) on described ground (375);
Wherein, described in apply brake force step also comprise with respect to wheel (335) and reduce chassis (325), to make to contact brake pad (370) engagement of described wheel (335).
4. system (100 as claimed in claim 3,300), wherein, the described step that applies brake force also comprises that transmitting electric power is with excitation coil, to be attached to described mobile device (22,310) electromagnetic pads (355 on, 384) produce magnetic field, described magnetic field be attached in the plate reciprocal action on described ground (375), make described electromagnetic pads (355,384) and be attached in mobile device (22 described in the magnetic confinement between the described plate (372,386) on described ground (375), 310) with respect to the movement of the described plate (372,386) on described ground (375).
5. system (100 as claimed in claim 4,300), also comprise: produce described magnetic field, to make described electromagnetic pads (355,384) resisting spring (390) biasing moves at least close to the described plate (372,386) on the described ground of contact (375).
6. system (100 as claimed in claim 5,300), wherein, interrupting being sent to described coil (360,382) during electric power, described spring (390) biasing makes described electromagnetic pads (355,384) leave the described plate (372,386) on described ground (375).
7. system (100 as claimed in claim 4,300), also comprise: reduce described chassis (325), to make to be attached in described mobile device (22,310) the described electromagnetic pads (355 on, 384) be reduced at least and be attached in the described plate (372,386) on described ground (375) close to contact.
8. system (100 as claimed in claim 4,300), also comprise: response detects at described mobile device (22,310) completing of the Image Acquisition of described primary importance, automatically interrupt being sent to described coil (360,382) electric power, and interrupt the generation in the described magnetic field of described electromagnetic pads (355,384).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/638,201 US8666585B2 (en) | 2009-05-22 | 2009-12-15 | System and method to automatic assist mobile image acquisition |
| US12/638201 | 2009-12-15 |
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| Publication Number | Publication Date |
|---|---|
| CN102119862A CN102119862A (en) | 2011-07-13 |
| CN102119862B true CN102119862B (en) | 2014-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010604230.0A Active CN102119862B (en) | 2009-12-15 | 2010-12-15 | System and method to automatically assist mobile image acquisition |
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| CN (1) | CN102119862B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105982682A (en) * | 2015-02-12 | 2016-10-05 | 上海西门子医疗器械有限公司 | Mobile X-ray examination equipment |
| CN105596083A (en) * | 2015-09-07 | 2016-05-25 | 四川大学 | Robot surgical system with interactive route planning function |
| CN106725557B (en) * | 2017-01-19 | 2021-01-08 | 上海联影医疗科技股份有限公司 | X-ray imaging apparatus and control method thereof |
| CN107260192B (en) * | 2017-07-28 | 2020-04-24 | 艾迪森海安数字医疗装备有限公司 | Medical multifunctional unmanned mobile high-frequency X-ray photographing system and implementation method thereof |
| CN107704722B (en) * | 2017-10-27 | 2023-09-15 | 谭文勇 | Medical information acquisition system |
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|---|---|---|---|---|
| US4484666A (en) * | 1980-01-15 | 1984-11-27 | Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung | Electromagnetic sliding shoe brake |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6181104A (en) * | 1984-09-27 | 1986-04-24 | Toshiba Corp | Conveying apparatus |
| DE10003269A1 (en) * | 2000-01-26 | 2001-08-09 | Brainlab Ag | Device and method for positioning treatment devices or treatment support devices |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4484666A (en) * | 1980-01-15 | 1984-11-27 | Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung | Electromagnetic sliding shoe brake |
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| Title |
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| JP昭61-81104A 1986.04.24 * |
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