CN103211610A - Real-time imaging system of six-freedom-degree G-shaped arm - Google Patents
Real-time imaging system of six-freedom-degree G-shaped arm Download PDFInfo
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- CN103211610A CN103211610A CN2013101151381A CN201310115138A CN103211610A CN 103211610 A CN103211610 A CN 103211610A CN 2013101151381 A CN2013101151381 A CN 2013101151381A CN 201310115138 A CN201310115138 A CN 201310115138A CN 103211610 A CN103211610 A CN 103211610A
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Abstract
The invention discloses a real-time imaging system of a six-freedom-degree G-shaped arm, belonging to the field of medical equipment. The real-time imaging system of the six-freedom-degree G-shaped arm is formed by connecting a G-shaped arm, a G-shaped sliding rail, a G-shaped arm rotating shaft, a G-shaped pitch axis and a base in sequence, wherein two groups of X-ray generators and an X-ray plane dynamic detection plate are correspondingly arranged on the G-shaped arm; the base is arranged in the sliding rail; and the sliding rail is arranged on a ceiling board or on the ground of a treatment room, so that the base can be enabled to do two-dimensional motion on a plane of the ceiling board or do longitudinal motion on the ground along a direction of a three-dimensional treatment bed. The real-time imaging system of the six-freedom-degree G-shaped arm is wide in working range and flexible in action; and with the adoption of the real-time imaging system of the six-freedom-degree G-shaped arm, the defects in the prior art are overcome, two orthorhombic X-ray images can be obtained at the same time, and dynamic tracking on tumor can be realized, so that not only can accurate radiation therapy of tumors of a whole body be carried out, but also cardiovascular disease treatment, and noninvasive regulation of renal nerve diseases can be carried out.
Description
Affiliated technical field
The present invention relates to field of medical, be specially a kind of six degree of freedom G shape arm real-time imaging system.
Background technology
Present G shape arm real-time imaging system has only the degree of freedom of a rotation, be used to produce two orthogonal radioscopic images in a zone, in patent CN102715914A, showed a kind of G shape arm real-time imaging system of single-degree-of-freedom, this equipment is used to produce 3-D view, because it has only one degree of freedom, working range is narrow, move dumb, need artificially to shift equipment onto suitable position, so this equipment use very inconvenient, efficient is low, and precision is low.Fast (such as heart movement: average heart beating is about 80 times/minute because to histoorgan motion change speed such as heart, blood vessels, the highest instantaneous linear velocity can reach 1 meter per second), the speed that this picture equipment of will hoping for success arrives the relevant position is fast and accurately, the G shape arm of present single-degree-of-freedom and C shape arm real-time imaging system can't the positional change even amount carry out good real time location tracking than big and the fast histoorgan of movement velocity.
Summary of the invention
The objective of the invention is in order to overcome the prior art working range narrow, move dumb, can not be applied to the defective of the Kinematic Positioning tracing process etc. of some tissue or organ, provide a kind of working range wide, flexible movements can obtain two orthogonal radioscopic images simultaneously, can realize the six degree of freedom G shape arm real-time imaging system to the dynamic tracking of tumor, both can carry out the general tumour accurate radiotherapy, and also can carry out treating cardiovascular disease and kidney sacred disease noinvasive and regulate.
The objective of the invention is to be achieved through the following technical solutions:
Six degree of freedom G shape arm real-time imaging of the present invention system is by G shape arm (11), G arm slide rail (6), G arm rotating shaft (3), G arm pitch axis (2) and pedestal (1) connect and compose successively, x ray generator (4) and X ray plane dynamic instrumentation plate (8) are one group, x ray generator (7) and X ray plane dynamic instrumentation plate (5) are another group, two groups of correspondences are installed on the G shape arm (11), pedestal (1) is installed in the track (10), track (10) is installed on therapeutic room's ceiling (12) or the ground, makes pedestal (1) can do two dimensional motion or do on the ground along the lengthwise movement of three-dimensional therapeutic bed (9) direction on ceiling plane.
In the such scheme, described G shape arm (11) can move up and down, bootable two groups of x ray generators of G arm slide rail (6) and X ray plane dynamic instrumentation plate are done the motion greater than 90 degree, G shape arm (11) can be around G arm rotating shaft (3) ± 90 ° rotation, can be around G arm pitch axis (2) swing ± 15 °; X ray generator (4), (7) and X ray plane dynamic instrumentation plate (5), (8) add fixedly in the mode of being slidingly connected, and screw is installed in G shape arm (11) both sides, be mutual vertical or out of plumb so that regulate the line of two groups of x ray generators and X ray plane dynamic instrumentation plate, x ray generator is kilovolt (KV) level, adjustable between 80～150KV, X ray plane dynamic instrumentation plate is CCD image amplifier or amorphous silicon flat panel detector or amorphous selenium flat-bed detector, and dynamic instrumentation plate maximum useful detection area in X ray plane can reach 41cm x 41cm.
In the such scheme, when described track (10) was installed on therapeutic room's ceiling (12), track (10) was by two orthogonal minute guide rails (13) and divide guide rail (14) to form.
In the such scheme, when described track (10) is installed on the ground, G arm pitch axis is connected to form successively by telescoping mechanism (15), vertical guide rail (16) and rotating shaft (17), and telescoping mechanism (15) is connected with G arm rotating shaft (3), and rotating shaft (17) is connected with pedestal (1).
Six degree of freedom G shape arm real-time imaging of the present invention system is the electrochemical equipment of machine, can rotate by the computer control corresponding motor, make G shape arm arrive optional position in the space, any direction of the optional position in the space is carried out the X ray projection, form the radioscopic image of this direction.
The present invention is different with the mode that traditional C shape arm obtains radioscopic image, the present invention can obtain two orthogonal radioscopic images simultaneously, reduce the time of exposure of X ray simultaneously, thereby reduced the dosage of the X ray of patient's absorption, this innovation, can make non-tumor patient, as carry out the patient for the treatment of cardiovascular disease and the adjusting of kidney sacred disease noinvasive, receive minimum radiation dose.Therefore, this equipment have minimum operation risk, shorten operating time, reduce patient recovery time, operation one-time-reach-place, minimum advantages such as radiological dose.
Six degree of freedom G shape arm real-time imaging of the present invention system can realize the dynamic tracking to tumor target tissue organ, the following description of concrete method:
At first, the G shape arm of six degree of freedom is moved to suitable position, adjust the position of two x ray generators and X ray plane dynamic instrumentation plate, make it the prospective tumor target area.
Then, two x ray generators are to tumor target area radiation X ray, and X ray plane dynamic instrumentation plate obtains two width of cloth radioscopic images.
At last, computer is found out the DDR correspondence position from the CT image reconstruction automatically, the radioscopic image and the DRR that obtain are carried out nonrigid image registration, obtain the variable quantity of radioscopic image, calculate real-time position information when the pre-neoplastic target area by these variable quantities with respect to DRR translation and rotation in the space.
Six degree of freedom G shape arm real-time imaging of the present invention system possesses the ability of the requirement of satisfying two aspects: the one, be similar to the CBCT imaging pattern, orthogonal X ray detecting system rotates to an angle around isocenter point and carries out cone-beam (CB) fault imaging, obtains the volume imaging data of the objective of target area; The 2nd, the two-beam quadrature Kv level X-ray imaging system of G shape arm is constantly located the isocenter point of target area barycenter and equipment, obtains the real time position of target area.Then that G shape arm is real-time " imaging of two-beam quadrature X-ray " image and this volume images registration transfers data to radiotherapy system and carries out position, error compensation, realizes real-time tracking compensation treatment, and two targets can realize in an equipment.
System of the present invention is when being used for the cardiovascular disease patients with atrial fibrillation, configuration three-dimensional cardiac electro-anatomical mapping system, create the 3D endocardium image of the chambers of the heart interested according to mapping " signal ", adopt special algorithm to calculate the pseudo telecommunications number of endocardium excitement, it is projected on the 3D rendering of the chambers of the heart, based on these pseudo telecommunications number structure potential diagram, syncaryon magnetic resonance simultaneously, angiography etc., adopt image fusion technology, generate the three dimensional structure of the chambers of the heart in X line machine system, and carry out transparence and handle, carry out potential anomalies chambers of the heart portion location in conjunction with the exciting potential diagram of endocardium then, thereby the non-invasive therapy of atrial fibrillation is finished in the radiation that guiding accelerator ray produces.When being used for nephropathy or kidney neuroregulation patient, the neural navigation positioning system of the 3 D stereo of configure dedicated, by anatomical landmarks that patient body is existed or the outside reference point of introducing (as external frame, the patient skin labelling, the gold mark of implanting, magnetic element etc.) and they be combined as the tracking reference point, along human spine (as vertebral body), aorta, renal artery, branch's renal artery, renal veins, the supraneural point of kidney and/or kidney utilizes the orthogonal X line of G shape arm 3-D view technological incorporation DSA, MRI or Functional MRI image, carry out the target localization and/or the tracking of kidney nerve, the radiation that utilizes the accelerator ray to produce is finished and is reduced the sympathetic renal neural activity, realizes the kidney neuroregulation, reaches some disease of treatment and (comprises hypertension, heart failure, chronic nephropathy, insulin resistant disease, diabetes, metabolism syndrome etc.) possibility.
Six degree of freedom G shape arm real-time imaging of the present invention system has six-freedom degree, the G shape arm of conventional single-degree-of-freedom (rotating on the direction) or Three Degree Of Freedom (X, Y, moving on three directions of Z), and the present invention has following advantage:
(1) substantial increase is arranged on work space, the formation of unlimited amount can be provided to the attitude of G shape arm;
(2) can provide slick movement locus;
(3) provide more nodes and more multipath is to arrive node, the optimization that the path also can be provided is to arrive node;
(4) can set G shape arm safety zone, prevent with the safety zone outside object bump.
(5) by optimizing motion path, assigned address can be rapidly and efficiently reached, the histoorgan of some rapid movements can be located and follow the tracks of.
(6) if in the position fixing process, when patient position changes, need not adjust therapeutic bed and compensate, can utilize the corresponding position of six free G shape arm adjustment can realize its compensation process, convenient, flexible and can not produce uncomfortable sensation to the patient.
To sum up, this six degree of freedom G shape arm real-time imaging system has overcome the defective of prior art, working range is wide, flexible movements, can obtain two orthogonal radioscopic images simultaneously, can realize dynamic tracking, both can carry out the general tumour accurate radiotherapy, also can carry out treating cardiovascular disease and kidney sacred disease noinvasive and regulate tumor.Structure of the present invention helps opening up a new route for the treatment of other diseases.
Description of drawings
Fig. 1 is the front schematic view of the embodiment of the invention one.
Fig. 2 is the side schematic view of the embodiment of the invention one.
Fig. 3 is a ceiling plane guide rail layout.
Fig. 4 is the front schematic view of the embodiment of the invention four.
Fig. 5 is the side schematic view of the embodiment of the invention four.
In the accompanying drawing, 1: pedestal; 2:G arm pitch axis; The rotating shaft of 3:G arm; The 4:X ray generator; 5:X ray plane dynamic instrumentation plate; 6:G arm slide rail; The 7:X ray generator; 8:X ray plane dynamic instrumentation plate; 9: three-dimensional therapeutic bed; 10: guide rail; 11:G shape arm; 12: ceiling; 13: divide guide rail; 14: divide guide rail; 15: telescoping mechanism; 16: vertical guide rail; 17: rotating shaft.
Specific embodiment
Be described in further detail the present invention below in conjunction with drawings and Examples, but the present invention is not limited only to described embodiment.
Embodiment one
Six degree of freedom G shape arm real-time imaging system such as Fig. 1, Fig. 2 and shown in Figure 3 that this is routine, connect and compose successively by G shape arm 11, G arm slide rail 6, G arm rotating shaft 3, G arm pitch axis 2 and pedestal 1, x ray generator 4 and X ray plane dynamic instrumentation plate 8 are one group, x ray generator 7 and X ray plane dynamic instrumentation plate 5 are another group, two groups of correspondences are installed on the G shape arm 11, pedestal 1 is installed in the track 10, track 10 is installed on therapeutic room's ceiling 12, makes pedestal 1 can do two dimensional motion on ceiling plane.
Embodiment two
This routine six degree of freedom G shape arm real-time imaging system is the amorphous silicon flat panel detector except that X ray plane dynamic instrumentation plate, and all the other are with embodiment one.
Embodiment three
This routine six degree of freedom G shape arm real-time imaging system is the amorphous selenium flat-bed detector except that X ray plane dynamic instrumentation plate, and all the other are with embodiment one.
Embodiment four
This routine six degree of freedom G shape arm real-time imaging system as shown in Figure 4 and Figure 5, removing track 10 is installed on the therapeutic room ground, pedestal 1 can be done on the ground along the lengthwise movement of three-dimensional therapeutic bed 9 directions, G arm pitch axis is connected to form successively by telescoping mechanism 15, vertical guide rail 16 and rotating shaft 17, telescoping mechanism 15 is connected with G arm rotating shaft 3, rotating shaft 17 is with outside pedestal 1 is connected, and all the other are with embodiment one.
Embodiment five
This routine six degree of freedom G shape arm real-time imaging system is the amorphous silicon flat panel detector except that X ray plane dynamic instrumentation plate, and all the other are with embodiment four.
Claims (4)
1. six degree of freedom G shape arm real-time imaging system, it is characterized in that six degree of freedom G shape arm real-time imaging system is by G shape arm (11), G arm slide rail (6), G arm rotating shaft (3), G arm pitch axis (2) and pedestal (1) connect and compose successively, x ray generator (4) and X ray plane dynamic instrumentation plate (8) are one group, x ray generator (7) and X ray plane dynamic instrumentation plate (5) are another group, two groups of correspondences are installed on the G shape arm (11), pedestal (1) is installed in the track (10), track (10) is installed on therapeutic room's ceiling (12) or the ground, makes pedestal (1) can do two dimensional motion or do on the ground along the lengthwise movement of three-dimensional therapeutic bed (9) direction on ceiling plane.
2. six degree of freedom G shape arm real-time imaging according to claim 1 system, it is characterized in that described G shape arm (11) can move up and down, bootable two groups of x ray generators of G arm slide rail (6) and X ray plane dynamic instrumentation plate are done the motion greater than 90 degree, G shape arm (11) can be around G arm rotating shaft (3) ± 90 ° rotation, can be around G arm pitch axis (2) swing ± 15 °; X ray generator (4), (7) and X ray plane dynamic instrumentation plate (5), (8) add fixedly in the mode of being slidingly connected, and screw is installed in G shape arm (11) both sides, be mutual vertical or out of plumb so that regulate the line of two groups of x ray generators and X ray plane dynamic instrumentation plate, x ray generator is kilovolt (KV) level, adjustable between 80～150KV, X ray plane dynamic instrumentation plate is CCD image amplifier or amorphous silicon flat panel detector or amorphous selenium flat-bed detector, and dynamic instrumentation plate maximum useful detection area in X ray plane can reach 41cm x 41cm.
3. six degree of freedom G shape arm real-time imaging according to claim 1 system, when it is characterized in that described track (10) is installed in therapeutic room's ceiling (12) and goes up, track (10) is made up of two orthogonal minute guide rails (13) and branch guide rail (14).
4. six degree of freedom G shape arm real-time imaging according to claim 1 system, when it is characterized in that described track (10) is installed on the ground, G arm pitch axis is connected to form successively by telescoping mechanism (15), vertical guide rail (16) and rotating shaft (17), telescoping mechanism (15) is connected with G arm rotating shaft (3), and rotating shaft (17) is connected with pedestal (1).
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| CN2013101151381A CN103211610A (en) | 2013-04-06 | 2013-04-06 | Real-time imaging system of six-freedom-degree G-shaped arm |
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| CN2013101151381A CN103211610A (en) | 2013-04-06 | 2013-04-06 | Real-time imaging system of six-freedom-degree G-shaped arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104771187A (en) * | 2015-04-09 | 2015-07-15 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Double-source digital X-ray shooting device |
| CN108261203A (en) * | 2017-01-03 | 2018-07-10 | 通用电气公司 | C-arm x-ray imaging device and its pedestal |
| CN109044388A (en) * | 2018-10-17 | 2018-12-21 | 北京唯迈医疗设备有限公司 | A kind of C-arm and X-ray equipment |
| CN111508049A (en) * | 2020-03-26 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Image reconstruction method, system, device and storage medium for finite angle CT scanning |
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Patent Citations (5)
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| DE10306068A1 (en) * | 2003-02-13 | 2004-06-17 | Siemens Ag | 3D X-ray imaging procedure for medical use uses additional central projection of object regions by moving source to different track or simultaneous use of second source on second track |
| CN101015723A (en) * | 2006-02-09 | 2007-08-15 | 吴大怡 | Robot radiation therapy system |
| US20080275334A1 (en) * | 2007-04-26 | 2008-11-06 | Siemens Aktiengesellschaft | System and method for determining the position of an instrument |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104771187A (en) * | 2015-04-09 | 2015-07-15 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Double-source digital X-ray shooting device |
| CN108261203A (en) * | 2017-01-03 | 2018-07-10 | 通用电气公司 | C-arm x-ray imaging device and its pedestal |
| CN109044388A (en) * | 2018-10-17 | 2018-12-21 | 北京唯迈医疗设备有限公司 | A kind of C-arm and X-ray equipment |
| CN111508049A (en) * | 2020-03-26 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Image reconstruction method, system, device and storage medium for finite angle CT scanning |
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