CN106562795A - Mobile X-ray machine and flat panel detector and imaging control apparatus therefor - Google Patents
Mobile X-ray machine and flat panel detector and imaging control apparatus therefor Download PDFInfo
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Abstract
The invention relates to a control method for a mobile X-ray machine, and the mobile X-ray machine. The control method for the mobile X-ray machine comprises the steps of detecting position information of a machine head and a flat panel detector on the mobile X-ray machine to obtain posture detection data; obtaining a position relation between the machine head and the flat panel detector according to the posture detection data; and outputting operation prompting information related to the position relation according to the position relation. By adoption of the control method for the mobile X-ray machine, error in man-power positioning is lowered, and positioning accuracy is improved, so that the shot image quality is further improved.
Description
Technical Field
The invention relates to the technical field of X-ray imaging, in particular to a mobile X-ray machine, a flat panel detector and an imaging control device thereof.
Background
Mobile X-ray machines (e.g., mobile DR) typically include in operation: the method comprises the following steps of equipment pushing, patient registration, positioning, exposure, equipment retraction and the like. The flat panel detector is placed under the patient, and before exposure, the mobile X-ray machine is positioned by pulling the machine head, so that the incident direction of X-rays is ensured to be vertical to the flat panel detector, and the light field of the X-rays is superposed with the radiation field on the flat panel detector. Because the flat panel detector of the mobile X-ray machine does not have a fixed film box, the machine head is manually adjusted, and the incident angle of X-rays cannot be ensured to be vertical to the flat panel detector. If the incident direction of the X-ray is not perpendicular to the flat panel detector, the distortion of the acquired image in all directions is inconsistent, and the image quality is affected. Severe image quality may also lead to a retake, causing the patient to absorb more insignificant radiation. If the X-ray field does not coincide with the radiation field of the flat panel detector, the radiation dose is wasted. In the traditional moving DR positioning process, medical staff completely adjust the positions of a machine head and a flat panel detector according to personal experience, so that position deviation is easily caused, and the quality of shot images is influenced.
Disclosure of Invention
Accordingly, there is a need for a mobile X-ray machine and an imaging control device thereof that can improve image quality. The invention also provides a flat panel detector which is convenient for users to realize accurate positioning.
A method of controlling a mobile X-ray machine, the method comprising:
detecting spatial attitude information of the machine head and the flat panel detector, and generating attitude detection data containing the machine head attitude information and the flat panel detector attitude information;
obtaining the position relation between the machine head and the flat panel detector according to the attitude detection data;
and outputting operation prompt information related to the position relation according to the position relation.
An imaging control apparatus of a mobile X-ray machine, the apparatus comprising:
the position detection module is used for detecting the position information of the machine head and the flat panel detector on the mobile X-ray machine, and accordingly acquiring the posture detection data of the machine head and the flat panel detector; the position detection module is used for respectively detecting the spatial attitude information of the machine head and the flat panel detector and generating attitude detection data containing the machine head attitude information and the flat panel detector attitude information;
the relation acquisition module is used for acquiring the position relation between the machine head and the flat panel detector according to the attitude detection data of the machine head and the flat panel detector and judging whether the position relation meets the preset imaging requirement of the mobile X-ray machine; and
and the information output module is used for outputting operation prompt information for adjusting the machine head and the flat panel detector when the position relation between the machine head and the flat panel detector does not meet the preset requirement.
A mobile X-ray machine for obtaining an X-ray image of a subject, comprising: the device comprises a machine head assembly, a flat panel detector, a positioning detector, a control module and a prompt module; the machine head assembly comprises a machine head and an X-ray beam limiter; wherein,
the handpiece is used for generating X-rays;
the X-ray beam limiter is used for adjusting the light field of the X-ray;
the flat panel detector is used for receiving X-rays generated by the handpiece to form the X-ray image;
the positioning detector is used for detecting the position information of the machine head and the flat panel detector on the mobile X-ray machine and acquiring the attitude detection data of the machine head and the flat panel detector;
the control module is used for determining the position relation between the machine head and the flat panel detector according to the attitude detection data, and the prompt module is used for outputting operation prompt information related to the position relation.
An X-ray flat panel detector comprising:
a housing;
a plurality of detection units enclosed within the housing, the detection units for receiving X-rays and generating an X-image based on the received X-rays; and
the communication unit is used for transmitting the X image to an imaging workstation which is communicated with the flat panel detector;
the X-ray flat panel detector also comprises an attitude sensor encapsulated in the shell, wherein the attitude sensor is used for detecting the spatial position of the flat panel detector and generating attitude detection data containing the flat panel detector according to the spatial position; the flat panel detector also transmits attitude detection data to the imaging workstation through the communication unit.
The mobile X-ray machine can obtain the position relation between the machine head and the flat panel detector; and outputting operation prompt information according to the position relation. The medical staff is assisted by the operation prompt information to operate the X-ray machine in a targeted manner in the positioning process, and compared with the method of completely positioning by depending on personal experience, the control method of the movable X-ray machine reduces errors of manual positioning and improves positioning accuracy, and further improves the quality of shot images.
The X-ray flat panel detector is provided with the attitude sensor, the attitude of the X-ray flat panel detector in a gravity field and a geomagnetic field can be detected, and the imaging workstation can assist medical personnel in positioning the X-ray machine after learning the spatial attitude of the flat panel detector.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for controlling a mobile X-ray machine according to an embodiment;
FIG. 2 is a schematic diagram of an embodiment of a mobile X-ray machine;
FIG. 3 is a schematic flow chart illustrating a method for controlling a mobile X-ray unit according to another embodiment;
FIG. 4 is a schematic diagram of a mobile X-ray control device according to an embodiment;
fig. 5 is a schematic structural diagram of another embodiment of a mobile X-ray machine control device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, in one embodiment, a method for controlling a mobile X-ray machine is provided, which is applied to the mobile X-ray machine shown in fig. 2, wherein the mobile X-ray machine includes a body 10, a head assembly 20, and a flat panel detector 30, wherein the head assembly 20 includes a head 201 and an X-ray beam limiter 202. The X-rays are emitted from the handpiece 201 and then emitted to the flat panel detector 30 through the X-ray beam limiter 202. In order to improve the imaging quality of the X-ray, the head 201 needs to be adjusted so that the projection direction of the X-ray is parallel to the normal of the flat panel detector, and the X-ray beam limiter 202 needs to be adjusted so that the light field of the X-ray coincides with the surface of the flat panel detector.
In one embodiment, as shown in fig. 1, a method for controlling a mobile X-ray machine is provided, which includes the following steps:
in step 101, position information of the upper machine head and the flat panel detector of the mobile X-ray machine is detected to obtain attitude detection data.
In this embodiment, the head assembly and the flat panel detector are both provided with a positioning detector, and position information of the head and the flat panel detector is detected by the positioning detector, and attitude detection data is obtained. Specifically, the attitude detection data includes: the inclination angle and the inclination direction of the flat panel detector in the horizontal direction, the offset angle and the offset direction of the machine head in the vertical direction and the like. The position information here includes absolute spatial attitude information or relative position information of the head and the flat panel detector. In the horizontal direction defined by the gravity field and the geomagnetic field, the flat panel detector rotates around the normal line thereof, and can form a deviation relative to the initial position thereof; under the condition that the X-ray field is not changed, the rotation can change the overlapping proportion of the X-ray field and the imaging range of the flat panel detector. The flat panel detector is turned over relative to the horizontal direction, and a certain inclination angle can be formed in the horizontal direction; when the X-ray projection direction is unchanged, the included angle between the X-ray projection direction and the normal of the flat panel detector can be changed by overturning, and the overlapping proportion of the X-ray field and the imaging range of the flat panel detector can also be changed simultaneously.
In some embodiments, step 101, detecting position information of the upper machine head and the flat panel detector of the mobile X-ray machine, and obtaining attitude detection data includes: and respectively detecting the spatial attitude information of the machine head and the flat panel detector to generate attitude detection data containing the machine head attitude information and the flat panel detector attitude information.
In this embodiment, the spatial attitude information refers to absolute positions of the flat panel detector and the handpiece in space, and the generated attitude detection data is also absolute attitude data. The relative positional relationship between the two can be determined from the attitude detection data between the two.
In some embodiments, the positioning detector is an attitude sensor, the flat panel detector and the handpiece are both provided with the attitude sensor, and the flat panel detector comprising the attitude sensor can support the detection of the spatial attitude of the flat panel detector. The attitude detection data includes: detecting the inclination angle and the attitude data of the inclination direction of each side of the flat panel detector, and detecting the attitude data of the orientation of the machine head.
Specifically, the acceleration vectors of the flat panel detector and the handpiece are detected by the attitude sensorAngular velocity vectorEarth magnetic field vector dataThe calculation is carried out according to the acceleration vector, the angular velocity vector and the geomagnetic field vectorThe postures of the machine head and the flat panel detector in a gravity field and a geomagnetic field respectively use direction vectors of three edgesAnd (4) showing. For example, for a flat panel detector, the direction vectorAndthe directional vectors of the sides of the plane, which can be regarded as perpendicular to the normal of the flat panel detectorWhich can be considered as sides parallel to the normal of the flat panel detector. For example, for a handpiece, it is possible to define a handpiece having a central axis and a direction vectorAndcan be seen as the orientation, direction vector, perpendicular to the central axisCan be considered as an orientation parallel to the central axis.
Wherein the attitude detection data of the handpiece isThe attitude detection data of the flat panel detector is as follows:if it isIt shows that the machine head is vertical to the flat panel detector, i.e. the X-ray generated by the machine head is perpendicular to the flat panel detector. If it isOr The light field plane representing the X-ray generated by the handpiece is parallel to the surface of the flat panel detector. For example, the attitude sensor is a 9-axis attitude sensor, and the attitude sensor may be implemented by a gravity sensor in cooperation with a direction sensor.
In other embodiments, the step 101 of detecting the position information of the upper machine head and the flat panel detector of the mobile X-ray machine, and the obtaining the attitude detection data includes: and detecting the distances from a plurality of points on the flat panel detector to the machine head respectively to generate attitude detection data containing the detection results of the distances between the machine head and the flat panel detector.
In this embodiment, the positioning detector detects the relative position information between the handpiece and the flat panel detector. Specifically, the positioning detector may be a radio frequency locator, and the radio frequency locator includes: the radio frequency transmitter and the radio frequency receiver, wherein the flat panel detector and the handpiece respectively comprise one of the radio frequency transmitter and the radio frequency receiver. The radio frequency localizer is used to determine the relative position of the handpiece with respect to the flat panel detector.
In one embodiment, the radio frequency transmitters are respectively arranged on four sides of the flat panel detector, and the radio frequency receivers are arranged in the handpiece. The radio frequency transmitter is used for transmitting radio frequency signals to the surroundings, and the radio frequency receiver is used for receiving the radio frequency signals transmitted in the air. Obtaining loss power according to the difference value between the receiving power and the transmitting power of the radio-frequency signal, further obtaining a distance value corresponding to the loss power according to the corresponding relation between the preset power and the distance value, and further obtaining attitude detection data between the handpiece and the flat panel detector according to the installation position of the radio-frequency transmitter and the distance value between the radio-frequency transmitter and the radio-frequency receiver.
In another embodiment, the position detector may be an ultrasonic positioner including an ultrasonic transmitter and an ultrasonic receiver, each of which is mounted to one of the flat panel detector and the handpiece.
An ultrasonic positioner is used to determine the relative position of the handpiece with respect to the flat panel detector. The ultrasonic locator comprises an ultrasonic transmitter and an ultrasonic receiver, wherein the ultrasonic transmitter is arranged on four sides of the flat panel detector, the ultrasonic receiver is arranged in the handpiece, the ultrasonic transmitter sends out an ultrasonic signal outwards, the ultrasonic receiving sensor receives the ultrasonic signal and calculates the time difference of receiving two adjacent ultrasonic signals, the relative distance between the ultrasonic transmitter and the ultrasonic receiver is calculated according to the time difference, and the attitude detection data between the handpiece and the flat panel detector can be further obtained according to the installation position of the ultrasonic transmitter and the relative distance between the ultrasonic transmitter and the flat panel detector.
Of course, the above embodiments only list limited types of positioning detectors and implementation manners of detection thereof, the present invention is not limited to the above embodiments, and other types of positioning detectors may be used to implement the position information of the head and the flat panel detector.
In step 103, the position relationship between the head and the flat panel detector is obtained according to the attitude detection data.
In this embodiment, the positional relationship refers to a relative position between the flat panel detector and the handpiece. For example, the handpiece is positioned in a perpendicular relationship to the flat panel detector. Specifically, whether the projection direction of the X-ray generated by the machine head is perpendicular to the surface of the flat panel detector or not and whether the light field plane of the X-ray generated by the machine head is parallel to the surface of the flat panel detector or not may be determined; and/or whether the light field of the X-ray generated by the machine head is coincident with the radiation field on the flat panel detector.
Further, this positional relationship may further include: information of an included angle between the projection direction of the X-ray generated by the machine head and the surface of the flat panel detector; information of an included angle between the projection direction of the X-ray generated by the machine head and the normal of the flat panel detector; information of the position relationship between the light field plane of the X-ray generated by the machine head and the surface of the flat panel detector; and one or a combination of two or more of information on the covering position relationship between the light field of the X-ray generated by the head and the surface of the flat panel detector.
In step 106, operation prompt information on the positional relationship is output based on the positional relationship.
The position of the machine head and the position of the flat panel detector can be changed through manual adjustment or can be adjusted through a remote controller. In this embodiment, the operation prompt information is used to instruct the medical staff how to move the handpiece to make the handpiece and the flat panel detector in a position state favorable for X-ray scanning imaging.
As shown in fig. 3, in an embodiment, before outputting operation prompt information about the positional relationship according to the positional relationship in step 106, the method further includes the following steps:
and 104, obtaining space relative position information for representing the position relation between the machine head and the flat panel detector according to the attitude detection data.
And 105, judging whether the X-ray generated by the machine head and the flat panel detector meet preset requirements or not according to the space relative position information. If not, the process goes to step 106, and operation prompt information related to the position relationship is output according to the position relationship. If yes, the process is ended.
The preset requirement is used for judging whether the consistency of the light field of the X-ray generated by the handpiece and the radiation field on the flat panel detector meets the requirement. For example, typical preset requirements may include: the projection direction of the X-ray is vertical to the surface of the flat panel detector; and/or the light field plane of the X-ray is parallel to the surface of the flat panel detector and the light field of the X-ray is superposed with the radiation field on the flat panel detector.
In addition, the process for judging whether the X-ray generated by the machine head and the flat panel detector meet the preset requirement comprises the following steps of:
judging whether the projection direction of the X-ray generated by the machine head is vertical to the surface of the flat panel detector;
judging whether the light field plane of the X-ray generated by the machine head is parallel to the surface of the flat panel detector;
judging whether the projection direction of the X-ray generated by the machine head is vertical to the surface of the flat panel detector; and the number of the first and second groups,
and judging whether the light field of the X-ray generated by the machine head is superposed with the radiation field on the flat panel detector.
When the result of the above-mentioned one judging step is yes, or when the results of more than two judging steps are yes, the preset condition is satisfied.
If the X-ray generated by the machine head can vertically shoot to the flat panel detector, namely the flat panel detector is vertical to the projection direction of the X-ray, the situation that the image acquired by the flat panel detector cannot cause distortion is guaranteed, and the image quality is improved. The light field refers to the range of X-ray irradiation, the size of the light field is adjusted through an X-ray beam limiter of the machine head assembly, the X-ray is emitted from the machine head and then constrained by the X-ray beam limiter, part of the X-ray is blocked, and only the X-ray projected to a specific area is reserved.
In this embodiment, the light field is irradiated on the flat panel detector in a rectangular shape, and since the X-ray outside the rectangular shape is shielded by the X-ray beam limiter and cannot be received by the flat panel detector, the radiation generated by the mobile X-ray machine is not fully utilized for imaging. In order to improve the radiation utilization rate of the X-ray, in some embodiments of the present invention, in the process of determining whether the X-ray generated by the handpiece and the flat panel detector meet the preset requirement, the radiation utilization rate of the X-ray is improved by determining whether a light field plane of the X-ray generated by the handpiece is parallel to the surface of the flat panel detector and determining whether the light field of the X-ray generated by the handpiece and the radiation field on the flat panel detector coincide with each other, and when both of the light field plane and the radiation field are yes, it indicates that the preset condition is met. The control method of the mobile X-ray machine can obtain the position relation between the machine head and the flat panel detector; and outputting operation prompt information according to the position relation. The medical staff is assisted by the operation prompt information to operate the X-ray machine in a targeted manner in the positioning process, and compared with the method of completely positioning by depending on personal experience, the control method of the movable X-ray machine reduces errors of manual positioning and improves positioning accuracy, and further improves the quality of shot images.
And outputting operation prompt information related to the position relationship, wherein the operation prompt information is realized by outputting prompt tones, prompt light effects and/or prompt images. For example, in one embodiment, step 106 includes: when the position relation between the machine head and the flat panel detector does not satisfy the condition that the X-ray projection direction is vertical to the surface of the flat panel detector, prompt tones, prompt light effects and/or prompt images are output.
The prompt tone can be an operation instruction for specifically adjusting the machine head, for example, the mobile X-ray machine has a voice broadcasting function, and the operation instruction for vertically moving and horizontally moving the machine head is broadcasted through voice. The alert tone may also be simply an alert sound effect. For example, when the adjustment direction of the medical staff to the machine head is favorable for vertical operation, the mobile X-ray machine emits dripping sound with low frequency, and if the adjustment direction is not favorable for vertical operation, the mobile X-ray machine emits dripping sound with higher frequency. The prompt image means that the display screen displays the position relation between the current handpiece and the parallel detector in an image mode, and medical staff are guided to adjust the handpiece through the position relation displayed in the image.
The suggestion light efficiency can be through the operating instruction that luminous scintillation such as LED lamp shows concrete adjustment aircraft nose, for example, when medical personnel was favorable to perpendicular operation to the regulation direction of aircraft nose, portable X-ray machine then the suggestion LED lamp is bright, if be unfavorable for perpendicular operation, makes the LED lamp show high frequency scintillation.
For another example, in another embodiment, step 106 includes: when the position relation between the machine head and the flat panel detector does not satisfy that the light field plane of the X-ray is parallel to the surface of the flat panel detector and the light field of the X-ray is coincident with the radiation field on the flat panel detector, a prompt tone, a prompt light effect and/or a prompt image are output.
In this embodiment, the prompt tone may be an operation instruction for specifically adjusting the X-ray beam limiter, for example, an operation instruction for turning the X-ray beam limiter left and right is broadcasted by voice. The warning sound may be only a warning sound effect, for example, when the rotation direction of the X-ray beam limiter by the medical staff is favorable for the light field to coincide with the radiation field of the flat panel detector, a low-frequency dripping sound is emitted, and when the coincidence operation is not favorable, a high-frequency dripping sound is emitted. The prompt light effect is the same as the above embodiment, and certainly, the LED lamp can be lightened or the LED lamp can be made to display a high-frequency flickering shape when the adjustment direction of the machine head by medical care personnel is favorable for meeting the preset condition.
The above-mentioned related prompt sound, prompt light effect and/or prompt image can be implemented by arranging a prompt module on the machine head, or any position of the machine body, or the prompt module can be arranged on a remote controller for remotely controlling the mobile X-ray machine. The prompting module here may be: the LED lamp alarm control module, the loudspeaker and the driving circuit module thereof, or the display screen and the control circuit module thereof, and the like.
In one embodiment, in step 106, in the step of outputting the operation prompt information related to the position relationship according to the position relationship, the spatial relative position information is displayed through the display screen.
In this embodiment, set up a small display screen on the aircraft nose, come the spatial position relation between display aircraft nose and the flat panel detector through the display screen, medical personnel just can know clearly how to adjust the aircraft nose through watching the display screen. The medical personnel operation is assisted through the demonstration of display screen so that the operation is more pertinent, has improved the work efficiency of putting.
Specifically, the information displayed on the display screen includes, but is not limited to, at least one of the following: and displaying the spatial relative position information through one of characters, schematic diagrams and images. The spatial phase positions of the machine head and the flat panel detector are displayed by characters, schematic diagrams and images, so that a user can know the position deviation between the machine head and the flat panel detector more vividly, the machine head is adjusted quickly, and the positioning work efficiency is improved.
Of course, in the embodiment of the present invention, the display screen can be disposed at any position of the main body, or disposed on a remote controller for remotely controlling the mobile X-ray machine. The display screen referred to herein may be an LCD display screen, a liquid crystal display screen, a touch screen, an LED electronic display screen, or the like.
As shown in fig. 4, in one embodiment, an imaging control apparatus for a mobile X-ray machine is provided, the apparatus comprising:
the position detection module 40 is used for detecting the position information of the upper machine head and the flat panel detector of the mobile X-ray machine to obtain attitude detection data;
the relation acquisition module 42 is used for acquiring the position relation between the machine head and the flat panel detector according to the posture detection data;
the information output module 46 outputs operation prompt information about the positional relationship according to the positional relationship.
The imaging control device of the mobile X-ray machine of the present embodiment is used to implement the control method of the mobile X-ray machine, and therefore the specific implementation of the control device of the mobile X-ray machine is as described above with reference to the control method of the mobile X-ray machine, for example, the position detecting module 40, the relationship obtaining module 42, and the information output module 46 are respectively used to implement the steps 101, 103, and 106 of the control method of the mobile X-ray machine, and therefore, the specific implementation manner thereof can refer to the description of the above embodiments related to the steps 101, 103, and 106.
In one embodiment, the position detection module 40 is further configured to detect spatial attitude information of the handpiece and the flat panel detector, respectively, and generate attitude detection data including the handpiece attitude information and the flat panel detector attitude information; or, the distance between each of a plurality of points on the flat panel detector and the handpiece is also detected, and attitude detection data including the detection result of the distance between the handpiece and the flat panel detector is generated.
As shown in fig. 4, in an embodiment, the imaging control apparatus of the mobile X-ray machine further includes: and the information acquisition module 43 is configured to acquire spatial relative position information used for representing a position relationship between the handpiece and the flat panel detector according to the posture detection data.
And the judging module 45 is used for judging whether the X-ray generated by the machine head and the flat panel detector meet the preset requirements or not according to the space relative position information.
In one embodiment, the determining module 45 is further configured to determine whether the projection direction of the X-ray generated by the head is perpendicular to the surface of the flat panel detector.
In one embodiment, the determining module 45 is further configured to determine whether the light field plane of the X-ray generated by the handpiece is parallel to the surface of the flat panel detector.
In one embodiment, the determining module 45 is further configured to determine whether the light field of the X-ray generated by the handpiece coincides with the radiation field on the flat panel detector.
In one embodiment, the spatial relative positional information characterizing the positional relationship between the handpiece and the flat panel detector includes at least one of: information of an included angle between the projection direction of the X-ray generated by the machine head and the surface of the flat panel detector; information of an included angle between the projection direction of the X-ray generated by the machine head and the normal of the flat panel detector; the position relation between the light field plane of the X-ray generated by the machine head and the surface of the flat panel detector; and the covering position relation between the light field of the X-ray generated by the machine head and the surface of the flat panel detector.
In one embodiment, the information output module 46 is further configured to output a prompt tone, a prompt light effect and/or a prompt image when the positional relationship between the handpiece and the flat panel detector does not satisfy that the X-ray projection direction is perpendicular to the surface of the flat panel detector; the information output module 46 is further configured to output a prompt sound, a prompt light effect and/or a prompt image when the position relationship between the handpiece and the flat panel detector does not satisfy that the light field plane of the X-ray is parallel to the surface of the flat panel detector and the light field of the X-ray coincides with the radiation field on the flat panel detector.
In one embodiment, the information output module 46 is further configured to display the spatial relative position information via a display screen.
In one embodiment, the control device of the mobile X-ray machine displays the spatial relative position information by at least one of a text, a schematic diagram, and an image.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is carried in a non-volatile computer-readable storage medium (such as ROM, magnetic disk, optical disk, server cloud space), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the system architecture and method according to the embodiments of the present invention.
In addition, in one embodiment of the present invention, a mobile X-ray machine is provided, wherein the mobile X-ray machine includes: the device comprises a machine head assembly, a flat panel detector, a positioning detector, a control module and a prompt module; the machine head assembly comprises a machine head and an X-ray beam limiter; wherein, the machine head is used for generating X-ray; the X-ray beam limiter is used for adjusting the light field of the X-ray; the flat panel detector is used for receiving X-rays generated by the handpiece and acquiring X-ray scanning information to generate an X-ray image, and comprises a shell and a plurality of detection units encapsulated in the shell, wherein the detection units are used for generating the X-ray image based on the received X-rays (also called X-rays), and the flat panel detector is in a flat plate shape; the positioning detector is used for detecting the position information of the upper machine head and the flat panel detector of the mobile X-ray machine to obtain attitude detection data; the control module is used for acquiring the position relation between the machine head and the flat panel detector according to the attitude detection data; and the prompt module is used for outputting operation prompt information related to the position relation according to the position relation.
A step 101 of positioning the detector for implementing the control method of the mobile X-ray machine; the control module is used to implement step 103 of the control method of the mobile X-ray machine, and the prompt module is used to implement step 106 of the control method of the mobile X-ray machine, so that the positioning detector, the control module, and the prompt module can refer to the description of the above steps 101, 103, and 106.
In some embodiments, the position detector in the mobile X-ray machine is an attitude sensor; the attitude sensors are respectively arranged in the machine head and the flat panel detector.
In some embodiments, the positioning detector in the mobile X-ray machine is a radio frequency positioner, the radio frequency positioner comprising: a radio frequency transmitter and a radio frequency receiver; the radio frequency transmitter and the radio frequency receiver are respectively arranged in the machine head and the flat panel detector. Alternatively, the radio frequency receiver and the radio frequency transmitter are respectively installed in the handpiece and the flat panel detector.
In some embodiments, the positioning detector in the mobile X-ray machine is an ultrasonic positioner, the ultrasonic positioner comprising: an ultrasonic transmitter and an ultrasonic receiver; the ultrasonic transmitter and the ultrasonic receiver are respectively installed in the machine head and the flat panel detector, or the ultrasonic receiver and the ultrasonic transmitter are respectively installed in the machine head and the flat panel detector.
In some embodiments, the prompting module may be: the LED lamp alarm control module, the loudspeaker and the driving circuit module thereof, or the display screen and the control circuit module thereof, and the like. The prompting module is arranged at any position of the mobile X-ray machine, for example, the prompting module can be arranged on the machine head or at any position of the machine body. In addition, the prompting module can be arranged on a remote controller for remotely controlling the mobile X-ray machine.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (16)
1. A mobile X-ray machine for obtaining an X-ray image of a subject, comprising: the device comprises a machine head assembly, a flat panel detector, a positioning detector, a control module and a prompt module; the machine head assembly comprises a machine head and an X-ray beam limiter; wherein,
the handpiece is used for generating X-rays;
the X-ray beam limiter is used for adjusting the light field of the X-ray;
the flat panel detector is used for receiving X-rays generated by the handpiece to form the X-ray image;
the positioning detector is used for detecting the position information of the machine head and the flat panel detector on the mobile X-ray machine and acquiring the attitude detection data of the machine head and the flat panel detector;
the control module is used for determining the position relation between the machine head and the flat panel detector according to the attitude detection data;
and the prompt module is used for outputting operation prompt information related to the position relationship.
2. The mobile X-ray machine according to claim 1, wherein the positioning detector is an attitude sensor; the attitude sensor is respectively arranged in the machine head and the flat panel detector.
3. The mobile X-ray machine according to claim 1 or 2, wherein the positioning detector detects spatial attitude information of the head and the flat panel detector, respectively, and generates attitude detection data including the attitude information of the head and the attitude information of the flat panel detector.
4. The mobile X-ray machine according to claim 1, wherein the position detection module is further configured to detect distances from a plurality of points on the flat panel detector to the machine head, respectively, and generate attitude detection data including a result of detecting the distances between the machine head and the flat panel detector.
5. The mobile X-ray machine according to claim 1 or 4, wherein the positioning detector is a radio frequency positioner comprising: a radio frequency transmitter and a radio frequency receiver; wherein,
the radio frequency transmitter and the radio frequency receiver are respectively installed in the machine head and the flat panel detector, or the radio frequency receiver and the radio frequency transmitter are respectively installed in the machine head and the flat panel detector.
6. The mobile X-ray machine according to claim 1 or 4, wherein the positioning detector is an ultrasonic positioner comprising: an ultrasonic transmitter and an ultrasonic receiver; wherein,
the ultrasonic transmitter and the ultrasonic receiver are respectively installed in the machine head and the flat panel detector, or the ultrasonic receiver and the ultrasonic transmitter are respectively installed in the machine head and the flat panel detector.
7. The mobile X-ray machine according to any one of claims 1 to 6, wherein the control module is further configured to obtain spatial relative position information representing a positional relationship between the machine head and the flat panel detector based on the attitude detection data; the control module further comprises a judging unit for judging whether the X-ray generated by the machine head and the flat panel detector meet the preset requirement or not according to the spatial relative position information of the machine head and the flat panel detector.
8. The apparatus according to claim 7, wherein the determining unit is configured to perform at least one of the following steps:
judging whether the projection direction of the X-ray generated by the machine head is vertical to the surface of the flat panel detector or not;
judging whether the light field plane of the X-ray generated by the machine head is parallel to the surface of the flat panel detector; and,
and judging whether the light field of the X-ray generated by the machine head is superposed with the radiation field on the flat panel detector.
9. The mobile X-ray machine according to claim 7, wherein the spatial relative position information for characterizing the positional relationship between the machine head and the flat panel detector comprises at least one of:
information of an included angle between the projection direction of the X-ray generated by the machine head and the surface of the flat panel detector;
information of an included angle between the projection direction of the X-ray generated by the machine head and the normal of the flat panel detector;
information of the position relationship between the light field plane of the X-ray generated by the machine head and the surface of the flat panel detector; and,
and covering position relation information between the light field of the X-ray generated by the machine head and the surface of the flat panel detector.
10. The mobile X-ray machine according to any one of claims 1 to 9, wherein the prompt module comprises: the LED lamp alarm control module, the loudspeaker and the driving circuit module thereof, and/or the display screen and the control circuit module thereof, the prompt module is arranged at any position of the mobile X-ray machine, or the prompt module is arranged on a remote controller for remotely controlling the mobile X-ray machine.
11. An imaging control apparatus for a mobile X-ray machine, the apparatus comprising:
the position detection module is used for detecting the position information of the machine head and the flat panel detector on the mobile X-ray machine, and accordingly acquiring the posture detection data of the machine head and the flat panel detector; the position detection module is used for respectively detecting the spatial attitude information of the machine head and the flat panel detector and generating attitude detection data containing the machine head attitude information and the flat panel detector attitude information;
the relation acquisition module is used for acquiring the position relation between the machine head and the flat panel detector according to the attitude detection data of the machine head and the flat panel detector and judging whether the position relation meets the preset imaging requirement of the mobile X-ray machine; and
and the information output module is used for outputting operation prompt information for adjusting the machine head and the flat panel detector when the position relation between the machine head and the flat panel detector does not meet the preset requirement.
12. The apparatus according to claim 11, wherein the relationship obtaining unit determines whether the X-ray projection direction generated by the machine head is perpendicular to the surface of the flat panel detector, and outputs information of an included angle between the X-ray projection direction generated by the machine head and the surface of the flat panel detector, and/or information of an included angle between the X-ray projection direction generated by the machine head and a normal of the flat panel detector; and/or
The relation acquisition unit judges whether the light field plane of the X-ray generated by the machine head is parallel to the surface of the flat panel detector or not and outputs the position relation information between the light field plane of the X-ray generated by the machine head and the surface of the flat panel detector; and/or
The relation acquisition unit judges whether the light field of the X-ray generated by the machine head is superposed with the radiation field on the flat panel detector or not, and outputs the covering position relation information between the light field of the X-ray generated by the machine head and the surface of the flat panel detector.
13. The device of claim 12, wherein the information output module is further configured to output a prompt tone, a prompt light effect and/or a prompt image when the positional relationship between the handpiece and the flat panel detector does not satisfy that the X-ray projection direction is perpendicular to the surface of the flat panel detector; and/or the presence of a gas in the gas,
the information output module is also used for outputting prompt tones, prompt light effects and/or prompt images when the position relation between the machine head and the flat panel detector does not satisfy that the light field plane of the X-ray is parallel to the surface of the flat panel detector and the light field of the X-ray coincides with the radiation field on the flat panel detector.
14. A method of controlling a mobile X-ray machine, the method comprising:
detecting the spatial attitude information of the machine head and the flat panel detector, and generating attitude detection data containing the machine head attitude information and the flat panel detector attitude information;
obtaining the position relation between the machine head and the flat panel detector according to the attitude detection data;
and outputting operation prompt information related to the position relation according to the position relation.
15. An X-ray flat panel detector comprising:
a housing;
a plurality of detection units enclosed within the housing, the detection units for receiving X-rays and generating an X-ray image based on the received X-rays; and
the communication unit is used for transmitting the X-ray image to an imaging workstation which is communicated with the flat panel detector;
the X-ray flat panel detector is characterized by further comprising an attitude sensor packaged in the shell, wherein the attitude sensor is used for detecting the spatial position of the flat panel detector and generating attitude detection data containing the flat panel detector according to the spatial position; the flat panel detector also transmits attitude detection data to the imaging workstation through the communication unit.
16. The X-ray flat panel detector according to claim 15, wherein the flat panel detector has a flat plate shape; the attitude detection data of the flat panel detector comprises the inclination angle and the inclination direction of the flat panel detector in the horizontal direction.
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