CN106725572B - Low dose digital X-ray imaging shelter - Google Patents

Low dose digital X-ray imaging shelter Download PDF

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CN106725572B
CN106725572B CN201611271084.8A CN201611271084A CN106725572B CN 106725572 B CN106725572 B CN 106725572B CN 201611271084 A CN201611271084 A CN 201611271084A CN 106725572 B CN106725572 B CN 106725572B
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image signal
image
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vehicle
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CN106725572A (en
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高欣
梁志远
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Suzhou Institute of Biomedical Engineering and Technology of CAS
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Suzhou Institute of Biomedical Engineering and Technology of CAS
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Priority to PCT/CN2017/117799 priority patent/WO2018121411A1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4411—Constructional features of apparatus for radiation diagnosis the apparatus being modular
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computerised tomographs
    • A61B6/032—Transmission computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/40—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for generating radiation specially adapted for radiation diagnosis
    • A61B6/4064—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for generating radiation specially adapted for radiation diagnosis specially adapted for producing a particular type of beam
    • A61B6/4085—Cone-beams
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
    • B22F12/90—Means for process control, e.g. cameras or sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/003—Reconstruction from projections, e.g. tomography
    • G06T11/005—Specific pre-processing for tomographic reconstruction, e.g. calibration, source positioning, rebinning, scatter correction, retrospective gating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/10—Formation of a green body
    • B22F10/12—Formation of a green body by photopolymerisation, e.g. stereolithography [SLA] or digital light processing [DLP]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/10—Formation of a green body
    • B22F10/18—Formation of a green body by mixing binder with metal in filament form, e.g. fused filament fabrication [FFF]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/20—Direct sintering or melting
    • B22F10/28—Powder bed fusion, e.g. selective laser melting [SLM] or electron beam melting [EBM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/30—Process control
    • B22F10/31—Calibration of process steps or apparatus settings, e.g. before or during manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00—Other particular articles
    • B29L2031/753—Medical equipment; Accessories therefor
    • B29L2031/7532—Artificial members, protheses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • G06T2207/10081—Computed x-ray tomography [CT]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/25—Process efficiency

Abstract

The invention discloses a low-dose digital X-ray image shelter, and relates to a three-dimensional CT image reconstruction model based on compressed sensing. Sampling can convert a time and space continuous signal into a time and space discrete group of numerical value sequences, sampling is carried out by utilizing a Nyquist-Shannon sampling theorem, and when the sampling frequency is more than 2 times (normally 5-10 times in practical application) of the highest frequency of an original signal, all information in the original signal can be completely reserved. The compressed sensing technology can reduce the sampling frequency as much as possible on the premise of ensuring the CT reconstruction quality, so as to achieve the purpose of reducing the radiation dose.

Description

Low dose digital X-ray imaging shelter
Technical Field
The present invention relates to medical equipment, and more particularly to a low dose digital X-ray imaging shelter.
Background
The cruel nature of the war, the particularity of the military mission and the multifarities of disaster relief provide higher requirements for the quick treatment of the sick and wounded. At present, all levels of medical service support units of our army must be supported by new equipment to provide quick and safe treatment. In order to enable the war-hour or non-military mission service support to achieve the capacity, the urgent need is to enable the new generation of service equipment to be seamlessly linked with the actual combat support requirement. In recent years, the digitalization and informatization levels of the military health service equipment system are continuously improved, and a batch of advanced health service equipment such as a field operation shelter, a hospital ship, a train hospital and the like are successively published, so that the field operation motor hospital and the military center hospital are interconnected and intercommunicated and remotely consulted, and an important effect is achieved on recovery, maintenance and improvement of fighting capacity of a team.
However, as an important inspection tool in medical equipment, namely an X-ray diagnostic vehicle, the existing equipment cannot meet the emergency requirements of wounded personnel. Particularly, in the field operations or disaster relief processes, the existing X-ray diagnosis vehicle can only provide two-dimensional perspective images and cannot provide three-dimensional structural imaging, so that the accurate diagnosis is not facilitated, and the three-dimensional space accurate positioning of focus in treatment is also not facilitated. In addition, the X-ray detection system in the existing XCY2002-1/200 field X-ray diagnostic vehicle still adopts a shooting mode and does not adopt a digital detector, thereby seriously reducing the working efficiency of the system. The power supply system of the X-ray diagnostic vehicle still adopts a 380V power supply, needs an external 30kW power station trailer to supply power, increases the risk of electric leakage in heavy rain and is not beneficial to field transportation under hard conditions.
Furthermore, in surgery, a wide variety of available instruments and prostheses may be required to treat a patient. In some applications, the urgency may be high. For example, when treating a blast injured soldier, the injury is often severe and needs to be dealt with as quickly as possible. In addition, in both military and non-military applications, a medical practitioner may perform a procedure that requires the use of tools and/or replacement of a prosthesis. These practitioners may be limited in space, or the number and type of equipment that may be brought into the field.
To keep up with the rapid pace of modern war and disaster relief and meet the higher demands of wounded rescue, I need medical field equipment with better performance in the military, wherein an X-ray medical imaging shelter capable of providing a multi-mode imaging function would greatly improve the capability of medical service support.
Disclosure of Invention
Aiming at the situation, a novel X-ray medical image shelter is to be developed, the shelter can provide traditional X-ray perspective images and conventional photography, can also provide CT image information, can carry out rapid three-dimensional structure imaging on any part of the whole body and can provide 3D printing, and the shelter can replace the requirements of sending or storing a large amount of surgical instruments and customized restorations. This may reduce shipping costs to the surgical site, as well as reduce the time to create a surgical prosthetic implant or tool.
The invention mainly solves the defect of non-ideal reconstruction effect caused by undersampling by utilizing a compressed sensing theory, and provides a method for low-dose CT imaging, thereby reducing the radiation dose received by a patient in CT examination as much as possible. Because the detectors of the cone-beam CT are usually flat-panel detectors, compared with the two-dimensional CT, the number of the detectors of the cone-beam CT is increased by geometric multiples, and the data volume of the three-dimensional reconstructed image is correspondingly increased, the amount of calculation related to the corresponding observation matrix in the algorithm is increased rapidly, and the calculation time is greatly prolonged. By utilizing the characteristics that CT projection modes are irrelevant under different projection angles and different detector conditions, the operation related to the observation matrix is processed in parallel, so that the time required by the iterative algorithm operation is greatly shortened, the problems that the observation matrix is too large and is difficult to store are solved, and the system resource occupancy is reduced.
The present invention generally provides devices and processes for producing tools and/or prostheses suitable for surgical procedures. The present invention provides an imaging shelter with three-dimensional (3D) printing capability that will replace the need to deliver or store large numbers of surgical instruments and customized restorations. This may reduce shipping costs to the surgical site, as well as reduce the time to create a surgical prosthetic implant or tool. The shelter may contain a scanner, a computer, a 3D printer and raw materials for printing surgical instruments or prostheses. The present invention thus overcomes the need to transport and/or store large quantities of medical devices, instruments and prostheses at a medical facility when they can be printed quickly on site. The device and the method can allow the mobile operation center to be quickly constructed only by 3D express printing.
The method and apparatus of the present invention will allow direct Virtual Private Network (VPN) image sharing so that doctors in the field can receive the images and cooperate with other physicians to assist them in obtaining the appropriate implant/prosthesis and troubleshooting designs for a particular procedure. This is particularly beneficial because a number of difficult trauma situations are often manifested themselves in challenging locations (e.g., on a battlefield or field of a military operation). The apparatus and method of the present invention help provide the highest standard of care to patients.
The devices and methods of the present invention may also access databases that store information related to medical devices, instruments, and prostheses. It may also have the ability to make custom implants on site in a scanning and printing process and create life saving and treatment devices that can help the patient when needed. By all of these features, the present disclosure can reduce the shipping weight of necessary surgical equipment, reduce the time to final implantation of life saving medical implantable devices, and create an operating room within hours. The raw materials may be supplied and delivered in a pre-packaged proprietary manner.
For ease of description, the terms "prosthesis" and "prostheses" as used in this disclosure are used to indicate the type of implant, bone replacement, tissue replacement, prosthesis, or even the entire organ that may be designed and created in the apparatus and with the methods of the present disclosure. Thus, as used in the present invention, the term "prosthesis" may refer to customized facial implants (bone or soft tissue implants), facial fractures and repairs, small ear deformity stents, ocular prostheses, nasal prostheses, maxillary prostheses, palatal prostheses, septal prostheses, cranial cap prostheses, mandibular replacements (bone graft prints), maxillary replacements, customized soft tissue implants (all areas of the body including but not limited to airway stents, vascular stents, grafts, percutaneous or surgical vascular occlusion devices), hand/limb implants/prostheses, joint replacements (e.g., facet joints of the wrist/finger), large joint replacements (e.g., hip, knee, shoulder), vertebral body replacements, long bone replacements (femur, tibia, fibula, radius, ulna, humerus), thoracic replacements, pelvic defects repairs, large joint replacements, non-implantable prostheses (e.g., fingers, other appendages, limbs, braces or fillers), combinations thereof, or other suitable implants.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a multi-functional digital X-ray imaging shelter comprising:
the system comprises a vehicle-mounted cone beam CT imaging system, a vehicle-mounted cone beam CT slide rail structure, a vehicle-mounted X-ray image information processing system, a three-dimensional printer and a 220V vehicle-mounted power supply system.
Preferably, the vehicle-mounted cone-beam CT imaging system of the image shelter is in a cone-beam CT imaging mode based on a flat panel detector, and the cone-beam CT imaging system is hung at the top of the shelter and is enabled to perform imaging at different positions of the scanning bed according to requirements by utilizing a top sliding rail structure. The cone beam CT imaging system performs 360-degree rotary exposure by taking the slip ring as a center, performs three-dimensional reconstruction on an imaged object through a cone beam CT reconstruction technology to obtain three-dimensional internal structure information of the imaged object, and displays an image on display equipment; sending the image to a printer; and printing the instrument or prosthesis from the image on the printer.
Preferably, the vehicle-mounted cone-beam CT imaging system includes:
the frame is vertically erected on a moving device of the CT scanner; the cage-type rotating component comprises a first rotating fitting, a second rotating fitting and an edge for connecting the first rotating fitting and the second rotating fitting, the first rotating fitting is rotatably arranged on the rack through a slewing bearing, the cage-type rotating component and the rack are of an annular structure, and the center of the annular structure is used as a scanning hole of the CT scanner; the imaging system is provided with an X-ray source assembly and a detector assembly which are arranged on the same side wall of the second rotating fitting along the axial center, the X-ray source assembly and the detector assembly are fixed on the second rotating fitting, and the detector assembly correspondingly receives an emergent ray from the X-ray source assembly; the turbine component is obliquely arranged on the first rotating accessory, the gear wheel meshed with the turbine component is fixedly arranged on one surface, different from the first rotating accessory, of the rack, the axes of the first rotating accessory, the rack, the gear wheel and the second rotating accessory are overlapped, the turbine component drives the cage-shaped rotating component to rotate circumferentially around the gear wheel by a motor, and a cable is connected with a power supply and the imaging system through the cage-shaped rotating component; the X-ray source assembly takes a cone-shaped beam as an emergent light beam, and the imaging system rotates for a circle in a dynamic volume scanning mode to complete the scanning imaging process of the target object.
Preferably, the vehicle-mounted X-ray image information processing system is a three-dimensional CT image reconstruction algorithm based on compressed sensing:
an optimized method for reconstructing the image of the projection data after undersampling by using a TV minimization by augmented Lagrangian and Alternating direction ALgorithms (TVAL 3) is based on a compressed sensing theory and combining an augmented Lagrangian method and an Alternating direction method. The general form of the compressed sensing reconstruction problem and the characteristics of a two-dimensional image gradient structure are utilized, Total Variation (TV) minimization is selected as an objective function, and the optimization problem is solved:
Figure BSA0000138525320000041
wherein x is a three-dimensional image to be reconstructed, b is projection data obtained by undersampling, A is an observation matrix, and Dix refers to the discrete gradient of the ith pixel in the reconstructed image x. The regularization part of the formula is an equidistant TV norm, and a non-equidistant TV norm can also be useda(x)＝∑i||Dix||1And solving the objective function to simplify the problem.
Further reforming the target function by introducing a shrnk function wiInstead of image gradients, its associated augmented lagrange function is obtained at the same time:
Figure BSA0000138525320000042
Figure BSA0000138525320000043
viand λ are lagrange multipliers. Wherein for the reconstructed image x, we use a gradient descent method for iterative update. Substituting the parameters obtained from the last iteration to increase the Lagrange function LA(wi，x，viλ) becomes a quadratic equation for x with a gradient expression as follows:
Figure BSA0000138525320000044
by selecting a proper iteration step length and substituting the iteration step length into a general frame of an Alternating Direction Method (ADM), the objective function is iterated, and continuous approximation of a real reconstructed image can be realized. The specific iteration steps are as follows:
Figure BSA0000138525320000045
for different TV norms, the corresponding shrnk function expression forms are also different, and for equidistant TV norms:
Figure BSA0000138525320000046
for non-equidistant TV norms:
Figure BSA0000138525320000051
preferably, the three-dimensional printer includes: an image acquisition device, an autoclave or other device for sterilizing the output of the 3D printer, and a scanner for authenticating the printed product. The invention also provides methods of using the same. An image acquisition device within the three-dimensional printer, an image acquisition device remote from the three-dimensional printer, or by accessing a database having stored image data associated therewith, is employed to acquire an image of the desired surgical instrument or prosthesis. The image is then sent to a printer for printing. In this manner, the present disclosure provides apparatus and methods for overspeed prototyping of surgically applied prostheses/tools. One suitable application for the disclosed shipping containers is in the military, as it allows mobile military medical facilities to be created within hours. The three-dimensional printer may be pre-positioned before it is needed. Other applications and features are described in more detail below.
The apparatus and method of the present invention are discussed in the context of three-dimensional (3D) printing. 3D printing may include, but is not limited to: such as the method: fused deposition modeling, fused filament (filament) fabrication, auto-slip casting (robocasting), electron beam dieless fabrication, direct metal laser sintering, electron beam melting (smelting), selective laser melting, selective thermal sintering, selective laser sintering, gypsum-based 3D printing, laminated entity fabrication, stereolithography (stereolithography), and digital light processing. A "subtractive" manufacturing process may also be employed. In this embodiment, the image acquisition device will send an image of the desired prosthesis to the computer, as described above. The final image with or without correction is sent to the producer. The fabricator uses an abatement process to produce a prosthesis, wherein the prosthesis may be chiseled from a solid implantable material. The abatement method may include lathing the prosthesis, cutting with a laser, water or air knife cutting tool, stamping, grinding or engraving.
By "intra-operative use", the present invention is meant that the prosthesis and/or instruments are printed or fabricated within the same surgical procedure or at the same surgical site as the site at which the image based on the prosthesis was taken. Currently available devices or methods may indicate "rapid prototyping", but this typically means that when an image of a particular part is taken, it is then sent out for remote printing in a process that may take weeks. The terms "overspeed prototype" and "intraoperative" are used to distinguish the present invention from these procedures. In the methods of the present invention, the desired prosthesis may be provided during a surgical procedure. One of the most unique aspects of the invention is that for a patient, the scanning and image processing of the patient, as well as the printing of a prosthesis or other implantable device, can be accomplished under a single anesthetic.
Software programs or algorithms may be embedded on a computer and may cause the acquired images to be shown on a monitor or other display. The software program may allow a physician, technician, with or without input from the patient himself, to customize the scanned image to the desired settings or characteristics. The final image (as applicable, the customized image) is then sent to a printer or a composer for creation. As previously discussed, the printer or maker is located with the computer within the shipping container. This greatly reduces the amount of time required to produce a prosthesis for use in a surgical procedure.
In one embodiment, the image acquisition device, computer, and printer or maker are co-located within a three-dimensional printer. In another embodiment, the computer, printer, sterilization equipment, and verification scanner may be co-located within the shelter. Either way, the apparatus and method of the present disclosure are positioned to enable overspeed prototyping, thereby eliminating or significantly reducing the amount of delay in obtaining the desired prosthesis or instrumentation. Depending on the particular type of medical procedure, the period of time that the printer or fabricator provides the prosthesis after the final image is obtained may vary. The time period may range from ten minutes to twenty-four hours, or any subrange therebetween. The time period may also be from thirty minutes to twelve hours, or any subrange therebetween.
When the three-dimensional printer of the present invention is used in surgical applications, the actual surgical procedure on the patient may occur within the shelter. The present invention also contemplates that the surgical procedure may occur outside of the shelter so that the shelter serves as a fabrication room for the prosthesis or surgical tool produced. The shelter may be used to print the desired tool or prosthesis and package it for delivery to other facilities or locations. If desired, packaging can be accomplished in a sterile manner. As a non-limiting example, the three-dimensional printer of the present invention may be deployed on the floor of an existing hospital facility. The user can print the desired tool or prosthesis and the courier can package it in a sterile package. The user may then transport the packaged portion to the site where the surgical procedure is to be performed.
With regard to military applications, soldiers are currently stabilized on a battlefield and evacuated to a second location (e.g., after war) for further medical care. With the approach discussed in this invention, more definitive surgery can occur before soldiers evacuate from the mission battle area, which can mean saving their lives, vision, or limbs. Using the digital X-ray imaging cabin of the invention and the stored database of data relating to surgical instruments and prostheses, the apparatus and method of the invention can produce a complete operating room with disposable instruments, which can be constructed quickly (< 24 hours) and inexpensively by the method of the invention. Thus, for doctors and anesthesiologists, the only inventory that needs to be provided to build the instrument would be the design from the database and the raw materials for printing. These can be used to construct anything from implants and dissectors to flexible or reinforced endotracheal tubes, tracheostomy tubes or airway stents. Finally, the cost of purchasing an implant or prosthesis under currently available methods can be extremely high. The apparatus and method of the present invention for printing a specific implant for a patient will save the military a significant amount of money as it will eliminate the need for a large inventory of implantable prostheses that can become unsterile and cause traumatic infection.
Other applications suitable for the shelter of the present invention may be in disaster areas. With natural disasters such as hurricanes or earthquakes, traditional or currently available power systems and medical services may be interrupted. In such a situation, the digital X-ray imaging shelter of the present invention may be deployed for emergency on-site medical assistance. The digital X-ray imaging shelter of the present invention may also be used in existing medical facilities (such as municipal hospitals) where space may be at a premium and with additional flexibility to perform procedures that may or may not be part of the standard capabilities of the facility. The use of digital X-ray imaging pods in applications of the invention may also be advantageous in freeing up existing storage space in such facilities, which may be used for stocking custom or non-custom implants.
The apparatus and method of the present invention, including the database, may provide a means to change the way in which support for constructing a hospital is supported. This would provide the desired cost savings and would allow the on-site physician to use the required equipment and prosthesis to provide better quality of care to the patient.
The printer or maker of the present invention may also eliminate the time associated with sterilization of implantable prostheses in currently available devices and methods. Currently, when a physician receives an implantable prosthesis after a printing delay, there is additional time associated with sterilization of the prosthesis, which further increases the cost of the procedure and the risk to the patient. However, with the apparatus and method of the present invention, this time is significantly reduced or eliminated altogether. The printer or maker provided by the apparatus and method of the present invention may provide a sterilized prosthesis for immediate use. In the case of a prosthesis produced via computer-guided lathing, the machining of the prosthesis will likely still require sterilization, but the lathing process may be more rapid than printing, so the additional time used for sterilization should not be too long.
The materials suitable for the prosthesis of the present invention may vary. The materials may include polylactic acid and acrylonitrile butadiene styrene approved for implantable devices. Other materials envisioned may include rubber, light curable polymers, metals, ceramics and implantable antibiotic-impregnated entities.
In addition to implant prostheses that are adapted to fit within the patient, the apparatus and method of the present invention may provide a surgical planning model and cutting guidelines to the physician and patient. For example, a physician may hold a model of a bone or skull and plan where a cut or bone resection will be made. The doctor may also prescribe the patient or the care-giver or guardian of the patient as well.
As noted above, while the shelter or other suitable modular container of the present invention may be used for three-dimensional printing in military applications, other applications are also envisioned. The shelter of the present invention may be used in any application where its mobility at various locations is useful for providing convenient medical and/or laboratory services. For example, in areas of natural disaster where power infrastructure and access equipment may be disrupted, where medical centers have been compromised, or other remote areas in a war zone that are not necessarily in war. The three-dimensional printing aspect of the invention is particularly advantageous, but the shelter of the invention may also contain other medical equipment, tools or prostheses that are pre-fabricated or printed.
Drawings
FIG. 1 is a schematic diagram of a perspective imaging mode of an X-ray medical imaging shelter of the present invention.
Fig. 2 is a vehicle-mounted cone-beam CT imaging system in accordance with the present invention.
Fig. 3 exemplarily shows a multi-picture processing.
Fig. 4 is a three-dimensional printing process provided by an embodiment of the invention.
Detailed Description
As shown in fig. 3, a processing device 1 according to the present embodiment is connected to an endoscope 2 (scope), a light source device 3, a display device 4, and an X-ray device 5, the endoscope 2 having an imaging unit 21 which is introduced into a subject and captures an image of the inside of the subject to generate an endoscopic image signal, the light source device 3 generating illumination light L and supplying the illumination light L to the distal end of the endoscope 2 via a light guide cable 22, the display device 4 being constituted by a display or the like using liquid crystal or organic EL (Electro Luminescence), the X-ray device 5 generating an X-ray image signal, the processing device 1 performing predetermined image processing on the endoscopic image signal input from the endoscope 2 and also performing predetermined image processing on the X-ray image signal input from the X-ray device 5, and displaying an image corresponding to a composite image signal on the display device 4, the synthesized image signal is obtained by synthesizing an endoscopic image signal and an X-ray signal after image processing, which are arranged in a row. The processing device 1 displays a composite image signal, which includes two screens, i.e., a screen on which an image corresponding to the X-ray image signal is displayed and a screen on which the endoscope image signal is displayed, as main and sub screens, on the display screen of the display device 4. The processing device 1 controls operations of the endoscope 2, the light source device 3, and the display device 4.
The processing device 1 includes an input unit 11, a control unit 12, an image processing unit 13, a display control unit 14, an output unit 15, and a storage unit 16.
The input unit 11 is implemented using an operation device such as a mouse, a keyboard, and a touch panel, and accepts input of various kinds of instruction information. Specifically, the input unit 11 receives input of various instruction information such as information (for example, ID, date of birth, name, etc.) of the subject to be examined by the endoscope 2 and the X-ray device 5, identification information (for example, ID and examination-related item) of the endoscope 2, an identification number of the X-ray device 5, and examination contents.
The control unit 12 is realized by using a CPU or the like. The control unit 12 controls the processing operations of the respective units of the processing apparatus 1. The control unit 12 controls the operation of the processing device 1 by performing instruction information, data transmission, and the like for each configuration of the processing device 1. The control unit 12 is connected to the imaging unit 21, the components of the light source device 3, and the display device 4 via cables, and controls the operations of the imaging unit 21, the light source device 3, and the display device 4.
The image processing unit 13 performs predetermined signal processing on the endoscopic image signal generated by the imaging unit 21 and the X-ray image signal input from the X-ray device 5 under the control of the control unit 12. The image processing unit 13 includes a margin detection unit 13a, a region-of-interest cutout unit 13b (region-of-interest setting unit and cutout unit), an enlargement/reduction unit 13c, an endoscopic image processing unit 13d, and a combining unit 13 e. The X-ray image signal is an image signal having a video portion where an operator focuses on a displayed object and a margin portion provided around the video portion. The white remainder is a uniform area having uniform brightness or color.
The blank detection unit 13a detects a blank portion in the X-ray image signal by detecting a change in the luminance or color of the X-ray image signal.
The region-of-interest extracting unit 13b sets an initial region of interest corresponding to a video portion in the X-ray image signal based on the margin portion in the X-ray image signal detected by the margin detecting unit 13a, and extracts the set initial region of interest from the X-ray image signal.
The enlargement/reduction unit 13c generates an image signal obtained by enlarging or reducing the initial region of interest cut out from the X-ray image signal by the region-of-interest cutting unit 13b as a region-of-interest image signal indicating the initial region of interest, in accordance with the size of the X-ray image display screen of the display device 5 as the display object of the X-ray image signal.
The endoscope image processing unit 13d performs various image processing including optical black subtraction processing, gain adjustment processing, image signal synchronization processing, gamma correction processing, White Balance (WB) adjustment processing, color matrix operation processing, color reproduction processing, edge emphasis processing, and the like on the endoscope image signal input from the endoscope 2.
The combining unit 13e generates and outputs a combined image signal in which the region-of-interest image signal generated by the enlargement and reduction unit 13c and the endoscopic image signal processed by the endoscopic image processing unit 13d are aligned and combined.
The display control unit 14 generates a display image signal for display on the display device 4 based on the synthesized image signal output from the synthesizing unit 13e, converts the generated display image signal from a digital signal to an analog signal, and then changes the format of the converted analog signal to a format such as a high-definition format to output the converted image signal to the display device 4. In addition, the display device 4 may have a part of the function of the display control unit 14.
The output unit 15 is implemented using a speaker, a printer, or the like, and the output unit 15 outputs information related to display processing of the endoscopic image signal and the X-ray image signal according to control of the control unit 12.
The storage unit 16 is implemented using a volatile memory or a nonvolatile memory, and the storage unit 16 stores various programs for operating the processing device 1, the endoscope 2, and the light source device 3. The storage unit 16 temporarily stores information being processed by the processing apparatus 1. The storage unit 16 may be configured using a memory card or the like attached from the outside of the processing apparatus 1.
Referring to fig. 3, a three-dimensional printing process (100) according to the present invention is shown. First, the user may acquire images using an optical scanning device (101), a medical imaging device (102), a tactile or touch map (103), or through a database (104) of previously stored instrument or anatomical data. The images are then downloaded and processed by a computer (105). Optionally, the computer may display the image to the user or physician for further manipulation (106). After this step, the image is then sent to a printer for printing (107). The validation scanner may optionally verify the final printed product correctness (108). Also optionally, the final printed product may be sterilized using a sterilization apparatus, such as an autoclave (109).
Between the downloading step (105) and the displaying step (106), there may also be an optional step (105 a). Due to imperfections in the image acquisition technique, when a body part or instrument is scanned, there may be missing information, gaps or "holes" in the final image. If the image is sent to a printer or a maker, it will be incomplete and thus unsuitable. During step (105a), the image may be compared to standard data for a prosthesis or tool that may be stored in a database. Any gaps in the acquired image may be filled.
Description of the reference symbols
1: a processing device; 2: an endoscope; 3: a light source device; 4: a display device; 5: an X-ray device; 11: an input section; 12: a control unit; 13: an image processing unit; 13 a: a blank detection unit; 13 b: a region-of-interest cutout unit; 13 c: a magnification/reduction section; 13 d: an endoscopic image processing unit; 13 e: a synthesis unit; 14: a display control unit; 15: an output section; 16: a storage unit; 21: an image pickup unit.
The X-ray imaging shelter of the present invention may also be used in applications where mobility is not a primary concern. For example, existing hospital facilities may require the ability to quickly print tools or prostheses, which may currently be unable or have no room to do so. The X-ray imaging shelter of the present invention can be easily deployed on the floor of an existing hospital facility, for example in a parking lot, parking garage, roof or unused area of the facility's floor. The express container of the present disclosure may be deployed regardless of whether such capability is required, regardless of whether existing facilities exist.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (1)

1. A low dose digital X-ray imaging shelter, comprising: comprises that
The system comprises a composite image imaging system, a vehicle-mounted cone beam CT slide rail structure, a vehicle-mounted X-ray image information processing system, a three-dimensional printer and a 220V vehicle-mounted power supply system;
the composite image imaging system comprises a vehicle-mounted cone-beam CT imaging system and an endoscope, wherein the vehicle-mounted cone-beam CT imaging system adopts a cone-beam CT imaging mode based on a flat panel detector, and utilizes a vehicle-mounted cone-beam CT sliding rail structure to lift the cone-beam CT imaging system to the top of a shelter and enable the cone-beam CT imaging system to image at different positions of a scanning bed as required; the endoscope is provided with an imaging part which is introduced into a detected body and shoots the body of the detected body to generate an endoscope image signal, and the vehicle-mounted X-ray image information processing system is connected with the endoscope, the light source device, the display device and the vehicle-mounted cone beam CT imaging system;
an on-vehicle cone-beam CT imaging system that generates an X-ray image signal, and that performs predetermined image processing on an endoscope image signal input from an endoscope and also performs predetermined image processing on an X-ray image signal input from the on-vehicle cone-beam CT imaging system, and that displays an image corresponding to a composite image signal obtained by combining the endoscope image signal and the X-ray image signal after the image processing, on a display device;
the vehicle-mounted cone beam CT imaging system performs 360-degree rotary exposure by taking the slip ring as a center, performs three-dimensional reconstruction on an imaged object through a cone beam CT reconstruction technology to obtain three-dimensional internal structure information of the imaged object, and displays an image on display equipment; sending the image to a printer; and printing the instrument or prosthesis from the image on the printer;
the vehicle-mounted cone-beam CT imaging system comprises: the frame is vertically erected on a moving device of the CT scanner; the cage-type rotating component comprises a first rotating fitting, a second rotating fitting and an edge for connecting the first rotating fitting and the second rotating fitting, the first rotating fitting is rotatably arranged on the rack through a slewing bearing, the cage-type rotating component and the rack are of an annular structure, and the center of the annular structure is used as a scanning hole of the CT scanner; the imaging system is provided with an X-ray source assembly and a detector assembly which are arranged on the same side wall of the second rotating fitting along the axial center, the X-ray source assembly and the detector assembly are fixed on the second rotating fitting, and the detector assembly correspondingly receives an emergent ray from the X-ray source assembly; the turbine component is obliquely arranged on the first rotating accessory, the gear wheel meshed with the turbine component is fixedly arranged on one surface, different from the first rotating accessory, of the rack, the axes of the first rotating accessory, the rack, the gear wheel and the second rotating accessory are overlapped, the turbine component drives the cage-shaped rotating component to rotate circumferentially around the gear wheel by a motor, and a cable is connected with a power supply and the imaging system through the cage-shaped rotating component; the X-ray source assembly takes a cone-shaped beam as an emergent light beam, and the imaging system rotates for a circle in a dynamic volume scanning mode to complete the scanning imaging process of the target object;
the vehicle-mounted X-ray image information processing system is a three-dimensional CT image reconstruction algorithm based on compressed sensing
Figure FSB0000187822160000021
Wherein x is a three-dimensional image to be reconstructed, b is projection data obtained by undersampling, A is an observation matrix, and Dix refers to the discrete gradient of the ith pixel in the reconstructed image x,
the regularization part of the formula is an equidistant TV norm, and a non-equidistant TV norm can also be used
Figure FSB0000187822160000025
The problem simplification is performed on the solution of the objective function,
further reforming the target function by introducing a shrnk function wiInstead of image gradients, its associated augmented lagrange function is obtained at the same time:
Figure FSB0000187822160000022
Figure FSB0000187822160000023
vilambda is Lagrange multiplier, α and tau are penalty term balance coefficient, T represents transposition matrix, wherein for the reconstructed image x, a gradient descent method is used for iterative updating, and parameters obtained by last iteration are substituted, so that the Lagrange function L is augmentedA(wi，x，viλ) becomes a quadratic equation for x with a gradient expression as follows:
Figure FSB0000187822160000024
t represents an iteration parameter, and the continuous approximation of the real reconstructed image can be realized by selecting a proper iteration step length and substituting the proper iteration step length into a general frame of an alternating direction method to iterate the target function;
the specific iteration steps are as follows:
Figure FSB0000187822160000031
and η are conditional parameters for iteration termination, and for different TV norms, their corresponding shrnk function expressions are different, for equidistant TV norms:
Figure FSB0000187822160000032
for non-equidistant TV norms:
Figure FSB0000187822160000033
the vehicle-mounted X-ray image information processing system comprises an input part, a control part, an image processing part, a display control part, an output part and a storage part;
the input part receives the input of the information of the detected object inspected by the endoscope and the vehicle-mounted cone beam CT imaging system, the identification information of the endoscope, the identification number of the vehicle-mounted cone beam CT imaging system and the inspection content;
the control part controls the operation of the vehicle-mounted X-ray image information processing system by transmitting instruction information or data to each structure of the vehicle-mounted X-ray image information processing system, and the control part is connected with the image pickup part, each structure part of the light source device and the display device through each cable, thereby controlling the operation of the image pickup part, the light source device and the display device;
an image processing unit for performing predetermined signal processing on an endoscopic image signal generated by an imaging unit and an X-ray image signal input from a vehicle-mounted cone-beam CT imaging system under the control of a control unit, the image processing unit including a margin detection unit, a region-of-interest cutting unit, an enlargement/reduction unit, an endoscopic image processing unit, and a synthesis unit, the X-ray image signal being an image signal including a video portion where an object appears and a margin portion provided around the video portion, the image portion being a uniform region having uniform brightness or color;
a blank detection unit for detecting a blank portion in the X-ray image signal by detecting a change in brightness or color of the X-ray image signal;
a region-of-interest extracting unit that extracts an initial region of interest corresponding to a video portion in the X-ray image signal from the X-ray image signal, based on a white-out portion in the X-ray image signal detected by the white-out detecting unit;
an enlargement/reduction unit that generates, as a region-of-interest image signal indicating an initial region of interest cut out from the X-ray image signal by the region-of-interest cutting unit, an image signal obtained by enlarging or reducing the initial region of interest in accordance with the size of an X-ray image display screen of a display device that is an object to be displayed of the X-ray image signal;
an endoscope image processing unit that performs various image processing including optical black subtraction processing, gain adjustment processing, image signal synchronization processing, gamma correction processing, white balance adjustment processing, color matrix operation processing, color reproduction processing, and edge emphasis processing on an endoscope image signal input from an endoscope;
a synthesis unit that generates and outputs a synthesized image signal in which the region-of-interest image signal generated by the enlargement and reduction unit and the endoscopic image signal processed by the endoscopic image processing unit are arranged and synthesized;
a display control unit that generates a display image signal for display on the display device based on the composite image signal output from the synthesis unit, converts the generated display image signal from a digital signal to an analog signal, and then changes the image signal of the converted analog signal to a high-definition mode and outputs the signal to the display device;
an output unit that is realized using a speaker or a printer and outputs information related to display processing of the endoscopic image signal and the X-ray image signal according to control by the control unit;
the storage unit is implemented using a volatile memory or a nonvolatile memory, and stores various programs for operating the processing device, the endoscope, and the light source device; the storage unit temporarily stores information being processed by the processing device.
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