CN107773262B - Positioning device for assisting C-arm fluoroscopy, C-shaped arm X-ray machine and positioning method - Google Patents
Positioning device for assisting C-arm fluoroscopy, C-shaped arm X-ray machine and positioning method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000002594 fluoroscopy Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 abstract description 8
- 230000005855 radiation Effects 0.000 abstract description 7
- 208000019155 Radiation injury Diseases 0.000 abstract 1
- 230000003902 lesion Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/58—Testing, adjusting or calibrating thereof
- A61B6/587—Alignment of source unit to detector unit
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Abstract
The invention discloses a positioning device for assisting C-arm fluoroscopy, a C-shaped arm X-ray machine and a positioning method, and relates to the technical field of medical instruments. The positioning device comprises a first laser assembly and a second laser assembly, a laser beam emitted by the first laser assembly and a laser beam emitted by the second laser assembly intersect at a target point, wherein the target point is positioned: the X-ray beam when the C-arm is in the right position and the X-ray beam when the C-arm is in the side position. According to the invention, the target point is positioned through the first laser assembly and the second laser assembly, then the region of interest is placed at the target point, and perspective imaging of the region of interest in two directions can be realized through one-time positioning, so that the adjustment times of the region of interest are reduced, the working efficiency is improved, the radiation quantity of X-rays is reduced, and the radiation injury of the X-rays to a patient is reduced.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a positioning device for assisting C-arm fluoroscopy, a C-shaped arm X-ray machine and a positioning method.
Background
In an orthopedic surgery, a C-arm machine is often used to perform fluoroscopy on a lesion site of a patient. Because the perspective view has an important reference value for the diagnosis of a doctor, before an operation, a medical staff generally performs perspective on a lesion site of a patient at multiple angles, including not only orthoscopic perspective and lateral perspective, but also even oblique perspective. However, the conventional mobile C-arm is inconvenient to switch the right and lateral positions, for example, when a doctor adjusts the C-arm to the lateral position after taking a right image, the problem that the region of interest (e.g., a focus) is not in the imaging area of the flat panel is often encountered. Therefore, a doctor needs to continuously acquire an image by controlling the paying-off mode of the C-arm machine so as to adjust the position of the C-arm according to the position relation between the region of interest and the acquired image, and finally the region of interest is located near the center of the acquired image. The above process results in unnecessary radiation to the patient and, to a certain extent, also affects the efficiency of the surgery.
Disclosure of Invention
Based on the above, the present invention is directed to a positioning device, a C-arm X-ray machine and a positioning method for assisting C-arm fluoroscopy, which can achieve fluoroscopic imaging of a region of interest in two directions by one-time positioning, and improve the work efficiency of an operator while reducing radiation dose.
In order to achieve the purpose, the invention adopts the following technical scheme:
a positioning device for assisting C-arm fluoroscopy, comprising a first laser assembly and a second laser assembly, wherein a laser beam emitted by the first laser assembly and a laser beam emitted by the second laser assembly intersect at a target point, wherein the target point is located at: the X-ray beam when the C-arm is in the right position and the X-ray beam when the C-arm is in the side position.
Preferably, the target points are: the intersection point of the X-ray beam central axis when the C-arm is in the normal position and the X-ray beam central axis when the C-arm is in the lateral position.
Preferably, the first laser assembly is disposed at an X-ray source end or a detector end of the C-arm, and configured to emit a first laser beam.
Preferably, the first laser unit is attached to an outer peripheral side of the probe.
Preferably, the second laser assembly is disposed inside the C-arm for emitting a second laser beam.
Preferably, in the first laser assembly and the second laser assembly, one of the laser beam patterns emitted from the first laser assembly and the second laser assembly is in a cross shape, and the other laser beam pattern emitted from the second laser assembly is in a straight shape.
Preferably, the laser beam pattern of the "cross" shape is emitted by a single cross-shaped laser emitter or by a combination of two in-line laser emitters.
The invention also provides a C-shaped arm X-ray machine which comprises the positioning device in any scheme.
Preferably, the C-arm X-ray machine further comprises:
the position detection device is arranged in the C arm and is used for detecting the rotating angle of the C arm;
and the prompting device is connected with the position detection device to prompt the rotating angle of the C arm.
The invention also provides a positioning method adopting the positioning device, which comprises the following steps:
rotating the C arm to a positive position;
starting the first laser assembly and the second laser assembly;
and determining a target point according to the intersection position of the laser beams of the first laser assembly and the second laser assembly.
The invention has the beneficial effects that:
according to the invention, the first laser assembly and the second laser assembly are arranged, so that a doctor can be assisted in positioning the region of interest, and the region of interest is moved to a target point through the indication of the laser beam; when the interested area is positioned at the target point, the interested area can be positioned near the center of the acquired image in the acquired image no matter the C arm is positioned at the positive position or the lateral position, and the problem that the interested area is not positioned in the imaging area in the positive lateral position switching process is avoided. According to the invention, the target point is positioned in advance, the region of interest is moved to the target point, so that perspective imaging of the region of interest in two directions is realized, and the region of interest can be positioned near the central line of the image, so that the processes of acquiring the image by paying off and continuously adjusting the C arm by an operator are avoided, the number of times of perspective imaging is reduced, unnecessary radiation of a patient is avoided, and the working efficiency of the operator is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic structural view of a C-arm provided by an embodiment of the invention in X, Y coordinates (the C-arm is in a normal position);
FIG. 2 is a schematic structural view of a C-arm provided by an embodiment of the present invention in X, Y coordinates (the C-arm is in a side position);
fig. 3 is a schematic view of the propagation paths of the X-ray beam and the first laser beam according to the embodiment of the present invention.
In the figure:
1-C arm; 11-X-ray source; 12-a detector end; 111-an X-ray source assembly; 112-a harness assembly; 113-a mirror; 2-a first laser assembly; 21-a first laser beam; 3-a second laser assembly; 31-a second laser beam; 4-region of interest.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the present embodiment provides a positioning device for assisting C-arm perspective, which is used for a non-isocentric C-arm 1, wherein the C-arm 1 is provided with at least two perspective positions, and the C-arm 1 itself has a rotating structure, so that the C-arm can rotate from one perspective position to another perspective position around a rotating center O. Specifically, the positioning device of the present embodiment is mainly used to simplify the operation process when the region of interest 4 is viewed in two perspectives, where the position of the first perspective of the region of interest 4 is referred to as a first perspective position, and the position of the second perspective of the region of interest 4 is referred to as a second perspective position. The positioning device comprises a first laser component 2 and a second laser component 3, wherein the first laser component 2 is arranged at an X-ray source end 11 or a detector end 12 of the C-arm 1 and used for emitting a first laser beam 21, and the first laser beam 21 and an X-ray beam emitted by the X-ray source end 11 are close to or coincided by adjusting the installation position and the emission angle of the first laser component 2, so that the purpose of judging the direction of the X-ray beam through the first laser beam 21 is achieved, the trouble of adjusting the C-arm by continuously paying off and collecting images in the prior art is avoided, and the radiation dose of the X-ray is reduced. The second laser assembly 3 is disposed inside the C-arm 1 for emitting a second laser beam 31, the second laser beam 31 intersects the first laser beam 21, and the intersection point E thereof is used for placing the region of interest 4 of the object to be fluoroscopic, so that the region of interest of the object to be fluoroscopic 4 is located near the center of the fluoroscopic image no matter the C-arm 1 is located in the first fluoroscopic position or the second fluoroscopic position.
According to the invention, by arranging the first laser assembly 2 and the second laser assembly 3, under the condition that images are not acquired by paying off and the position of the C arm is adjusted based on the acquired images, the position of the region of interest 4 for placing an object to be seen through can be found only by means of the indication of a laser beam; when the region of interest 4 is in the above-mentioned arrangement position, the C-arm 1 can be positioned in the region of interest 4 near the center position of the acquired image no matter in the first perspective position or the second perspective position, and the region of interest is not in the acquired image or is positioned near the non-center position in the acquired image in the process of switching the two perspective positions.
Preferably, the angle between the first laser beam 21 and the second laser beam 31 may be equal to the angle between the first perspective position and the second perspective position, so as to ensure that the X-ray can pass through the center F of the region of interest of the object 4 to be viewed in the two perspective processes. Further, since the propagation direction of the second laser beam 31 at the first perspective is the same as the propagation direction of the X-ray beam (and the first laser beam 21) at the second perspective, and the distance from the rotation center O of the C-arm 1 to the X-ray beam remains unchanged regardless of the swing position of the C-arm 1, the distance from the rotation center O to the first laser beam 21 is equal to the distance from the rotation center O to the second laser beam 31 in this embodiment, and the positioning accuracy can be improved to some extent.
Further, the first laser assembly 2 is arranged at the detector end 12 of the C-arm 1 and is mounted on the outer periphery of the detector, so that the influence on the imaging of the detector is avoided, the structure of the device is simplified, and the mounting difficulty is reduced. In this embodiment, an included angle between the first laser beam 21 and the second laser beam 31 is set as a, a counterclockwise rotation angle is set as a positive angle, and a clockwise rotation angle is set as a negative angle, and at this time, when 0 ° < a < 180 ° or-360 ° < a < 180 °, the intersection point of the second laser beam 31 and the first laser beam 21 is close to the detector end 12; when 180 DEG < A < 360 DEG or-180 DEG < A < 0 DEG, the intersection of the second laser beam 31 and the first laser beam 21 is close to the X-ray source terminal 11. Of course, the first laser unit 2 may be provided at the X-ray source end 11 of the C-arm 1, and in this case, the following configuration may be employed to superimpose the first laser beam 12 on the X-ray beam. As shown in fig. 3, the X-ray source end 11 includes an X-ray source assembly 111 and a beam limiter assembly 112, wherein the X-ray source assembly 111 is used for emitting an X-ray beam; the beam limiter assembly 112 is located below the X-ray source assembly 111, and is integrated with an obliquely arranged reflector 113 and a first laser assembly 2 located on one side of the reflector 113, wherein an X-ray beam emitted by the X-ray source assembly 111 passes through the back surface of the reflector 113, and the propagation direction of the X-ray beam is unchanged; the first laser beam 21 emitted by the first laser assembly 2 is irradiated on the front surface of the reflecting mirror 113, the propagation path of the first laser beam is changed at a certain angle after being reflected by the reflecting mirror 113, and the propagation path of the changed laser beam is overlapped with the propagation path of the X-ray beam. Above-mentioned X ray source end 11's structural design is reasonable, has both guaranteed that first laser beam 21 is unanimous with the propagation direction of X ray bundle, has avoided directly setting up first laser subassembly 2 in X ray source subassembly 111 below simultaneously, and shelters from the X ray bundle that causes.
Further, in this embodiment, the C-arm 1 may have a plurality of perspective positions, and a plurality of second laser assemblies 3 are uniformly distributed on the inner side of the C-arm 1 along the arc direction, wherein each second laser assembly 3 corresponds to a set of first perspective positions and second perspective positions respectively. Before an operation, an operator can select two perspective positions according to the perspective requirement of the region of interest 4 of an object to be subjected to perspective, and then correspondingly select one second laser assembly 3 according to the angle relation of the two perspective positions. Through the cooperation of second laser subassembly 3 and first laser subassembly 2, find the corresponding target point of putting, place the region of interest in the target point to after the perspective operation is accomplished at first perspective position, can carry out perspective operation with C arm 1 direct rotation to second perspective position, need not to carry out any position adjustment again, easy and simple to handle, swift, efficiency is higher.
As shown in fig. 1, the first perspective position in the present embodiment is preferably a normal position, in which the C-arm 1 is in a vertical state, the detector end 12 is above, and the X-ray source end 11 is below; as shown in fig. 2, the second perspective position in this embodiment is a lateral position, in which the C-arm 1 is in a horizontal state, the detector end 12 is on the left, and the X-ray source end 11 is on the right. In this embodiment, the X-ray beam is a cone beam, and since the X-ray beam when the C-arm 1 is in the normal position and the X-ray beam when the C-arm 1 is in the lateral position have a certain intersection region in space, when the region of interest 4 of the object to be fluoroscopic is in the intersection region, the X-ray can pass through the region of interest 4 of the object to be fluoroscopic regardless of whether the C-arm is in the normal position or the lateral position. That is, when the intersection of the laser beam emitted from the first laser unit 2 and the laser beam emitted from the second laser unit 3 is located in the above-mentioned intersection region, the intersection can be defined as a target point for placing the region of interest of the object to be viewed.
Further, the central axes of the X-ray beams at the right position and the side position intersect at a point in space, and this embodiment preferably uses this intersection point E as a target point, and when the region of interest 4 of the object to be fluoroscopic is located at this target point, the region of interest 4 appears at the center position of the fluoroscopic images at the right position and the side position. Further, one of the first laser unit 2 and the second laser unit 3 emits a laser beam pattern in a cross shape, and the other emits a laser beam pattern in a straight shape. The arrangement is such that two planes formed by the cross-shaped laser beam in space perpendicularly intersect one plane formed by the in-line laser beam in space, and the intersection point of the three planes is the uniquely determined target point. The improvement ensures that the invention has more accurate positioning and more convenient observation, avoids unnecessary radiation to the perspective object and simultaneously improves the working efficiency of operators. Preferably, the cross-shaped laser beam pattern can be emitted by a single cross-shaped laser emitter or by a combination of two in-line laser emitters. Preferably, the first laser assembly 2 includes two in-line laser emitters (respectively installed on the outer peripheral sides of the detectors) for emitting the cross-shaped laser beam pattern, and the second laser assembly 3 includes one in-line laser emitter for emitting the in-line laser beam pattern. Of course, the first laser assembly 2 and the second laser assembly 3 may also both use a point light source laser emitter, and the laser beams emitted by the point light source laser emitter are both straight rays, and the position of the target point is determined by the intersection point of the two rays. The laser transmitter has simple structure and low cost, but relatively speaking, the laser transmitter without the cross shape and the straight shape has high positioning accuracy. Further, the mounting positions of the first laser assembly 2 and the second laser assembly 3 are such that: when the C-arm 1 is in the right position, in the first laser assembly 2: the intersection line of the sector plane of the laser transmitter and the sector plane of the laser transmitter, which are positioned in the XOY plane, is close to or coincident with the central axis of the X-ray beam (here, the Z axis refers to the direction vertical to the XOY plane); the fan plane in the XOZ plane emitted by the laser emitters in the second laser assembly 3 comprises the intersection point E and a line between the intersection point E and the C-arm 1 in the direction of the X-axis.
Further, the embodiment also provides a C-arm X-ray machine, which includes the positioning device for assisting C-arm fluoroscopy, and further includes a position detection device and a prompt device, wherein the position detection device is arranged in the C-arm 1 and is used for detecting the rotation angle of the C-arm 1; the prompting device is connected with the position detection device to prompt the rotating angle of the C arm 1. For example, when the C-arm 1 rotates to the normal position or the lateral position, the position detection device detects the position of the C-arm 1 and sends the position information to the controller, and the controller controls the prompting device to send a signal to prompt the user that the C-arm 1 has rotated to the corresponding position, so as to prevent over-rotation. In addition, above-mentioned first laser subassembly 2 and second laser subassembly 3 all adopt laser emitter, for example laser lamp to reach the purpose of simplifying the device, convenient operation, saving cost.
The embodiment further provides a positioning method for assisting C-arm fluoroscopy, which uses the positioning device to position the placement of the region of interest 4, and the positioning method includes the following steps:
the method comprises the following steps: selecting a first perspective position and a second perspective position of the C arm 1 according to the perspective requirement of the region of interest 4;
step two: selecting a second laser module 3 corresponding to the rotation angle of the first perspective position and the second perspective position;
step three: rotating the C-arm 1 to the first perspective position;
step four: starting the first laser assembly 2 and the second laser assembly 3, and placing the region of interest 4 to be seen through at the intersection point (i.e. the target point) of the first laser beam 21 and the second laser beam 31;
step five: acquiring an X-ray image of the region of interest 4 in a first perspective position;
step six: the C-arm 1 is rotated to the second perspective position and an X-ray image of the region of interest 4 in the second perspective position is acquired.
Preferably, in the positioning method, the first perspective position indicates that the C-arm is in the right position, and the second perspective position indicates that the C-arm is in the lateral position.
The invention realizes the perspective imaging of the region of interest 4 in two directions by one-time positioning, and in the image obtained by perspective, the region of interest 4 is near the center of the image, because the processes of image acquisition by paying off and continuous adjustment of the C arm by an operator are not needed any more, the number of times of perspective is reduced (in the process of two times of perspective, the regions of interest are both near the center position of the acquired image), thereby avoiding unnecessary radiation of a patient, and simultaneously improving the working efficiency of the operator.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A positioning device for assisting C-arm fluoroscopy, comprising a first laser assembly (2) and a second laser assembly (3), wherein a laser beam emitted by the first laser assembly (2) and a laser beam emitted by the second laser assembly (3) intersect at a target point, wherein the target point is located at: the X-ray beam when the C arm (1) is in the normal position and the X-ray beam when the C arm (1) is in the lateral position are crossed in the cross area;
the first laser assembly (2) is arranged at an X-ray source end (11) or a detector end (12) of the C-arm (1) and is used for emitting a first laser beam (21), and the first laser beam (21) is close to or coincided with an X-ray beam emitted by the X-ray source end (11);
the second laser assembly (3) is arranged on the inner side of the C-arm (1) and is used for emitting a second laser beam (31).
2. The positioning apparatus for assisted C-arm fluoroscopy as recited in claim 1, wherein the target points are: the intersection point of the X-ray beam central axis when the C-arm (1) is in the normal position and the X-ray beam central axis when the C-arm (1) is in the lateral position.
3. The positioning device for assisting C-arm fluoroscopy as recited in claim 1, characterized in that the first laser assembly (2) is mounted on the outer circumference side of the detector.
4. The positioning device for assisting C-arm fluoroscopy as claimed in any of claims 1 to 3, wherein one of the first laser assembly (2) and the second laser assembly (3) emits a laser beam pattern in a cross shape and the other emits a laser beam pattern in a straight shape.
5. The positioning apparatus of claim 4, wherein the cross-shaped laser beam pattern is emitted by a single cross-shaped laser emitter or a combination of two in-line laser emitters.
6. A C-arm X-ray machine comprising a positioning device according to any one of claims 1 to 5.
7. The C-arm X-ray machine of claim 6, further comprising:
the position detection device is arranged in the C arm (1) and is used for detecting the rotating angle of the C arm (1);
and the prompting device is connected with the position detection device to prompt the rotating angle of the C arm (1).
8. A positioning method, characterized in that positioning is performed using the positioning apparatus of any one of claims 1 to 5, the positioning method comprising:
rotating the C arm (1) to a positive position;
starting the first laser assembly (2) and the second laser assembly (3);
and determining a target point according to the intersection position of the laser beams of the first laser assembly (2) and the second laser assembly (3).
Priority Applications (14)
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| CN201711242643.7A CN107773262B (en) | 2017-11-30 | 2017-11-30 | Positioning device for assisting C-arm fluoroscopy, C-shaped arm X-ray machine and positioning method |
| EP20189493.8A EP3756548B1 (en) | 2017-09-25 | 2018-09-25 | System for locating a target subject |
| EP20189492.0A EP3760127B1 (en) | 2017-09-25 | 2018-09-25 | System and method for locating a target subject |
| PCT/CN2018/107434 WO2019057217A1 (en) | 2017-09-25 | 2018-09-25 | System and method for locating target subject |
| AU2018336556A AU2018336556B2 (en) | 2017-09-25 | 2018-09-25 | System and method for locating target subject |
| CN201880062408.8A CN111163696B (en) | 2017-09-25 | 2018-09-25 | System and method for locating a target object |
| EP18858220.9A EP3687405A4 (en) | 2017-09-25 | 2018-09-25 | System and method for locating target subject |
| RU2020114681A RU2781347C2 (en) | 2017-09-25 | 2018-09-25 | System and method for location of target object |
| US16/236,462 US11013486B2 (en) | 2017-09-25 | 2018-12-29 | System and method for locating a target subject |
| US16/236,460 US11058389B2 (en) | 2017-09-25 | 2018-12-29 | System and method for locating a target subject |
| US16/236,461 US11071512B2 (en) | 2017-09-25 | 2018-12-29 | System and method for locating a target subject |
| US17/305,667 US11583240B2 (en) | 2017-09-25 | 2021-07-12 | System and method for locating a target subject |
| AU2022200948A AU2022200948B2 (en) | 2017-09-25 | 2022-02-11 | System and method for locating target subject |
| US18/171,655 US11974874B2 (en) | 2017-09-25 | 2023-02-20 | System and method for locating a target subject |
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| CN201711242643.7A CN107773262B (en) | 2017-11-30 | 2017-11-30 | Positioning device for assisting C-arm fluoroscopy, C-shaped arm X-ray machine and positioning method |
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| CN107773262A CN107773262A (en) | 2018-03-09 |
| CN107773262B true CN107773262B (en) | 2022-04-15 |
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| EP3760127B1 (en) | 2017-09-25 | 2024-03-20 | Shanghai United Imaging Healthcare Co., Ltd. | System and method for locating a target subject |
| CN109009194A (en) * | 2018-07-24 | 2018-12-18 | 北京唯迈医疗设备有限公司 | A kind of movement technique of C-arm x-ray machine three-dimensional imaging |
| CN109009201B (en) * | 2018-08-31 | 2023-12-29 | 北京锐视康科技发展有限公司 | Flat PET limited angle sub-image positioning system and positioning method thereof |
| CN112971814B (en) * | 2019-12-12 | 2022-10-21 | 江苏一影医疗设备有限公司 | C-shaped arm positioning method and imaging method |
| CN113520434B (en) * | 2021-06-03 | 2024-02-13 | 苏州动影信息科技有限公司 | Energy spectrum rapid imaging cone beam CT system suitable for small animals and design method |
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