CN109480878A - C-arm x-ray equipment and the method for obtaining radioscopic image - Google Patents
C-arm x-ray equipment and the method for obtaining radioscopic image Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- 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
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- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
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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
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
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Abstract
The present invention relates to therapeutic equipment technical fields, more particularly to a kind of X-ray equipment, comprising: x-ray source, image detector, C-arm and controller.X-ray source and image detector are connected to the both ends of C-arm.Controller is mobile relative to object for controlling image detector, and control x-ray source is translated or rotated corresponding to the movement of image detector, or does the movement for rotating and translating.The X-ray equipment can control the movement of image detector and x-ray source, enable image detector mobile relative to object, while x-ray source can accordingly translate the movement for perhaps rotating or translating and rotate.To which in continuous acquisition image process, the X-ray incident angle of the overlapping region of adjacent two images is close, so that the overlapping region imaging difference of collected two images is small, two images are able to carry out accurate splicing, be conducive to the accuracy of diagnosis.
Description
Technical field
The present invention relates to therapeutic equipment technical fields, more particularly to a kind of C-arm x-ray equipment and obtain X ray picture
The method of picture.
Background technique
X-ray imaging device is widely used in various surgical operations, for example, the reduction of the fracture, Joint shift, osteotomy and
Pedicle screw insertion etc..Its with it is at low cost, metering less, harm it is small, easy to accomplish and can be realized it is noninvasive visualization etc.
Advantage.
In clinical orthopaedics operation, packaged type C-arm x-ray machine is using very extensive, but it throws the visual field model shone
It is with limit.Maximum throw according to field range of C-arm x-ray machine is 12 cun at present, is not able to satisfy clinical required bone panorama sketch
Picture.Especially in the treatment of the bone surgeries such as backbone and long bone fracture, the complete bone structure image of fracture site is obtained for prison
Effect has highly important clinical meaning in control and evaluation bone surgery art.Such as: if complete bone knot can be obtained in art
Composition picture can the contraposition to fracture site the overall effect of line is judged in time.If there is sclerite or fracture end move
Position, malalignment, bone or with steel plate docile not enough and steel plate not on the center line of bone, can be used retract restorer,
The tool that exterior fixing rack, percutaneous reduction pincers, pulling nail etc. help to reset is resetted.It is whole to be conducive to guidance fracture in this way
It resets and the storing of long steel plate reaches optimum efficiency, fracture prognosis also can be assessed preferably.
Due to the structure limitation of operating space limitation and C-arm of the C-arm in art, so that obtaining for the adjacent of splicing
During two images, it is difficult to ensure that the crevice projection angle of same anatomical region X-ray is consistent or almost the same.Therefore current
For C-arm x-ray machine when obtaining the adjacent two images for splicing, the image difference after the imaging of overlapping region is larger, it is more difficult to
Accurately spliced.
Summary of the invention
Based on this, it is necessary to be directed to image of the current C-arm x-ray machine in continuous acquisition image process, for splicing
Difference is big, it is difficult to which accurate the problem of splicing provides a kind of C-arm X that can collect the adjacent two images that can accurately splice
Ray equipment.A kind of method that radioscopic image is obtained by C-arm x-ray equipment is additionally provided simultaneously.
A kind of C-arm x-ray equipment, comprising: x-ray source, for generating the X-ray of sweep object；Image detector is used
In reception across the X-ray of object；C-arm, x-ray source and image detector are connected to the both ends of C-arm；Controller,
Mobile relative to object for controlling image detector, correspondingly, the movement that control x-ray source corresponds to image detector is done flat
It moves or rotates, or do the movement for rotating and translating.
A method of radioscopic image being obtained by C-arm x-ray equipment, comprising the following steps: produce by x-ray source
The X-ray of raw sweep object；The X-ray across object is received by image detector；
It is mobile relative to object to control image detector, while controlling x-ray source and translating or rotate, or rotation
And the movement of translation so that x-ray source and image detector acquire the first image when be in first position relationship, x-ray source with
Image detector acquires the second image, the first image and the second figure when being in the second position relationship different from first position relationship
As having overlapping region.
A method of radioscopic image being obtained by C-arm x-ray equipment, comprising the following steps: produce by x-ray source
The X-ray of raw sweep object；The X-ray across object is received by image detector；
Control x-ray source and image detector separately move, so that x-ray source and image detector are in first
The first image is acquired when positional relationship, x-ray source and image detector are in the second position pass different from first position relationship
The second image is acquired when being, the first image and the second image have overlapping region.
A method of radioscopic image being obtained by C-arm x-ray equipment, comprising the following steps: produce by x-ray source
The X-ray of raw sweep object；The X-ray across object is received by image detector；
Control x-ray source and image detector separately move so that x-ray source and image detector with
TILTING type collection at least two sliceable consecutive images.
A method of radioscopic image being obtained by C-arm x-ray equipment, comprising the following steps: produce by x-ray source
The X-ray of raw sweep object；The X-ray across object is received by image detector；
Control x-ray source and image detector separately move so that x-ray source and image detector with
STEPPING type collection at least two sliceable consecutive images.
A kind of C-arm x-ray equipment, comprising: rack；C-arm is installed in rack；X-ray source is connected to C-arm
One end, for generating the X-ray of sweep object；Image detector is connected to the other end of C-arm, for receiving across object
X-ray；
Controller is configured to control image detector and x-ray source independently moves, so that x-ray source and figure
To acquire the first image when being in first position relationship as detector, x-ray source and image detector, which are in, is different from first
To acquire the second image when setting the second position relationship of relationship.
The beneficial effect comprise that
Above-mentioned C-arm x-ray equipment, can control the movement of image detector and x-ray source, enable image detector
It is enough mobile relative to object, while x-ray source can accordingly translate the movement for perhaps rotating or translating and rotate.To
In continuous acquisition image process, the X-ray incident angle of the overlapping region of adjacent two images is close, so that collected two
The overlapping region imaging difference of width image is small, and two images are able to carry out accurate splicing, is conducive to the accuracy of diagnosis.
Detailed description of the invention
Fig. 1 is imaging schematic diagram of the C-arm x-ray equipment that provides of one embodiment of the invention when acquiring consecutive image；
Fig. 2 is the structural schematic diagram for the C-arm x-ray equipment that one embodiment of the invention provides；
Fig. 3 a-3c is mechanism status schematic diagram one of the structure when acquiring consecutive image shown in Fig. 2；
Fig. 4 a-4c respectively corresponds the object construction perspective view under mechanism status shown in Fig. 3 a-3c；
Fig. 5 a-5c respectively corresponds the schematic front view of stereochemical structure shown in Fig. 4 a-4c；
Fig. 6 a-6c is mechanism status schematic diagram two of the structure when acquiring consecutive image shown in Fig. 2；
Fig. 7a-7c respectively corresponds the object construction perspective view under mechanism status shown in Fig. 6 a-6c；
Fig. 8 a-8c respectively corresponds the schematic front view of stereochemical structure shown in Fig. 7a-7c；
Fig. 9 is the structural schematic diagram for the C-arm x-ray equipment that one embodiment of the invention provides；
Figure 10 a-10c is mechanism status schematic diagram of the structure when acquiring consecutive image shown in Fig. 9；
Figure 11 is the structural schematic diagram for the C-arm x-ray equipment that one embodiment of the invention provides；
Figure 12 a-12c is mechanism status schematic diagram of the structure when acquiring consecutive image shown in Figure 11；
Figure 13 be another embodiment of the present invention provides schematic diagram of the C-arm x-ray equipment when acquiring consecutive image.
Wherein:
001-X ray equipment；
100-X radiographic source；
200- image detector；
300-C shape arm；
The first arm of 310-；The second arm of 320-；
400- rack；
500- object；
600- sliding rail；
700- slide.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, by the following examples, it and combines attached
C-arm x-ray equipment of the invention and the method for obtaining radioscopic image is further elaborated in figure.It should be appreciated that
Described herein specific examples are only used to explain the present invention, is not intended to limit the present invention.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes.
Current C-arm x-ray machine, x-ray source 10 and image detector 20 are connected to the two of C-arm (not shown)
End.When C-arm x-ray machine acquires consecutive image, by translating C-arm relative to the test object on hospital bed, or it is opposite
It is used to splice to acquire several consecutive images respectively in C-arm Mobile sickbed.It is appreciated that with C-arm x-ray in the prior art
Equipment acquisition multiple image needs Mobile sickbed different, and present applicant proposes numerous embodiments, can be in situ in hospital bed
X-ray scanning is carried out under state and is spliced after obtaining multiple image.
Referring to Figure 1 and shown in 2, a kind of 001 (hereinafter referred to as X of C-arm x-ray equipment of one embodiment of the invention offer
Ray equipment 001), comprising: x-ray source 100, image detector 200, C-arm 300 and controller (not shown).X-ray source
100 for generating the X-ray of sweep object 500.Image detector 200 is for receiving the X-ray across object 500.X-ray source
100 and image detector 200 be connected to the both ends of C-arm 300.Controller is for controlling x-ray source 100 and image detection
Device 200 separately moves so that they are in first position relationship and second position relationship, and in first position relationship and
The the first image A and the second image B of object 500 are respectively obtained when the relationship of the second position.Wherein the first image A and the second image B
With overlapping region S1, overlapping region S1 can be used to do image mosaic.In a kind of example, controller controls image detection
Device 200 is mobile relative to object 500.Controller also control x-ray source 100 corresponding to image detector 200 movement translate,
Perhaps rotate or do the movement for rotating and translating.
It is appreciated that X-ray equipment 001 further includes rack 400, C-arm 300 is connected to rack 400.The machine of being appreciated that
Frame 400 can be affixed to the ground of therapeutic room.Rack 400 is also possible to be fixed on moveable pedestal, and makes X-ray equipment
001 can be in treatment indoor moving.X-ray equipment 001 may also include hospital bed (not shown), and hospital bed is arranged in 100 He of x-ray source
Between image detector 200, it is used to support object 500.
Image detector 200 is removably couplable in C-arm 300.Controller can be by controlling image detector 200
It is moved in C-arm 300 so that image detector 200 is translated relative to object 500.Controller can also be by controlling C-arm
300 a part is moved in rack 400 to drive image detector 200 to translate relative to object 500.
X-ray source 100 is movably coupled in C-arm 300.In some embodiments, x-ray source 100 is translatablely
Or it is rotationally or translatable and be pivotally connected in C-arm 300.Controller can be by directly controlling x-ray source
100 rotation and translation relative to C-arm 300, the rotary motion and translational motion of Lai Shixian X-ray.Alternatively, controller can also
With by the opposite rotation of rack 400 of a part of control C-arm 300 and translation, to drive x-ray source 100 to make rotating motion and
Translational motion.
It should be noted that image detector 200 does translational motion, the movement of image detector 200 relative to object 500
The direction that direction can extend to acquire the path of image along the need of object 500.For example, it is assumed that object 500 is human body, need to adopt
Collect the spine image of human body, human body lies low in hospital bed (i.e. object 500 is approximate horizontal).Then the movement of image detector 200 is edge
The direction horizontal movement of Human Height.Correspondingly, the rotary motion of x-ray source 100 can be set as around perpendicular to human body body
The rotation of the axis of high direction and level.
X-ray equipment 001 in a kind of embodiment of the invention is flat relative to object 500 by image detector 200
It moves, while x-ray source 100 accordingly rotates by a certain angle, so that the X-ray equipment 001 is during continuous acquisition image, it can
Guarantee that the X-ray incident angle range of the overlapping region of adjacent two images is substantially identical or close (in other words, for overlay region
For some subpoint in domain, the incident angle of the X-ray relative image detector 200 from x-ray source 100 is substantially identical
Or similar), so that the overlapping region imaging difference of collected two images is small.It can be conducive to subsequent image spelling as a result,
The detection that algorithm carries out same or similar feature is connect, and then is correctly spliced.Spliced image can be greater than single plate and detect
Effective imaging area of device is similarly to the image of a big cone-beam shooting.It is not substantially misaligned, has between adjacent image
Help doctor correctly to be diagnosed.
It is appreciated that the X-ray equipment 001 in order to realize the present embodiment, the X-ray equipment in Fig. 2 may include first
Driving unit and the second driving unit, the first driving unit drive x-ray source 100 to rotate, and the second driving unit drives image to visit
Device 200 is surveyed to translate.Wherein, the first driving unit may include motor and deceleration mechanism etc., and the second driving unit may include
Motor and be the transmission mechanism etc. translated by the rotational transform that motor exports.In addition, the controller of the X-ray equipment can be with
The first driving unit and the second driving unit is instructed to carry out drive actions, so that for the weight of the first image A and the second image B
Folded region S1, the incident angle range from x-ray source 100 is substantially identical.Here incident angle range can refer to: ginseng
See Fig. 1, for the S1 of overlapping region, when forming the first image A, the ray R1 and image detector 200 of x-ray source 100
The incident angle α range of restriction, when forming the second image B, what the ray R2 and image detector 200 of x-ray source 100 were limited
Incident angle β range.Wherein, the two (referring to α and β) is although substantially identical refer to identical or be not identical
The two difference is within the several years, for example, the two difference is between 0-5 degree.It therefore, can be in some instances to forming the first figure
As the differential seat angle range of the R1 and R2 of the overlapping region S1 of A and the second image B set upper limit threshold.
About the content of controller instruction the first driving unit and the second driving unit, the applicant may refer to 2014
The application of on September 28, entitled radioscopic image acquisition methods and device, application No. is 201410508290.0 China
The divisional application of patent application and preceding case, application No. is 201611267562.8 Chinese patent applications.Here, this two
The full content of patent application is comprised in the application in a manner of being cited.According to the content of preceding two patent applications, ability
How domain those of ordinary skill is it is readily understood that control the first driving unit and the second driving unit by controller
System, so that the x-ray source and image detector independently move when acquiring the first image and the second image.
Those of ordinary skill in the art can easily carry out existing X-ray equipment 001 after reading foregoing teachings
It improves so that x-ray source 100 and image detector 200 are independently moved to realize Image Acquisition above-mentioned, therefore, in figure
Omit corresponding details.
Referring to fig. 2, as a kind of enforceable mode, C-arm 300 includes the first arm 310 and the second arm 320, and image is visited
Survey one end that device 200 is connected to the first arm 310.One end of the separate image detector 200 of second arm 320 and the first arm 310 connects
It connects, x-ray source 100 is connected to one end far from the first arm 310 of the second arm 320.In the present embodiment, C-arm 300 is designed as
Mutually independent first arm 310 and the second arm 320 can be conducive to movement of the controller to image detector 200 and x-ray source 100
It is controlled.Image detector is driven relative to the movement of rack 400 by the first arm 310 of control particularly convenient for controller
200 movements.And x-ray source 100 is driven to transport relative to the movement of rack 400 by the second arm 320 of control convenient for controller
It is dynamic.So as to realize the self-movement of image detector 200 and x-ray source 100 for greater flexibility.It is appreciated that the controller
It may include the first controller and second controller, wherein the first controller is for carrying out movement control to image detector 200
System, second controller are used to carry out motion control to x-ray source 100.Further, it is to be appreciated that the controller can be with
Including third controller, which is used to send to the first controller and second controller and instruct so that the first driving is single
Member and the second driving unit cooperate.However, it will appreciated by the skilled person that the quantity of controller and they
Between whether hierarchical control is not restricted by, foregoing description is only exemplary, after understanding above-mentioned principle, it is contemplated that more
Kind implementation.
In other embodiments, C-arm 300 can also use existing monoblock type C-arm structure, that is, 310 He of the first arm
Second arm 320 is integral type.Image detector 200 is movably arranged at one end of C-arm 300, and x-ray source 100 can turn
It is set to the other end of C-arm 300 dynamicly.Or x-ray source 100 both can be rotated or be movably arranged at the another of C-arm 300
One end.Controller can control image detector 200 relative to the movement of C-arm 300, meanwhile, it can control x-ray source 100 and do
Translation, rotary motion, or do the movement for rotating and translating.
Controller control image detector 200 do translational motion relative to object 500 by way of can there are many.Please
A to Fig. 3 c referring to figs. 2 and 3.As a kind of enforceable mode, X-ray equipment 001 further includes that the first translation mechanism (does not show
Out).First translation mechanism is set between the first arm 310 and rack 400.Controller passes through the first translation mechanism control the
One arm 310 is mobile relative to rack 400, to drive image detector 200 to do translational motion relative to object 500.Pass through first
Translation mechanism can be easily achieved the first arm 310 relative to the movement of rack 400, to drive image detector 200 relative to object
500 do translational motion, to be easy to acquire the image of multiple continuous different locations.
First translation mechanism can have a variety of structures form, move as long as being that by the first arm 310 relative to rack 400
Dynamic structure.A to Fig. 4 c and Fig. 5 a to Fig. 5 c referring to fig. 4, the first translation mechanism include sliding rail 600, slide 700 and drive
Moving cell, slide 700 are slidably matched with sliding rail 600, and driving unit and slide 700 are sequentially connected.Sliding rail 600 may be disposed at rack
On 400, slide 700 may connect to the first arm 310.Controller and driving unit couple.Controller passes through control driving unit
It runs and slide 700 is driven to slidably reciprocate on sliding rail 600, so as to drive the first arm 310 mobile relative to rack 400,
To drive image detector 200 to translate relative to object 500.It is appreciated that driving unit may include stepper motor, cylinder or
Person's linear motor etc..Sliding rail 600 can be rod-like structure, be also possible to groove-like structure.Sliding rail 600 can be it is telescopic or
Person be it is folding, when needing displacement images detector 200, sliding rail 600 is unfolded, enables the first arm 310 in sliding rail 600
Upper movement, so that image detector 200 be driven to translate relative to object 500.It is appreciated that can be set in rack 400 from
Mechanism is closed, so that the first arm 310 connects in the first state engaged with the second arm 320 and the first arm 310 with the first translation mechanism
Change between the second state closed.It is also to be understood that the transformation of the first state and the second state by other means also can be real
It is existing.
Refer to Fig. 9 and Figure 10 a to Figure 10 c.The difference of Fig. 9 and Fig. 2 is, the shifting of image detector 200 in Fig. 2
Dynamic is to be realized by the first arm 310 relative to the movement of rack 400, and the movement of image detector 200 is to pass through in Fig. 9
What image detector 200 itself was realized relative to the movement of the first arm 310.As another enforceable mode, X-ray is set
Standby 001 further includes the second translation mechanism.Second translation mechanism is set between image detector 200 and the first arm 310.Controller
It is mobile relative to the first arm 310 to control image detector 200 by the second translation mechanism so that image detector 200 relative to
Object 500 does translational motion.By the second translation mechanism, it can be easily achieved image detector 200 and moved relative to the first arm 310
It is dynamic, to drive image detector 200 to translate relative to object 500, to be easy to acquire the image of multiple continuous different locations.
Second translation mechanism also can have a variety of structures form, as long as being that by image detector 200 relative to
The mobile structure of one arm 310.For example, the second translation mechanism may include sliding rail (in Fig. 9 shown in letter H), slide
And driving unit, slide are slidably matched with sliding rail, sliding rail may be disposed at the first arm 310, and slide may connect to image
Detector 200, driving unit is set between sliding rail and slide.Controller and driving unit couple.Controller passes through control
The operation of driving unit processed and drive slide to slidably reciprocate on sliding rail, so as to drive image detector 200 opposite
It is mobile in the first arm 310, so that image detector 200 can do translational motion relative to object 500.Driving unit may include step
Into motor, cylinder or linear motor etc..Sliding rail can be rod-like structure, be also possible to groove-like structure.Sliding rail
It can be telescopic or folding, when needing displacement images detector 200, sliding rail can be unfolded, be made
Image detector 200 can move on sliding rail.
The difference of 1 and Figure 12 a to Figure 12 c, Figure 11 and Fig. 2 is referring to Figure 1, image detector 200 in Fig. 2
Movement is to be realized by the first arm 310 relative to the movement of rack 400, and the movement of image detector 200 is in Figure 11
It is realized relative to rack 400 around the rotation of C axis by the first arm 310.As another optional embodiment, X-ray
Equipment 001 further includes the first rotating mechanism.First rotating mechanism is set between the first arm 310 and the second arm 320.Controller is logical
It crosses the first rotating mechanism the first arm 310 of control to make rotating motion relative to the second arm 320 around first axle, first axle is perpendicular to object
500 place planes (horizontal plane in other words, limited perpendicular to image detector 200).Assuming that object 500 is horizontal, then first axle
(C axis in Figure 11) is the axis of vertical direction.That is the first arm 310 is rotated horizontally around first axle, to drive the figure on the first arm 310
As detector 200 is mobile relative to object 500.Since the first arm 310 and the second arm 320 collectively form C-arm 300, first
During arm 310 horizontally rotates relative to the second arm 320 around first axle, the track of image detector 200 moved horizontally is in
Existing is arching trajectory.If being appreciated that 200 rotational angle of image detector is little, remain at next position
It receives enough rays through object 500 and forms the second image.And if schemed when acquiring adjacent two images
The problem of picture 200 rotational angle of detector is larger, then is likely to occur the image of the leakage collecting part region of anatomy.Therefore, the implementation
The X-ray equipment 001 of example has a certain range of restriction to the image length completely acquired, i.e., it is suitable for finite lengths
Image Acquisition in range.
First rotating mechanism can have a variety of structures form, as long as being that by the first arm 310 relative to the second arm 320
The structure to make rotating motion around first axle.For example, the first rotating mechanism includes rotary shaft and rotating electric machine, rotating electric machine can
To be installed on the second arm 320.One end of rotary shaft and the output axis connection of rotating electric machine, the other end and first arm 310 connect
It connects.Rotating electric machine drives rotary shaft rotation, to drive the rotation of the first arm 310.
In other embodiments, it is also possible to the first arm 310 to be rotationally connected in rack 400, controller controls the first arm
310 relative to rack 400 around perpendicular to 500 place plane of object axis (or perpendicular to image detector 200 limit level
Face) rotation, to realize that image detector 200 is mobile relative to object 500.
In controller by way of the above various embodiments or other modes, image detector 200 is controlled relative to right
As 500 it is mobile while, controller control by way of x-ray source 100 is taken exercises can also there are many, the present invention to this not
It is limited.
Refer to Fig. 2, Fig. 3 a to Fig. 3 c, Fig. 4 a to Fig. 4 c and Fig. 5 a to Fig. 5 c.As a kind of enforceable mode, X
Ray equipment 001 further includes the second rotating mechanism.Second rotating mechanism is set between x-ray source 100 and the second arm 320.Control
Device processed controls x-ray source 100 by the second rotating mechanism and makes rotating motion relative to the second arm 320 around the second axis, and the second axis is (big
Cause such as the D axis in Fig. 2) it is parallel to 500 place plane of object and perpendicular to the direction of the translation of image detector 200.Such as Fig. 2 institute
Show, it is assumed that object 500 is horizontally supported on stationary hospital bed, then image detector 200 is along the direction perpendicular to paper
It moves horizontally with the image on continuous acquisition object length direction.And the second axis be horizontal direction axis and perpendicular to image detection
The direction that device 200 translates.As shown in Fig. 3 a to Fig. 3 c, Fig. 4 a to Fig. 4 c and Fig. 5 a to Fig. 5 c, x-ray source 100 is around the second axis
Rotation rotates respective angles with the mobile position of correspondence image detector 200.To x-ray source 100 issue ray pass through pair
As that can be collected by the image detector 200 of movement (such as translating) to different location after 500.In the present embodiment, pass through
Two rotating mechanisms can be easily achieved the rotary motion of x-ray source 100.Second rotating mechanism can be by multiple structural forms come real
It is existing, it makes rotating motion relative to the second arm 320 around the second axis as long as being that by x-ray source 100.For example, the second rotation
Rotation mechanism includes rotary shaft and rotating electric machine, and rotating electric machine is installed on the second arm 320, one end of rotary shaft and rotating electric machine it is defeated
Axis connection out, the other end are connect with the x-ray source 100.Rotating electric machine drives rotary shaft rotation, to drive x-ray source 100
Rotation.
Refer to Fig. 2 and Fig. 6 a to Fig. 6 c, Fig. 7 a to Fig. 7 c and Fig. 8 a to Fig. 8 c.Wherein, Fig. 6 a-6c and Fig. 3 a-
The difference of 3c is that the rotation of x-ray source 100 is relative to the second arm 320 by x-ray source 100 itself around D in Fig. 3 a-3c
Axis rotates to realize, and the rotation of x-ray source 100 is relative to rack 400 by the second arm 320 around flat in Fig. 6 a-6c
The capable axis in D axis rotates to realize.As another enforceable mode, X-ray equipment 001 further includes third whirler
Structure.Third rotating mechanism is set between the second arm 320 and rack 400.Controller controls the second arm by third rotating mechanism
320 make rotating motion relative to rack 400 around third axis, to drive x-ray source 100 to make rotating motion around third axis.Third axis
The direction that (the D axis being parallel in Fig. 2) is parallel to 500 place plane of object and translates perpendicular to image detector 200.Pass through
Three rotating mechanisms can be easily achieved the second arm 320 and make rotating motion relative to rack 400 around third axis, to drive x-ray source
100 make rotating motion around third axis.Different positions can be moved to after passing through object 500 to the ray that x-ray source 100 issues
The image detector 200 set collects.Third rotating mechanism can have a variety of structures form, as long as being that by the second arm
320 make rotating motion relative to rack 400 around third axis.It is appreciated that clutch can be set in rack 400, it should
Clutch is configured so that the second arm 320 and is separated from the relatively-stationary first state of the first arm 310 and the second arm 320
Change between the stationary state of first arm 310 and the second state relatively rotated with rack 400.It is appreciated that the first state
And the second transformation between state can also be realized by other means.
It in the foregoing embodiments, is that figure to acquire image and is carried out with TILTING mode on X-ray equipment 001
As the implementation of splicing.However, it is to be appreciated that the present invention is not limited on X-ray equipment 001 only with TILTING mould
Formula carries out Image Acquisition, can also carry out Image Acquisition by being different from the other modes of TILTING mode, and then carry out figure
As splicing.Wherein, it may refer to the United States Patent (USP) of common therapy system global technology company about TILTING image acquisition modality
US6898269。
The other embodiment of the present invention is described further below, Image Acquisition can be carried out with non-TILTING mode
And then carry out image mosaic.
As a kind of enforceable mode, X-ray equipment 001 further includes third translation mechanism and the 4th rotating mechanism.The
Three translation mechanisms are set between x-ray source 100 and the second arm 320, and the 4th rotating mechanism is set to x-ray source 100 and second
Between arm 320.Controller controls x-ray source 100 relative to the movement of the second arm 320, so that x-ray source by third translation mechanism
100 do translational motion relative to object 500；The moving direction of the moving direction of x-ray source 100 and image detector 200 can be with
It is consistent.Controller, which also passes through the 4th rotating mechanism control x-ray source 100, to be done around the 4th axis relative to the second arm 320 and rotates
Movement, the direction that the 4th axis is parallel to 500 place plane of object and translates perpendicular to image detector 200.In the present embodiment, by
In with third translation mechanism and the 4th rotating mechanism, the movement that x-ray source 100 corresponds to image detector 200 can be translated,
It can rotate, can also translate and rotate.It is appreciated that when x-ray source 100 is translated with the movement of image detector 200
When, at this point, carrying out Image Acquisition, in this image acquisition modality, x-ray source 100 just as Figure 13 with STEPPING mode
Translating stroke it is larger.When x-ray source 100 is rotated with the movement of image detector 200, image acquisition modality at this time
Image Acquisition is carried out with regard to TILTING mode as similar Fig. 1.When x-ray source 100 with the movement of image detector 200 and
When translating and rotating, image acquisition modality is between STEPPING mode and TILTING mode at this time, it is understood that,
Under this mode, due to x-ray source 100 can correspondence image detector 200 movement and translate certain distance, corresponding X-ray
Rotation angle when the rotation angle in source 100 is not translated compared with x-ray source 100 can be slightly smaller.
As another optional embodiment, X-ray equipment 001 further includes the 4th translation mechanism and the 5th whirler
Structure.4th translation mechanism is set between the second arm 320 and rack 400, and the 5th rotating mechanism is set to the second arm 320 and rack
Between 400.Controller controls the second arm 320 relative to the movement of rack 400, to drive x-ray source 100 by the 4th translation mechanism
Translational motion is done relative to object 500；The moving direction of x-ray source 100 is consistent with the moving direction of image detector 200.Control
Device processed also passes through the 5th rotating mechanism the second arm 320 of control and makes rotating motion relative to rack 400 around the 5th axis, to drive X to penetrate
Line source 100 makes rotating motion around the 5th axis, and the 5th axis is parallel to 500 place plane of object and flat perpendicular to image detector 200
The direction of shifting.In the present embodiment, by the 4th translation mechanism and the 5th rotating mechanism, x-ray source 100 is made to correspond to image detection
The movement of device and translate or rotate or translate and rotate.It is appreciated that for this structure, image acquisition modality with it is aforementioned
Embodiment is similar, and only in rotation, farther out from x-ray source 100, therefore rotational angle can be relatively small, herein not for rotation axis
It repeats again.
As a kind of enforceable mode, X-ray equipment 001 further includes the 5th translation mechanism and the 6th rotating mechanism.The
Five translation mechanisms are set between x-ray source 100 and the second arm 320, and the 6th rotating mechanism is set to the second arm 320 and rack
Between 400.Controller controls x-ray source 100 relative to the movement of the second arm 320, so that x-ray source by the 5th translation mechanism
100 do translational motion relative to object 500；The moving direction of x-ray source 100 is consistent with the moving direction of image detector 200.
Controller also passes through the 6th rotating mechanism the second arm 320 of control and makes rotating motion relative to rack 400 around the 6th axis, to drive X
Radiographic source 100 makes rotating motion around the 6th axis, and the 6th axis is parallel to 500 place plane of object and perpendicular to image detector 200
The direction of translation.In the present embodiment, by the 5th translation mechanism and the 6th rotating mechanism, visit x-ray source 100 corresponding to image
It surveys the movement of device and translates or rotate or translate and rotate.
As a kind of enforceable mode, X-ray equipment 001 further includes the 6th translation mechanism and the 7th rotating mechanism.The
Six translation mechanisms are set between the second arm 320 and rack 400, and the 7th rotating mechanism is set to x-ray source 100 and the second arm
Between 320.Controller controls the second arm 320 relative to the movement of rack 400, to drive x-ray source 100 by the 6th translation mechanism
Translational motion is done relative to object 500；The moving direction of x-ray source 100 is consistent with the moving direction of image detector 200.Control
Device processed also passes through the 7th rotating mechanism control x-ray source 100 and makes rotating motion relative to the second arm 320 around the 7th axis, the 7th axis
The direction for being parallel to 500 place plane of object and being translated perpendicular to image detector 200.In the present embodiment, pass through the 6th translation
Mechanism and the 7th rotating mechanism make x-ray source 100 correspond to the movement of image detector and translate or rotate or translate and revolve
Turn.
It is opposite by the first translation mechanism control the first arm 310 with controller below with reference to Fig. 2 and Fig. 3 a to Fig. 3 c
It is mobile in rack 400, and drive image detector 200 mobile relative to object 500, while controller passes through the second rotating mechanism
For control x-ray source 100 makes rotating motion relative to the second arm 320 around the second axis, the X-ray to illustrate of the invention is set
Standby 001 image acquisition process.
As illustrated in fig. 2, it is assumed that object 500 to be detected is horizontal, and the position that need to be acquired is along the horizontal road perpendicular to paper
Diameter extends.When needing to acquire three width images, the first image can correspond to mechanism status acquired image shown in Fig. 3 b,
Second image can correspond to mechanism status acquired image shown in Fig. 3 a, and third image corresponds to mechanism shown in Fig. 3 c
State acquired image.
Refer to Fig. 3 a to Fig. 3 c, when specific operation, the image detector 200 of X-ray equipment 001 can be adjusted first to
First position (mechanism status position as shown in Figure 3b).X-ray source 100 issues X-ray, image detector 200 to object 500
The first image can be collected.Then, controller is outside relative to rack 400 by the first translation mechanism the first arm 310 of control
Translation (i.e. from the diagram direction of Fig. 3 b to Fig. 3 a, for translation downwards, corresponding diagram 2 is to translate to outside paper) certain distance, i.e. image
Detector 200 is shifted the certain distance outward and reaches the second position.Controller controls X-ray by the second rotating mechanism simultaneously
Source 100 rotates outward certain angle around the second axis relative to the second arm 320.So far, it is located at the second position (machine as shown in Figure 3a
Structure state position) image detector 200 can collect the second image.
Then, the image detector 200 of X-ray equipment 001 can be adjusted to first position.Then, then keep controller logical
Cross the first translation mechanism control the first arm 310 relative to rack 400 inwardly translation (it is corresponding from Fig. 3 b to Fig. 3 c, to translate up,
I.e. corresponding diagram 2 is towards translating in paper) certain distance, i.e. image detector 200 is inwardly shifted certain distance and reaches third
Position.Simultaneously controller by the second rotating mechanism control x-ray source 100 relative to the second arm 320 around the second axis from Fig. 3 b to
Fig. 3 c rotates inward certain angle.So far, it is located at the image detector of the third place (mechanism status position as shown in Figure 3c)
200 can collect third image.
Certainly, when acquiring third image, first image detector 200 can not also be adjusted to first position.And
It is that image detector 200 is directly moved to the third place by the second position.X-ray source 100 is set to rotate corresponding angle simultaneously,
To obtain third image.
The example of Fig. 3 a to Fig. 3 c is appreciated that using TILTING image acquisition modality, since x-ray source 100 is
It is rotatable, the X-ray incident angle at the overlapping region of the first image and the second image be it is approximate, the obtained from
One image and the second image overlapping region similitude are very high.Similarly, the similitude of the first image and third image overlapping region
Also very high.Therefore, in the first image of subsequent splicing, the second image and third image, can relatively accurately splice.It spells
Big figure after connecing, similar to the image of a big X-ray pencil-beam shooting.It is not substantially misaligned between adjacent image,
Facilitate doctor correctly to be diagnosed.
It will appreciated by the skilled person that image can be acquired sequentially, for example, first in second position acquisition the
One image, again first position acquire the second image, then again the third place acquire third image, finally spliced.Or
Person first can acquire the first image, again in the second image of first position acquisition in the third place, then acquire again in the second position
Third image, is finally spliced.
It will appreciated by the skilled person that can according to a kind of previously described structure of embodiment with
STEPPING image acquisition modality carries out Image Acquisition.Schematically referring to fig. 2 and Figure 13, it is assumed that 500 water of object to be detected
It is flat, and the position that need to be acquired extends along the horizontal route perpendicular to paper, when needing to acquire two images, in first position
When (referring to state position shown in solid in Figure 13), that is, image detector 200 and x-ray source 100 without opposing arms 310,
320 are subjected to displacement and when arm 310,320 is also subjected to displacement without opposite rack 400, can acquire the first image.In second
When setting (referring to state position shown in dotted line in Figure 13), for example, image detector 200 is moved inward with respect to the first arm 310, together
When, when x-ray source 100 also inwardly translates, the second image can be acquired.Wherein, the first image and the second image have and can use
Come the overlapping region spliced.
One with ordinary skill in the art would appreciate that in STEPPING image acquisition modality, it can also be by the figure in Fig. 2
As the outside translation of opposite first arm 310 of detector 200 simultaneously translates opposite second arm 320 of x-ray source 100 in third outward
Station acquisition third image, wherein the first image and third image have the overlapping region that can be used to splice.
Those of ordinary skill in the art be further appreciated that no matter in TILTING image acquisition modality or
It can include more positions to acquire more images in STEPPING image acquisition modality, these adjacent figures two-by-two
As including overlapping region to be used for subsequent splicing.
Those of ordinary skill in the art be further appreciated that multiple positions carry out Image Acquisition during, x-ray source
100 can do translational motion simultaneously in the course of rotation, in this way, this image acquisition modality is between TILTING above-mentioned
Between image acquisition modality and STEPPING image acquisition modality and feasible, the present invention is not restricted to specifically scheme
As acquisition mode.
The displacement of image detector 200 in various embodiments of the present invention can pass through shooting stroke, the image detector of setting
The physical size of 200 detection plane and the structure size of C-arm 300 etc. are calculated.Meanwhile the displacement of x-ray source 100
And/or rotation angle can also be according to the shooting stroke, the physical size of the opening of collimator and the knot of C-arm 300 of setting
Structure information etc. is calculated, so that the beam that x-ray source 100 emits is received by image detector 200.
One embodiment of the invention additionally provides a kind of method for obtaining radioscopic image by C-arm x-ray equipment, including
Following steps:
S100: by x-ray source, the X-ray of sweep object is generated.
S200: by image detector, the X-ray across object is received.
S300: control image detector is mobile relative to object, at the same control x-ray source translate or rotate or
The movement of rotation and translation, so that x-ray source and image detector acquire the first image, X-ray when being in first position relationship
Source and image detector acquire the second image when being in the second position relationship different from first position relationship, the first image and the
Two images have overlapping region.
Further, for overlapping region, relationship and the ray from x-ray source when the relationship of the second position in first position
The incident angle range of relative image detector is least partially overlapped.
One embodiment of the invention additionally provides a kind of method for obtaining radioscopic image by C-arm x-ray equipment, including
Following steps:
S100: by x-ray source, the X-ray of sweep object is generated.
S200: by image detector, the X-ray across object is received.
S300: it controls image detector and x-ray source independently moves so that x-ray source and image detector are at least adopted
Collect the first image and the second image.For example, x-ray source and image detector acquire the first image, X when being in first position relationship
Radiographic source and image detector acquire the second image when being in the second position relationship different from first position relationship.First image
There is overlapping region with the second image.
Further, for overlapping region, relationship and the ray from x-ray source when the relationship of the second position in first position
The incident angle range of relative image detector is least partially overlapped or substantially identical.
In the above-mentioned methods, controller is configured to control image detector relative to C-arm movement.Selectively, controller
It is configured the part of the C-arm of control support image detector with respect to machine frame movement.
In the above-mentioned methods, controller is configured to control x-ray source relative to C-arm rotation or opposite C-arm translation or phase
C-arm is translated and is rotated.Selectively, it is put down with respect to rack the part that controller is configured the C-arm of control support x-ray source
It moves or rotates or translate and rotate.
In the above-mentioned methods, the mode for acquiring image includes TILTING mode or STEPPING mode or between the two
Between mode.
It is appreciated that x-ray source and image detector can be connected to the both ends of C-arm.C-arm can be by relatively independent
The first arm and the second arm constitute.C-arm is connected to rack.Controller can be moved up by control image detector in C-arm
It moves so that image detector is translated relative to object.Controller can also be by controlling the first arm of C-arm with respect to machine frame movement
To drive image detector mobile relative to object.And controller can be by directly controlling x-ray source second relative to C-arm
Arm rotation and/or translation, the compound motion of rotary motion or translational motion or the rotation plus translation of Lai Shixian X-ray.Controller
Can also by controlling rotation and/or translation of second arm relative to rack of C-arm, to drive x-ray source to make rotating motion or
The compound motion of translational motion or rotation plus translation.
One embodiment of the invention additionally provides a kind of method for obtaining radioscopic image by C-arm x-ray equipment, including
Following steps:
S100: by x-ray source, the X-ray of sweep object is generated.
S200: by image detector, the X-ray across object is received.
S300: control x-ray source and image detector separately move so that x-ray source and image detector with
TILTING type collection at least two sliceable consecutive images.
One embodiment of the invention additionally provides a kind of method for obtaining radioscopic image by C-arm x-ray equipment, including
Following steps:
S100: by x-ray source, the X-ray of sweep object is generated.
S200: by image detector, the X-ray across object is received.
S300: control x-ray source and image detector separately move so that x-ray source and image detector with
STEPPING type collection at least two sliceable consecutive images.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (33)
1. a kind of C-arm x-ray equipment characterized by comprising
X-ray source, for generating the X-ray of sweep object；
Image detector, for receiving the X-ray across the object；
C-arm, the x-ray source and described image detector are connected to the both ends of the C-arm；
Controller, it is mobile relative to the object for controlling described image detector, correspondingly, control the x-ray source pair
It should translate or rotate in the movement of described image detector, or do the movement for rotating and translating.
2. C-arm x-ray equipment according to claim 1, which is characterized in that under controller control, the X is penetrated
When line source and described image detector are in first position relationship, described image detector acquires the first image；The x-ray source
When being in the second position relationship different from the first position relationship with described image detector, the acquisition of described image detector
Second image；Wherein, second image and the first image have overlapping region.
3. C-arm x-ray equipment according to claim 2, which is characterized in that for the overlapping region, described
Incidence angle of the ray from the x-ray source with respect to described image detector when one positional relationship and the second position relationship
It is least partially overlapped for spending range.
4. C-arm x-ray equipment according to claim 1, which is characterized in that further include rack, the C-arm is connected to
The rack；
The C-arm includes:
First arm, described image detector are connected to one end of first arm；
Second arm is connect with one end of the separate described image detector of first arm, and the x-ray source is connected to described
One end far from first arm of two arms.
5. C-arm x-ray equipment according to claim 4, which is characterized in that further include: the first translation mechanism is set to
Between first arm and the rack；The controller controls first arm relative to institute by first translation mechanism
Machine frame movement is stated, to drive described image detector to do translational motion relative to the object.
6. C-arm x-ray equipment according to claim 4, which is characterized in that further include: the second translation mechanism is set to
Between described image detector and first arm；The controller controls described image detection by second translation mechanism
Device is mobile relative to first arm, so that described image detector does translational motion relative to the object.
7. C-arm x-ray equipment according to claim 4, which is characterized in that further include: the first rotating mechanism is set to
Between first arm and second arm；The controller by first rotating mechanism control first arm relative to
Second arm makes rotating motion around first axle, and the first axle is perpendicular to plane where the object.
8. according to the described in any item C-arm x-ray equipment of claim 5-7, which is characterized in that further include: the second whirler
Structure is set between the x-ray source and second arm；
The controller is controlled the x-ray source and done relative to second arm around the second axis by second rotating mechanism to be revolved
Transhipment is dynamic, plane where second axis is parallel to the object and the direction translated perpendicular to described image detector.
9. according to the described in any item C-arm x-ray equipment of claim 5-7, which is characterized in that further include: third whirler
Structure is set between second arm and the rack；
The controller is controlled second arm and done relative to the rack around third axis by the third rotating mechanism to be rotated
Movement, to drive the x-ray source to make rotating motion around the third axis, the third axis is parallel to plane where the object
And perpendicular to the direction of described image detector translation.
10. according to the described in any item C-arm x-ray equipment of claim 5-7, which is characterized in that further include: third translates machine
Structure is set between the x-ray source and second arm；The controller controls the X by the third translation mechanism
Radiographic source is mobile relative to second arm, so that the x-ray source does translational motion relative to the object；The X-ray
The moving direction in source is consistent with the moving direction of described image detector；
And the 4th rotating mechanism, it is set between the x-ray source and second arm；The controller also passes through described
Four rotating mechanisms control the x-ray source and make rotating motion relative to second arm around the 4th axis, and the 4th axis is parallel to
Plane where the object and the direction translated perpendicular to described image detector.
11. according to the described in any item C-arm x-ray equipment of claim 5-7, which is characterized in that further include: Siping City's telephone-moving
Structure is set between second arm and the rack；The controller passes through the 4th translation mechanism control described second
Arm is relative to the machine frame movement, to drive the x-ray source to do translational motion relative to the object；The x-ray source
Moving direction is consistent with the moving direction of described image detector；
And the 5th rotating mechanism, it is set between second arm and the rack；The controller also passes through the described 5th
Rotating mechanism controls second arm and makes rotating motion relative to the rack around the 5th axis, to drive the x-ray source around the
Five axis make rotating motion, plane where the 5th axis is parallel to the object and the side translated perpendicular to described image detector
To.
12. according to the described in any item C-arm x-ray equipment of claim 5-7, which is characterized in that further include: the 5th translation machine
Structure is set between the x-ray source and second arm；The controller controls the X by the 5th translation mechanism
Radiographic source is mobile relative to second arm, so that the x-ray source does translational motion relative to the object；The X-ray
The moving direction in source is consistent with the moving direction of described image detector；
And the 6th rotating mechanism, it is set between second arm and the rack；The controller also passes through the described 6th
Rotating mechanism controls second arm and makes rotating motion relative to the rack around the 6th axis, to drive the x-ray source around the
Six axis make rotating motion, plane where the 6th axis is parallel to the object and the side translated perpendicular to described image detector
To.
13. according to the described in any item C-arm x-ray equipment of claim 5-7, which is characterized in that further include: the 6th translation machine
Structure is set between second arm and the rack；The controller passes through the 6th translation mechanism control described second
Arm is relative to the machine frame movement, to drive the x-ray source to do translational motion relative to the object；The x-ray source
Moving direction is consistent with the moving direction of described image detector；
And the 7th rotating mechanism, it is set between the x-ray source and second arm；The controller also passes through described
Seven rotating mechanisms control the x-ray source and make rotating motion relative to second arm around the 7th axis, and the 7th axis is parallel to
Plane where the object and the direction translated perpendicular to described image detector.
14. C-arm x-ray equipment according to claim 4, which is characterized in that the rack is moveable.
15. a kind of method for obtaining radioscopic image by C-arm x-ray equipment, which comprises the following steps:
The X-ray of sweep object is generated by x-ray source；
The X-ray across the object is received by image detector；
It is mobile relative to the object to control described image detector, while controlling the x-ray source and doing translation or rotation again
Or the movement of rotation and translation, so that the x-ray source and described image detector acquire the when being in first position relationship
When one image, the x-ray source and described image detector are in the second position relationship different from the first position relationship
The second image is acquired, the first image and second image have overlapping region.
16. according to the method for claim 15, which is characterized in that for the overlapping region, closed in the first position
The ray from the x-ray source is with respect to the incident angle range of described image detector when system and the second position relationship
Least partially overlapped.
17. a kind of method for obtaining radioscopic image by C-arm x-ray equipment, which comprises the following steps:
The X-ray of sweep object is generated by x-ray source；
The X-ray across the object is received by image detector；
It controls the x-ray source and described image detector separately moves, so that the x-ray source and described image are visited
It surveys and acquires the first image when device is in first position relationship, the x-ray source and described image detector are in different from described
The second image is acquired when the second position relationship of first position relationship, the first image and second image have overlay region
Domain.
18. according to the method for claim 17, which is characterized in that for the overlapping region, closed in the first position
The ray from the x-ray source is with respect to the incident angle range of described image detector when system and the second position relationship
It is least partially overlapped or substantially identical.
19. a kind of method for obtaining radioscopic image by C-arm x-ray equipment, which comprises the following steps:
The X-ray of sweep object is generated by x-ray source；
The X-ray across the object is received by image detector；
It controls the x-ray source and described image detector separately moves, so that the x-ray source and described image are visited
Device is surveyed with TILTING type collection at least two sliceable consecutive images.
20. a kind of method for obtaining radioscopic image by C-arm x-ray equipment, which comprises the following steps:
The X-ray of sweep object is generated by x-ray source；
The X-ray across the object is received by image detector；
It controls the x-ray source and described image detector separately moves, so that the x-ray source and described image are visited
Device is surveyed with STEPPING type collection at least two sliceable consecutive images.
21. a kind of C-arm x-ray equipment characterized by comprising
Rack；
C-arm is installed in the rack；
X-ray source is connected to one end of the C-arm, for generating the X-ray of sweep object；
Image detector is connected to the other end of the C-arm, for receiving the X-ray across the object；
Controller is configured to control described image detector and the x-ray source independently moves, so that the X is penetrated
To acquire the first image when line source and described image detector are in first position relationship, the x-ray source and described image are visited
It surveys when device is in the second position relationship different from the first position relationship to acquire the second image.
22. C-arm x-ray equipment according to claim 21, which is characterized in that further include:
Hospital bed is arranged between the x-ray source and described image detector, is used to support the object.
23. C-arm x-ray equipment according to claim 21, which is characterized in that the rack is moveable.
24. C-arm x-ray equipment according to claim 21, which is characterized in that the x-ray source is movably coupled with
Onto the C-arm.
25. C-arm x-ray equipment according to claim 24, which is characterized in that the translatable ground of the x-ray source can
It is rotationally or translatable and be pivotally connected in the C-arm.
26. C-arm x-ray equipment according to claim 21, which is characterized in that the C-arm includes the first arm and the
Two arms, described image detector are connected to first arm, and the x-ray source is connected to second arm, and second arm can
It is translationally or rotationally or translatable and be pivotally connected in the rack.
27. C-arm x-ray equipment according to claim 26, which is characterized in that further include clutch, in institute
State the first state that the first arm and second arm engage and the second shape that first arm is disengaged with second arm
Switch between state.
28. C-arm x-ray equipment according to claim 21, which is characterized in that described image detector movably connects
It is connected in the C-arm.
29. C-arm x-ray equipment according to claim 21, which is characterized in that the C-arm includes the first arm and the
Two arms, described image detector are connected to first arm, and the x-ray source is connected to second arm, and first arm can
It is removably connected in the rack.
30. C-arm x-ray equipment according to claim 29, which is characterized in that further include clutch, in institute
State the first state that the first arm and second arm engage and the second shape that first arm is disengaged with second arm
Switch between state.
31. C-arm x-ray equipment according to claim 21, which is characterized in that second image and first figure
As having the overlapping region that can splice.
32. C-arm x-ray equipment according to claim 31, which is characterized in that the overlapping region, described
Incidence angle of the ray from the x-ray source with respect to described image detector when one positional relationship and the second position relationship
It is least partially overlapped or substantially identical for spending range.
33. C-arm x-ray equipment according to claim 21, which is characterized in that the first image and second figure
The acquisition mode of picture is for TILTING mode or STEPPING mode or between the mode between the above two.
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| CN201811493215.6A CN109480878B (en) | 2018-12-07 | 2018-12-07 | C-arm X-ray apparatus and method of acquiring X-ray image |
| PCT/CN2019/090025 WO2019233422A1 (en) | 2018-06-04 | 2019-06-04 | Devices, systems, and methods for image stitching |
| EP19814598.9A EP3788590A4 (en) | 2018-06-04 | 2019-06-04 | Devices, systems, and methods for image stitching |
| US17/111,536 US11763424B2 (en) | 2018-06-04 | 2020-12-04 | Devices, systems, and methods for image stitching |
| US18/469,507 US20240005450A1 (en) | 2018-06-04 | 2023-09-18 | Devices, systems, and methods for image stitching |
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