DE102015214369A1 - Method for operating an X-ray imaging system and arrangement with an X-ray imaging system - Google Patents

Abstract

The invention provides a method for operating an X-ray imaging system (1) with the following steps: a) predetermining (100) a body part (9) of a patient (5) to be examined, b) setting up (200) the patient (5) in front of an X-ray image detector (2) the X - ray imaging system (1), c) sensory, spatial detection (300) of the skeleton of the patient (5), d) determination (400) of a target position (ZP) of an X - ray emitter (3) of the X - ray imaging system (1) on the basis of taking into account at least one predefinable parameter, e) automatic movement (500) of the X-ray emitter (3) to the determined target position (ZP), wherein interim changes of the spatial position of the body part (9) by a Tracking the target position (ZP) are taken into account, f) automatic adjustment (600) of X-ray apertures of the X-ray imaging system (1) when reaching the target position (ZP) on a v adjustable imaging format; and g) triggering (700) the X-ray emitter (3) to perform an X-ray image recording. An arrangement for carrying out the method according to the invention is also given. The invention offers the advantage that the efficiency of the operation is improved because manual corrections of the user are almost no longer necessary.

Description

Field of the invention

The invention relates to a method for operating an X-ray imaging system and an arrangement with an X-ray imaging system, wherein the X-ray source of the X-ray imaging system is moved automatically, preferably by an electric motor, to a target position.

Background of the invention

The efficiency of setting up x-ray images in x-ray imaging relies heavily on the skills of the medical staff because of the need for multiple manual adjustment steps. Because each patient is different in size and weight, the anatomy of a patient also affects the efficiency of setting up a patient for X-ray imaging.

Own observations show that currently the position of the X-ray source is manually changed until the X-ray source is centered on an organ or body part to be picked up. Then the required aperture size is set. The time required for this therefore also determines the number of possible treatments per time unit, ie the maximum throughput of patients.

• 1. Einrichten des Patienten vor dem Röntgenbilddetektor.
• 2. Auswahl des zu untersuchenden Teils des menschlichen Skeletts, zum Beispiel eine Schulter, und Angabe von zusätzlichen Daten, wie FFA, Einblendung und Geräteposition. Diese Daten können bereits vorprogrammiert für das jeweilige Organ bzw. Körperteil sein.
• 3. Automatische Bewegung des Röntgenstrahlers zu der vorprogrammierten, festen Zielposition.
• 4. Manuelle Korrektur der Position des Röntgenstrahlers durch den Bediener der Röntgenbildgebungsanlage, bis das zu untersuchende Organ optimal (zentriert) getroffen wird. Die vorprogrammierten Standardpositionen passen nicht für jeden Patienten gleichermaßen, da die Anatomie jedes Menschen unterschiedlich ist.
• 5. Anpassung der Blendengröße.
• 6. Durchführung der Röntgenaufnahme.

In detail, the observed procedure for an X-ray image is as follows:

• 1. Set up the patient in front of the X-ray image detector.
• 2. Selection of the part of the human skeleton to be examined, for example a shoulder, and specification of additional data such as FFA, insertion and device position. These data can already be preprogrammed for the respective organ or body part.
• 3. Automatic movement of the X-ray source to the pre-programmed, fixed target position.
• 4. Manually correct the position of the X-ray source by the operator of the X-ray imaging system until the organ to be examined is hit optimally (centered). The preprogrammed standard positions do not suit every patient equally, because the anatomy of each person is different.
• 5. Adjusting the aperture size.
• 6. Carrying out the X-ray.

Summary of the invention

It is an object of the invention to provide a method for operating an X-ray imaging system and an arrangement with an X-ray imaging system, by means of which an X-ray image recording can be carried out more efficiently.

According to the invention, the stated object is achieved with the method for operating an X-ray imaging system and the arrangement with an X-ray imaging system of the independent claims. Advantageous developments are specified in the dependent claims.

According to the invention, the method for operating an X-ray imaging system on an automatic positioning of the X-ray source of the X-ray imaging system on sensory detected parts of the human skeleton.

• a) Vorgeben eines zu untersuchenden Körperteils eines Patienten,
• b) Einrichten des Patienten vor einem Röntgenbilddetektor der Röntgenbildgebungsanlage,
• c) sensorische, räumliche Erfassung des Skeletts des Patienten,
• d) Ermittlung einer Zielposition eines Röntgenstrahlers der Röntgenbildgebungsanlage auf Basis des räumlich erfassten Skeletts und des zu untersuchenden Körperteils unter Berücksichtigung mindestens eines vorgebbaren Parameters,
• e) automatische Bewegung des Röntgenstrahlers zur ermittelten Zielposition, wobei zwischenzeitliche Änderungen der räumlichen Lage des Körperteils durch ein Nachführen der Zielposition berücksichtigt werden,
• f) automatisches Einstellen der Röntgenblenden der Röntgenbildgebungsanlage bei Erreichen der Zielposition auf ein vorgebbares Bildaufnahmeformat und
• g) Auslösen des Röntgenstrahlers zur Durchführung einer Röntgenbildaufnahme.

The invention claims a method for operating an X-ray imaging system, wherein the following steps are carried out:

• a) predetermining a body part of a patient to be examined,
• b) setting up the patient in front of an X-ray image detector of the X-ray imaging system,
• c) sensory, spatial detection of the skeleton of the patient,
• d) determination of a target position of an X-ray source of the X-ray imaging system on the basis of the spatially detected skeleton and the body part to be examined, taking into account at least one predefinable parameter,
• e) automatic movement of the X-ray source to the determined target position, wherein interim changes of the spatial position of the body part are taken into account by tracking the target position,
• f) automatically adjusting the X-ray apertures of the X-ray imaging system when reaching the target position to a predetermined image recording format and
• g) triggering of the X-ray source for performing an X-ray image recording.

The invention offers the advantage that the efficiency of the operation of an X-ray imaging system is improved since manual corrections of the user are almost no longer necessary

In a further development of the method, in step b) additionally the focus-film distance, an adjustment of the X-ray apertures and / or an angle of incidence of the X-radiation of the X-ray emitter can be specified.

In a further embodiment, the focus-film distance, the setting of the X-ray apertures and / or the angle of incidence of the X-ray radiation of the X-ray source can be stored in advance for each body part.

In a further embodiment, the sensory, spatial detection of the skeleton of the patient by means of a depth camera, which detects the skeleton spatially, take place.

Furthermore, the position of the patient in front of the X-ray image receiver and the position of the X-ray image receiver itself can be used for the sensory, spatial detection of the skeleton.

Preferably, the target position can be determined in the X-ray system coordinate system, wherein the sensory, spatial detection of the skeleton takes place in a sensor coordinate system, which is transformed into the X-ray system coordinate system.

In a further embodiment, the predefinable parameter of method step d) may be a distance of the body part from the X-ray image detector, the focus-film distance or the angle of incidence of the X-ray radiation.

In a preferred embodiment, the change in position of the body part in method step e) can be determined by the spatial position of the body part is continuously sensory detected and determines the resulting change in the target position of the X-ray and dynamically adjusted during movement of the X-ray source.

In a further embodiment, the multi-axis trajectory can be planned by means of an online path planning algorithm and a movement of the motor-driven axes of the X-ray source can be adapted dynamically.

In a further refinement, between the method step f) and the method step g), the target position reached by the x-ray emitter can be sensor-validated with regard to its validity and its image recording quality.

The advantage achieved thereby is to improve the image quality, since the position of the body part relative to the X-ray image detector and with regard to the optimal settings can be automatically checked / checked.

Furthermore, it can be sensed whether the X-ray image detector and / or a radiation measuring chamber are correctly hit by the X-ray radiation.

In addition, it can be displayed on an operator interface, for example on a screen, whether and in what direction the patient and / or the X-ray source has to be moved in order to achieve optimum image recording quality.

The invention also claims an arrangement with an X-ray imaging system which is designed and programmed to carry out the method according to the invention.

In a development of the arrangement, a sensor system with a depth camera can be arranged on the X-ray emitter, wherein the sensor system is designed and programmed to detect a human skeleton.

Other features and advantages of the invention will become apparent from the following explanations of an embodiment with reference to schematic drawings.

Show it:

1 : A flow chart of a method for X-ray imaging and

2 : A view of an arrangement with an X-ray imaging system.

Detailed description of an embodiment

1 shows a flowchart of a method according to the invention for operating an X-ray imaging system 1 , in the 2 is shown. The method has the steps described below.

In step 100 becomes the body part to be examined 9 of the patient 5 For example, his left shoulder, given the additional parameters such as FFA (focus-film distance), settings of the X-ray apertures and / or angle of incidence of the X-ray radiation, given or selected. The parameters can be for the respective body part 9 already in advance in a database 8th a control and regulation unit 7 the X-ray imaging system 1 be saved.

In step 200 becomes the patient 5 in front of the X-ray image detector 2 set up so that the body part to be examined 9 in front of the X-ray image detector 2 comes to rest. Thereby both the patient becomes 5 as well as the X-ray image detector 2 emotional.

In step 300 is sensory, that is detected by means of a sensor, the skeleton of the patient. This can be done, for example, with the "Kinect" depth camera from Microsoft, which gives a human a virtual skeleton with 25 nodes. In this case, the position of the X-ray image detector can be used as an additional information aid, since, for example, it is known that in front of the X-ray image detector 2 the left shoulder and not the right shoulder is arranged.

• – der Abstand des Körperteils 9 vom Röntgenbilddetektor 2,
• – der eingestellte FFA (Fokus-Film-Abstand) und/oder
• – der ausgewählte Einstrahlwinkel der Röntgenstrahlung.

In step 400 becomes the target position ZP of the X-ray source 3 determined. That is, from the space coordinates of the body part to be examined 9 , So the left shoulder, in the coordinate system of the sensor (= sensor coordinate system) by transformation of the coordinates in the X-ray system coordinate system, the target position ZP of the X-ray source 3 calculated, whereby the following dependency can be considered:

• - the distance of the body part 9 from the X-ray image detector 2 .
• - the set FFA (focus-to-film distance) and / or
• - The selected angle of incidence of the X-ray.

In step 500 becomes the X-ray source 3 to the one in step 400 calculated during the movement in a kind of control loop, the spatial position of the body part to be examined 9 sensory continues to be detected. And wherein the resulting change in position (= change in position) a new target position ZP of the X-ray source 3 is calculated. That is, there is a dynamic adjustment of the target position ZP during the movement of the X-ray source 3 if the patient 5 emotional. This can be achieved via an online path planning algorithm from robotics that realizes the sensors 11 detects the multi-axis trajectory and plans the movement of the X-ray machine's motor axes 3 dynamically adapts.

In step 600 is automatically faded in on the desired format when reaching the target position ZP, that is, the X-ray apertures are set.

In the optional step 650 A validation of the target position ZP can be carried out with regard to its validity and its predicted recording quality. Thus, with the help of intelligent sensors 11 be checked if the X-ray image detector 2 and a possibly existing radiation measuring chamber are hit correctly by the X-radiation. In addition, a user guide with the aid of a display of a user interface 10 be realized, which indicates to the user that the patient 5 or the X-ray source 3 something has to be moved to achieve optimum image capture quality. Thus, for example, arrows can be used to indicate which adaptation is necessary for optimum X-ray image recording.

In the final step 700 becomes the X-ray source 3 triggered and created an X-ray image.

• – der Röntgenstrahler 3 ist in den drei Hauptachsen (x-, y- und z-Achse) und in zwei Rotationsachsen (elektro-)motorisch frei im Raum positionierbar, so dass jede gewünschte Raumposition (= Zielposition ZP) automatisch angefahren werden kann.
• – Die Röntgenbildgebungsanlage 1 besitzt eine intelligente Sensorik 11 zur Erfassung des Patienten 5 und zur Ermittlung des virtuellen Skeletts des Patienten 5, wie es beispielsweise mit der Time-Of-Flight Kamera „Kinect 2“ der Firma Microsoft möglich ist.

For carrying out the method for operating the X-ray imaging system, the following preconditions are assumed:

• - the X-ray source 3 is in the three main axes (x-, y- and z-axis) and in two axes of rotation (electro-) motor-freely positionable in space, so that any desired spatial position (= target position ZP) can be approached automatically.
• - The X-ray imaging system 1 has an intelligent sensor 11 to capture the patient 5 and determining the virtual skeleton of the patient 5 as with the time-of-flight camera "Kinect 2 "The company Microsoft is possible.

2 shows an inventive arrangement with an X-ray imaging system 1 holding an x-ray image detector 2 on the one hand, on a pedestal 12 and on the other hand under the lying surface of a patient table 6 having. On a ceiling stand 4 is an X-ray source that can move in at least five degrees of freedom 3 arranged. With the X-ray source 3 is a sensor 11 , For example, a depth camera connected to the skeleton of a patient to be examined 5 at least rudimentary virtual can capture.

The deck stand 4 including X-ray source 3 and sensors 11 are shown in two different positions, namely in an initial position and in a target position ZP in front of the X-ray image detector 2 According to the method according to 1 is determined. The arrow BR schematically represents the direction of movement. The body part 9 of the patient 5 from which to make an X-ray is his left shoulder.

The arrangement also has a control and regulation unit 7 with a database 8th on. In the database 8th In addition to the general image acquisition parameters, additional parameters, such as FFA (focus-film distance), settings of the X-ray apertures and / or irradiation angle of the X-radiation, are available for each body part 9 saved.

The determination of the target position ZP and the entire control and movement of the X-ray imaging system 1 is done with the help of the control unit 7 , It can be planned by means of an online path planning algorithm of robotics, the multi-axis trajectory and a movement of motor-driven axes of the X-ray source 3 be dynamically adjusted.

Alternatively, from the patient 5 also on the patient table 6 an X-ray image according to the inventive method according to 1 respectively.

As sensor technology 11 For example, the "Kinect 2 "The company Microsoft uses. Kinect 2 is a depth camera with gesture sensor. With Kinect 2 It is possible to obtain differentiated information about a scene taking place in front of the depth camera. This can include the attitude and gestures of up to six people in front of the Kinect 2 be evaluated simultaneously, each individual reconstructed skeleton is articulated by up to 25 joint points.

Although the invention has been further illustrated and described in detail by the embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

LIST OF REFERENCE NUMBERS

1

X-ray imaging system

2

X-ray detector

3

X-ray

4

ceiling mount

5

patient

6

Patient table

7

Control and regulation unit

8th

Database

9

body part

10

Operator interface

11

sensors

12

pedestal

100

Specifying a body part 9 of the patient 5

200

Setting up the patient 5

300

sensory, spatial detection of the skeleton

400

Determination of a target position ZP of the X-ray source 3

500

automatic movement of the X-ray source 3 to the determined target position ZP

600

automatic adjustment of the X-ray apertures

650

Validation of the target position ZP achieved by the X-ray source

700

Triggering the X-ray source 3

ZP

target position

BR

movement direction

Claims (14)

Method for operating an X-ray imaging system ( 1 ), with the following steps: a) Predict ( 100 ) of a body part to be examined ( 9 ) of a patient ( 5 ), b) Setup ( 200 ) of the patient ( 5 ) in front of an X-ray image detector ( 2 ) of the X-ray imaging system ( 1 ), c) sensory, spatial detection ( 300 ) of the patient's skeleton ( 5 ), d) determination ( 400 ) a target position (ZP) of an X-ray source ( 3 ) of the X-ray imaging system ( 1 ) based on the spatially detected skeleton and the body part to be examined ( 9 ) taking into account at least one predefinable parameter, e) automatic movement ( 500 ) of the X-ray source ( 3 ) to the determined target position (ZP), wherein interim changes of the spatial position of the body part ( 9 ) by tracking the target position (ZP), f) automatic adjustment ( 600 ) of X-ray apertures of the X-ray imaging system ( 1 ) upon reaching the target position (ZP) to a prescribable image recording format and g) triggering ( 700 ) of the X-ray source ( 3 ) for performing an X-ray image. Method for operating an X-ray imaging system ( 1 ) according to claim 1, characterized in that in step b) additionally the focus-film distance, an adjustment of the X-ray apertures and / or an angle of incidence of the X-radiation of the X-ray source ( 3 ). Method for operating an X-ray imaging system ( 1 ) according to claim 2, characterized in that the focus-film distance, the adjustment of the X-ray apertures and / or the angle of incidence of the X-radiation of the X-ray source ( 3 ) for each body part ( 9 ) are stored in advance. Method for operating an X-ray imaging system ( 1 ) according to one of claims 1 to 3, characterized in that the sensory, spatial detection ( 300 ) of the patient's skeleton ( 5 ) by means of a depth camera ( 11 ), which is the skeleton of the patient ( 5 ), takes place. Method for operating an X-ray imaging system ( 1 ) according to one of the preceding claims, characterized in that the position of the patient ( 5 ) in front of the X-ray image receiver ( 2 ) and the position of the X-ray image receiver ( 2 ) even for sensory, spatial detection ( 33 ) of the skeleton. Method for operating an X-ray imaging system ( 1 ) according to one of the preceding claims, characterized in that the target position (ZP) is determined in an X-ray machine coordinate system, wherein the sensory, spatial detection (ZP) 300 ) of the skeleton takes place in a sensor coordinate system which is transformed into the X-ray system coordinate system. Method for operating an X-ray imaging system ( 1 ) according to one of the preceding claims, characterized in that the presettable parameter of step d) is a distance of the body part ( 9 ) from the X-ray image detector ( 2 ) is the focus-film distance or the angle of incidence of the X-radiation. Method for operating an X-ray imaging system ( 1 ) according to one of the preceding claims, characterized in that a change in position of the body part ( 9 ) in step e) is determined by the spatial position of the body part ( 9 ) is sensed continuously and the resulting change in the target position (ZP) of the X-ray source ( 3 ) and dynamically during the movement of the X-ray source ( 3 ) is adjusted. Method for operating an X-ray imaging system ( 1 ) according to claim 8, characterized in that a multi-axis trajectory is planned by means of an online path planning algorithm of the robotics and a movement of the motor-driven axes of the X-ray source ( 3 ) is adjusted dynamically. Method for operating an X-ray imaging system ( 1 ) according to one of the preceding claims, characterized in that, between step f) and step g), the target position (ZP) reached by the X-ray source is sensor-validated with respect to its validity and its image-recording quality ( 650 ) becomes. Method for operating an X-ray imaging system ( 1 ) according to claim 10, characterized in that a sensory check is made as to whether the X-ray image detector ( 2 ) and / or a radiation measuring chamber are correctly hit by the X-ray radiation. Method for operating an X-ray imaging system ( 1 ) according to claim 10 or 11, characterized in that on an operator interface ( 10 ) is displayed, whether the patient ( 5 ) and / or the X-ray source ( 3 ) must be moved in order to achieve optimum image recording quality. Arrangement with an X-ray imaging system ( 1 ) configured and programmed to carry out a method according to any one of the preceding claims. Arrangement according to claim 13, characterized by: - one at the X-ray source ( 3 ) and arranged with this movable sensor ( 11 ) with a depth camera, whereby the sensors ( 11 ) is designed and programmed to virtually capture a human skeleton.

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