DE10318360A1 - Blur compensation apparatus for medical X-ray imaging apparatus, has sensor unit near objective projection position on object holding unit, where blur compensation is executed based on positional change information of object - Google Patents

Abstract

The apparatus has a sensor unit (62) placed near objective projection position on an object holding unit (4) to detect object blur motion. Blur compensation is executed for the object image (6) based on positional change information from the sensor unit during radiography. The information indicates the positional change with respect to the projection position relative to a reference previously specified on the holding unit. Independent claims are also included for the following: (a) a medical X-ray imaging apparatus (b) a method of blur compensation executed by a Blur compensation apparatus provided in medical X-ray imaging apparatus.

Description

Priority: April 24, 2002, Japan, No. 2002-122471 (P)

FIELD OF THE INVENTION

The invention relates to a Blur compensation device for X-ray images used for a medical X-ray machine is used to take an x-ray of a person received with an x-ray generator and one of these opposing X-ray image generating device, wherein the X-ray generator and the X-ray image generating device the person held by a person holding device between themselves, and it affects one medical x-ray machine using the Blur compensation device.

STATE OF THE ART

With an x-ray machine, with x-ray CT, tomography in a flat surface or tomography in a curved one Area while a person is running through a Person holding device is held and an X-ray generator and an X-ray image generating device relative (including a turn) to the person so that including the person is the x-ray obtained not always advantageous because the person is opposed to the Person holding device moves, d. H. a movement executes, which leads to smearing of the object image.

This problem is too in the case of a radiography process note when the person is moved, however, it is for the Person, even if they are not moving, difficult since they a living body is stationary for a fixed time remain so that a problem has to be solved here too.

More specifically, in X-ray CT, one three-dimensional X-ray absorption coefficient generated thereby is that the sequentially obtained images of a Backprojection to undergo the sequential images the object image motion blur with gradual Changes reflect, and such images lead to one adverse effect of that obtained by rear projection X-ray absorption coefficient. Therefore, this problem is over X-ray CT and also in X-ray panoramic radiography, in which the Sequentially obtained images are put together to form a Generating an image is essential.

Therefore, various measures and methods of solving have been found the problem related to the object image motion blur proposed.

For example, JP-A-2000-217810 suggests a conical one X-ray CT machine in front of which a preserved X-ray transmission image in several groups with different Sizes are divided to make each one clearer X-ray distribution image to be calculated by reconstructing the transmitted X-ray image per group is obtained, and using the transmitted x-ray image and the Group with the greatest clarity is an x-ray Cross-sectional image or a three-dimensional x-ray image of a Person received.

This blur compensation method does not require any Sensor for detecting an object image motion blur, however becomes an X-ray transmission image with less Clarity not used due to the motion blur. If the Such a procedure is available to a person who is not moved Available because the rate of motion blur is small. On the other hand, no X-ray transmission image appeared to be obtained with advantageous clarity since the rate of Motion blur was large.

The medical described in JP-A-2001-120528 Imaging device has a detection device for a Object image motion blur in such a way that X-ray radiography is performed when through the Detection device detected person movement is smallest. Therefore, it was also available for radiography with a fixed person Available, however, its effectiveness was not for the Case of X-ray radiography with moving person clarified, since it is not specified when the motion blur on smallest becomes.

According to the CT device described in JP-A-11-253433, a Position marker impervious to X-rays attached and the extent of motion blur is determined by calculated the position of the image of the position marker. Such a device is for a motion blur process useful in the image plane, but it is for one Motion blur process in a direction perpendicular to this, d. H. for a motion blur process for a Image zoom rate, not useful.

In the data compensation device in JP-B-6-16099 described CT device is a marker for a person present, and this is through a television camera monitors for rotation angle signals as body movement data received, the data for the compensation of the Image layer data can be used.

According to this procedure, it is necessary to have one each time To carry out marking and it is cumbersome to face the person a position other than that of the person at the Mark projection start position.

A TV camera, etc. must be attached so that they face the person, in addition to Personal holding device so that space is required for the camera. in the Generally the device is required for recording and analysis of the picture a relatively large space. More specifically, is in Comparison with an acceleration sensor and one Angular velocity sensor the difference regarding the required considerable space. Furthermore, an exact Mark recognition in a comparatively difficult picture be carried out because the marking position by the projected image is captured, making the possibility less Accuracy arises. There are also several television cameras required to perform a three-dimensional body movement capture so that a larger space is needed.

The invention is proposed to the above Solve problems, and their goal is to find one To create a blur compensation device for X-ray images effective way of compensating for a Object image motion blur not only then during X-ray radiography can perform when a person is not moving, but even if it is moved, and for you Blur compensation process not only in one projection plane but is also useful for the zoom rate of an image, and a medical X-ray machine using this To create a blur compensation device.

SUMMARY OF THE INVENTION

One embodiment is one X-ray image blurring compensation device for a person to be examined, wherein this facility for a medical x-ray machine is used with an x-ray generator and one of these opposing X-ray image generating device, wherein the X-ray generator and the X-ray image generating device between them by a person holding device include held person, wherein a sensor device for Detect a motion blur of the person near one Target projection position on the person holding device present and it will be for that by the X-ray image generating device obtained X-ray image Blur compensation process based on position change information executed from a by the sensor device detected during an x-ray radiography process Detection signal is calculated, this Position change information the extent of the position change with respect to the Target projection position is relative to a reference position, which previously specified on the person holding device has been.

The X-ray image blur compensation device has via a sensor device for detecting an object image Blurred motion around the target projection position at the People holding device around, thereby the Position change at the target projection position with regard to the To detect the reference position of the person holding device. In other words, the sensor device is around Target projection position around the person holding device, not for the person present, so the sensor device is not must be exchanged for each person, what to save leads from work.

If e.g. B. the person holding device from a chair and a head fixation device in the upper part of the chair there is, the sensor device for Head fixation device available, the reference position is on the chair set, and the detection data of the sensor device as a change in position at the target projection position (header) regarding the chair (reference position). Therefore is the setting of the sensor device for detecting the Change of position of the target projection position (head) alone completed by having the person's head through the Head fixing device, as in the conventional X-ray radiography is recorded.

In addition, a three-dimensional change to the Target projection position can be recorded by using this How to change the position of the target projection position is captured, which enables a multi-dimensional Blur compensation process using the data in the Comparison to the known technology to perform.

Furthermore, the sensor device for the Person holding device for holding and moving the person in the event of a Movement of the person is present, which is why the sensor device is adjusted together with the person and it can always the relative motion blur of the person compared to the Passenger holding device can be detected.

Accordingly, even when the person is moving, the Motion blur captured at the target projection position without being influenced by the Total movement of the person would exist.

Because the sensor device for the person holding device no other preparation is required as a positioning of the person on one Projection start position, which increases the burden on an operator reduced. In addition, a recording device must be on no other position than at the person holding device be attached so that the system is compact can be.

If an accelerometer, a Angular velocity sensor or an angle sensor which is a two or can perform three-dimensional capture for which Sensor device used can be more accurate and compact Construction can be achieved.

In these cases, the sensor device preferably guides a two- or three-dimensional detection in relation to each other orthogonal directions. It can be a sensor device be present, which is a two- or a three-dimensional Can perform capture, or multiple Sensor devices are present, the two or one can perform three-dimensional acquisition.

The sensor preferably carries out a two-dimensional one Acquisition in two mutually orthogonal directions on the Plane of motion, d. H. two-dimensional in an X and one Y direction, which are parallel to the plane of movement and are perpendicular to each other when the person and that Imaging system from the X-ray imaging device and the X-ray generator are moved relative to each other.

More specifically, the plane of movement affects that plane in which the target projection position and the x-ray generator can be adjusted to describe an arc when in the Tomography case can be rotated around the person.

With regard to tomography in a curved surface, the Construction should be such that the patient, i. H. the Person against the x-ray image generating device and the Blur compensation is moved while that Center of rotation is fixed. The plane in which the trajectory of the The person's target projection position is one Moving plane.

In addition to the above two-dimensional Detection processes, the sensor can also be a three-dimensional Acquisition in more than one direction perpendicular to Plane of movement, d. H. in a Z direction perpendicular to the X and to the Y direction, which are perpendicular to each other.

In the above, there are two orthogonal directions on the Movement level as the preferred embodiment for two Dimensions specified, however, they can optionally be other than can be set in this embodiment. Further the two directions are not always orthogonal to each other, but they can maintain an optional angle.

If a detection direction to the two directions one direction does not have to be orthogonal to the Level of motion, and it can be in an optional Direction can be set.

That is, the angle of the two or three directions is optional can be adjusted to the extent that the degree of blurring is recorded.

According to another embodiment of an inventive X-ray image blur compensation device guides this do the following: Determine the presence of a Motion blur in x-ray image of the person regarding a series of x-ray frames as they are then generated when x-ray radiography is done what's on Basis of the extent of the position change and / or one Deviation of the zoom rate takes place as from the by the Sensor device detected detection signal calculated; sequentially executing the blur compensation process for the X-ray picture frame in which the motion blur in the X-ray image of the person in the determination step is found what based on the extent of the position change and / or the deviation of the zoom rate, as by the sensor device received, done; and rearranging and storing a row of x-ray picture frames including one X-ray frame for which the motion blur in the above way was compensated in the same chronological order as in x-ray radiography.

According to another embodiment of an inventive Blur compensation device has the Sensor device on two acceleration sensors, which in two show different directions, these two Accelerometers the accelerated speed at the Capture the target projection position and where the Position change information based on the acceleration data thereby it is calculated that dynamic processing as before provided, is executed.

With this X-ray image blur compensation device the acceleration sensor is used as a sensor device Detect the acceleration at the target projection position used, and the acceleration is used as an external force viewed that acts on the target projection position, wherein no integration takes place, and the the The design that defines the target projection position is called the support structure viewed so that by the external force at the Carrier construction caused deflection as a change in position is determined at the target projection position.

Therefore, the deflection of the support structure, i.e. H. the Change in position at the target projection position by Calculation formula for the beam deflection in a simple way calculated without having to perform a difficult integration becomes.

Furthermore, two acceleration sensors are used in two used different directions, so the two-dimensional is captured precisely without any difficult image processing to capture motion blur would be executed. Also, the sensors are general very small, with one attached to a fingertip can be, whereby the device can be more compact.

In the case of capturing a three-dimensional Motion blur, deviating from a two-dimensional one Motion blur is all it takes is a sensor add. Therefore, the facility can be compared to a Construction with several TV cameras more compact become. Similarly, one Angular velocity sensor and an angle sensor can be present.

The calculation method for the position change from the Acceleration at the target projection position as above is called dynamic processing.

In this x-ray image blur compensation device the acceleration sensor is available in two directions, more preferably in two mutually orthogonal directions, more specifically, or essentially, in two orthogonal Directions in a horizontal direction or in two orthogonal directions on a plane of motion if Radiography is performed while one person and one Imaging system from an X-ray imaging device and an X-ray generator are moved relative to each other, to create a two-dimensional one Enable blur compensation process.

The reason why the number of acceleration sensors is limited to two directions is that the Motion blur in a direction perpendicular to the Relative movement plane only during a radiography process is small and in the case of a conventional imaging device such as an X-ray panoramic radiography device, no Blur compensation process is required. If necessary, can the acceleration sensor is designed for three directions his.

According to the other embodiment of the invention Blur compensation device has the sensor device two angular velocity sensors on the two different directions are present, these two Angular velocity sensors the angular velocity of the Tilt angle of the target projection position with respect to the Detect reference position and where the Position change information is calculated from the angular velocity data becomes.

This x-ray image blur compensation device is the same as the above embodiment, that the construction forming the target projection position is regarded as a support structure. However, at this embodiment, the sensor device from a Angular velocity sensor. The angular velocity sensor detects the angular velocity of an angle of inclination the target projection position to the tilt angle at the Get target projection position through integration. Furthermore, the change in position on the Target projection position is calculated to thereby perform the arithmetic operation facilitate.

According to another embodiment of the invention Blur compensation device has the Sensor device on two angle sensors, which are in two different There are directions and the angle of inclination of the Target projection position with respect to the reference position measure, the position change information from the Angle data is calculated.

This x-ray image blur compensation device is also the same as that mentioned above Embodiment that the forming the target projection position Construction is viewed as a support structure. however consists in this embodiment of the sensor device an angle sensor. The angle sensor detects the Tilt angle at the target projection position. Then the Position change at the target projection position calculates what the arithmetic operation is facilitated.

According to the other embodiment of the invention Blurring compensation device calculates this Blurred motion in an image plane of the X-ray image generating device and the deviation of the zoom rate Basis of the calculated extent of the position change and the Blurring compensation process for the X-ray image Generating device executes the image obtained.

With this blur compensation device, because at least the two-dimensional position change on the Target projection position is calculated by the sensor device, reconstructed the change of position to the Motion blur of an x-ray image in the image plane of the x-ray image Generation device and the motion blur perpendicular to the plane of the direction, d. H. the deviation of one To calculate the zoom rate of an x-ray image in order to thereby Enable blur compensation process. Therefore, a two-dimensional blur compensation process possible, the was difficult in the prior art.

According to the other embodiment of an inventive Blur compensation device has the Person holding device a chair for holding a person in sitting position and a head fixation part for fixation Holding the human head up in the upper part of the chair, the sensor device being present on the head fixing part and the reference position is set on the chair.

According to this X-ray image blur compensation device the person holding device is practically defined there, where the setting position of the sensor device on Head fixing part is set and the reference position is on the chair. The sensor detects the change in position of the Target projection position, which is a human Head acts towards the chair, so this Compensation device preferably for radiography of the head, the Jaw, dental arch and teeth for dental Purposes.

According to one embodiment, a medical X-ray device for obtaining an X-ray image of one examining person, with an X-ray generator and one of these opposing x-ray image generating device, wherein the x-ray generator and the X-ray image generating device between them by a person holding device include held person, this being medical X-ray machine the X-ray image blurring compensation device, in which a sensor device for detecting a Blurred motion of person near one Target projection position is present on the person holding device and for that obtained by the X-ray image forming device X-ray image based on a blur compensation process position change information that is executed from one by the sensor device during a X-ray radiography process detected detection signal is calculated this position change information the extent of Position change with respect to the target projection position is relative to a reference position previously on the Passenger holding device was specified.

This medical x-ray machine has the above called x-ray image blur compensation device, so that it achieves the effects of the compensation device.

According to the other embodiment, the medical X-ray device also via a person movement device to adjust the person holding device depending on Purpose of x-ray radiography.

In this embodiment of the medical X-ray device is, in comparison to the device mentioned above, additionally Movement equipment available. This means that the Person is moved during an x-ray radiography procedure (including a rotation) so that it often becomes a Object image motion blur is coming. Therefore, they show up Effects of the above X-ray image blur compensation device more clearly.

According to another embodiment of a medical X-ray device for obtaining an X-ray image of one examining person, with an x-ray generator and a this opposing x-ray image generating device, where the x-ray generator and the X-ray image generation device can be rotated around a center of rotation, and with a person movement device for adjustment the person holding device for holding the person at least in a direction parallel to the plane of rotation of the rotation, this medical x-ray machine can use x-ray ct radiography and perform x-ray panoramic radiography, and this medical x-ray machine has one X-ray image blur compensation device with a person holding device a chair for holding a person in a sitting position and a head fixing part for holding the human firmly Head in the upper part of the chair, also one Sensor device for detecting a motion blur There is one person on the head fixation part and one on the chair Reference position is set.

According to the other embodiment of an inventive medical x-ray machine performs the Blur compensation device performs the following steps: Determine the presence of motion blur in the x-ray image of the Person regarding a number of x-ray picture frames, such as they are generated when x-ray radiography is performed becomes what based on the extent of the position change and / or a deviation of the zoom rate takes place as from the detection signal detected by the sensor device calculated; sequential execution of the Blurring compensation process for the X-ray picture frame in which the Motion blur in the x-ray image of the person in the determination step is found based on the extent of the Position change and / or the deviation of the zoom rate, as by the Received sensor device takes place; and rearrange and Store a number of X-ray frames including of the X-ray frame for which the Motion blur in the x-ray image of the person compensated in the above way was in the same chronological order as for the X-ray radiography.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 shows the overall construction of an embodiment of a blurring compensation device for X-ray images according to the invention.

Fig. 2a is a schematic view showing a sensor device of the invention, Fig. 2b is a schematic view showing the relationship between the output signal of the sensor device and the amount of change in position regarding the target projection position, and Fig. 2c is a graph which shows the relationship of Fig. 2c.

Fig. 3 is an explanatory view of the relationship between the thus obtained amount of position change at the target projection position, the motion blur in the image plane and the blur regarding the zoom rate.

FIG. 4 is a flowchart showing procedures of the blur compensation process according to the invention.

Fig. 5 shows a basic principle of the blur compensation process.

Fig. 5Aa is an example of the picture frame before executing the compensation process, and Fig. 5Ab is an example of the picture frame after executing the same.

Fig. 6 shows the overall construction of an embodiment of a medical X-ray device using the X-ray image blur compensation device according to the invention.

Fig. 7 is a control diagram showing a blur compensation process according to the invention in a medical X-ray device.

FIG. 8 shows an external view of a medical X-ray device according to the invention, FIG. 8a being the front view and FIG. 8b being the side view.

Fig. 9 shows the overall structure of another embodiment of a medical X-ray apparatus according to the invention.

DETAILED DESCRIPTION OF THE INVENTION

Now the preferred embodiments of the invention explained with reference to the accompanying drawings.

Fig. 1 shows the overall construction of an embodiment of a blurring compensation device according to the invention for X-ray images.

The blurring compensation device for X-ray images 6 is provided with an X-ray generator 1 and an X-ray image generating device 2 which is arranged so that it faces the generator 1 , thereby enclosing a person P held by a person holding device 4 , and this device is for one medical x-ray machine 20 (see FIG. 6) is used to obtain an x-ray image of the person. The x-ray image blur compensation device 6 is further provided with an operating device for blur compensation 61 and a sensor device 62 for detecting the motion blur of the person P.

The X-ray generator 1 and the X-ray image generation device 2 are suspended from the two ends of a rotary arm 3 , which is shown schematically in order to rotate about the person P. When an X-ray 1a is radiated from the X-ray generator 1 to the person P, the X-ray transmission image detected by the X-ray image forming apparatus. 2

The person holding device 4 has a head fixing device 41 for holding and fixing the head PA of the person P, ie a patient, a chair 62 for holding the person P in a seated position and a base 43 as a foundation. The person holding device 4 is placed on a person adjusting device 5 for movement in the vertical direction and in the horizontal direction for the medical x-ray device 20 , which is provided vertically.

The head fixation device 41 has a support column 41 a, which stands up on the back of the chair 42 , and a fixing strap 41 b provided in the upper part of the column 41 a for tying and fixing the head PA of the person P. The holding column 41 a is by a Head fixing part adjusting motor 54 of the person adjusting device 5 can be adjusted vertically with respect to the chair 42 in order to fix the head PA of the person P at a suitable position.

The person adjusting device 5 , as shown in FIG. 4, is present inside or around the person holding device 4 and consists of an X-axis motor 51 , a Y-axis motor 52 , a Z-axis Motor 53 and a head fixing part adjusting motor 54 , which is a drive source as a whole. The personal adjustment device 5 also has ball spindle axes 51 a, 52 a, 53 a and 54 a, which are driven in rotation by a respective one of the above-mentioned motors, nuts 51 b, 52 b, 53 b and 54 b, each with the respective one screwed above spindle axis, engaging rails 51 c, 52 c, 53 c and 54 c, each of which is connected to a respective nut to slide with it, and receiving rails 51 d, 52 d, 53 d and 54 d, that slide exactly in the engaging rails.

The X-axis motor 51 , the ball spindle axis 51 a and the receiving rail 51 d are attached to a base 10 d, which is the foundation of the entire medical X-ray device 20 . The nut 51 b and the engaging rail 51 c are attached to the base 43 of the person holding device 4 . When the X-axis motor 51 is activated to activate and it rotates, the person holding device 4 becomes d in the X direction relative to the base 10 (in the direction shown by a solid arrow 51 in FIG. 8, ie from one side to the other).

The Z-axis motor 53 , the ball screw axis 53 a and the receiving rail 53 d are attached to the base 4 c by the person holding device 4 , and the nut 53 b and the engaging rail 53 c are attached by the chair 42 . When the Z-axis motor 53 is activated and rotated, the chair 42 is moved against the base 43 in the Z direction (in the arrow indicated by a solid arrow 53 in FIG. 8, ie up and down) to adjust the height of the person in relation to the swivel arm 3 .

In this embodiment, because of the limited area, a rotational driving force in the Z direction between the Z-axis motor 53 and the ball screw axis 53 a is transmitted through a synchronizing belt 53 e and a synchronizing pulley (not shown). If there is no area restriction, they can be connected directly.

Also exist in this embodiment, the receiving rail 53 d and the engaging rail 53 c of a combination of a piston and a cylinder with a large diameter to the up and down motion of the chair 42 on which the person is seated, guide and inaccurate to the To keep the movement of the chair 42 relative to the base 43 as small as possible when the chair 42 is adjusted horizontally.

The Y-axis motor 52 , the ball screw axis 52 a and the engaging rail 52 d are attached to the receiving rail 53 c with vertical movement relative to the base 53 of the person holding device 4 , and the nut 52 b and the receiving rail 52 c are on the part Chair 42 attached. When the Y-axis motor 52 is driven to rotate and activate, the chair 42 is moved in the Y direction (the direction shown by a solid arrow 52 in FIG. 8, ie back and forth) relative to the base 53 .

The armrest motor 54 , the ball screw axis 54 a and the receiving rail 54 d are attached to the upper part of the rear of the chair 42 of the person holding device 4 , and the nut 54 b and the engaging rail 54 c are attached to the column 41 a of the head fixing device 41 . When the armrest motor 54 is activated to activate and rotate, the head fixing device 41 is moved in the Z direction (in the direction shown by the solid arrow 58 in FIG. 8, ie up and down) relative to the upper part of the chair 42 .

The sensor device of the x-ray image blurring compensation device 6 according to this embodiment is provided for the column 41 a of the head fixing device 41 in the vicinity of a target projection position PA of the person holding device 4 , the position PA being the head of the person P to determine the extent of the change in position relating to the target projection position PA with respect to the chair 42 , which is the reference position of the person holding device 4 .

The blurring compensation operating device 61 performs a blurring compensation process on the image obtained by the X-ray image generation device 2 based on the detection information regarding the extent of the change in position by the sensor device 62 during X-ray radiography. The X-ray image generating device 2 and the person moving device 5 are also connected to the operating device 61 as described later so that the blur compensation process can be carried out based on the output signal thereof.

In this x-ray image blurring compensation device 6 , the sensor device 62 for detecting the motion blur of the person P is not present for the person P but for the head fixing part 41 in the vicinity of the target projection position PA on the person holding device 4 , so that this sensor device 62 does not have to be exchanged for each person P. ,

Furthermore, the sensor device 62 is provided for the head fixing part 61 , the reference position of which is set as the chair 62 , and the acquisition of data from the sensor device 62 is regarded as the extent of the change in position relative to the chair (reference position) 42 in the target projection position (head) PA. Therefore, the setting of the sensor device 62 for detecting the extent of the change in position of the target projection position (head) PA is completed by holding and fixing only the head PA of the person P by the head fixing part 41 .

By detecting the extent of the change in position of the Target projection position in the above way can be a three-dimensional change of the target projection position be captured to thereby create a multi-dimensional Blurring compensation process based on this data, in the Compared to the known technique.

Furthermore, in this x-ray image blurring compensation device 6 , when the person P is moved by the person moving device 5 , the sensor device 62 for the person holding device 4 is present, which is adjusted while the person P is being held. Accordingly, the sensor device 62 is also adjusted together with the person P, so that the relative motion blur of the person P with respect to the person holding device 4 is always detected. Even if the person P is moving, the motion blur can be detected in the target projection position PA without being influenced by the movement of the person P.

Fig. 2a is a schematic view showing a sensor device according to the invention, Fig. 2b is a schematic view showing the relationship of the output signal of the sensor device to the amount of the position change in the target projection position, and Fig. 2c is a graph which shows the relationship of Fig. 2b. Elements already explained have the same reference numerals and their explanation is omitted.

A common method for a detection measure to detect the extent of the change in position of the person to be measured by the person himself being fixed is to provide an acceleration sensor, the detection data being subjected to two integrations. In the case of the person holding device 4 , the sensor device for the head fixing part 41 is provided, which is a structural support towards the chair 42 , which is a reference position, which is why the extent of the change in position of the head fixing part 41 against the chair 42 by detecting the inclination of the structural support can be calculated. An angle sensor and an angular velocity sensor are also used.

The case is explained below that the sensor device 62 consists of an acceleration sensor.

The sensor device 62 consists of two acceleration sensors 62 A and 62 B. They are provided for the upper side walls of the column 41 a of the head fixing part 41 , wherein they are attached at right angles to one another in order to detect the acceleration in two directions.

The acceleration detected by each sensor device 62 A and 62 B is subjected to a time integration. Since the sensor devices 62 A and 62 B are provided for the head fixing part 41 , when the person holding device 4 is moved, the influence of movement is measured together. Therefore, it is necessary to mount an acceleration sensor on the chair 42 to obtain the acceleration of the Kopffixierteils 41 against the seat 42 by determining the difference between the output signals.

Otherwise, instead of attaching an acceleration sensor for the chair 42 , the acceleration caused by the movement can be obtained by calculation to obtain the acceleration of the head fixing part 41 with respect to the chair 42 because the person holding device 4 moves following the person moving device 5 .

When the acceleration is subjected to temporal integration, the amount of change in the position of the head fixing part 41 with respect to the chair 42 can be calculated, however, the integration must be carried out neglecting a DC component, since the motion blur at the target projection position PA of the object, namely vibration, is to be removed ,

However, with such an integration method Operation is not easy, so the inventors of the present invention a method by a dynamic operation propose as a simple procedure.

According to the dynamic operation method, the acceleration detected by each sensor device 62 A and 62 B is regarded as an external force acting on the set position and the force is indicated by the reference number F as shown in FIG. 2b. The extent Δ of the change in position of the setting position is regarded as the deflection Δ when the external force F acts on a free carrier consisting of the chair 42 and the column 41 a.

When the length h to the point of application of the external force F on the column 41 a applies to the free carrier, the deflection (amount of position change) Δ is obtained by the following formula:

= F * h * h * h (3 * E * I) deflection formula

"*" Means multiplication, "/" means division, E denotes the longitudinal modulus of elasticity, I denotes the geometric moment of inertia of the holding column 41 a. E and I are also referred to as the form factor, and they are clearly determined by the starting material and the cross-sectional shape of the column 41 a.

As can be seen from the formula, if the acceleration detected by the sensor devices 62 a and 62 b; that is, the external force F is found, the amount Δ of the position change can be obtained by simple multiplication and division. In this description, only one of the sensor devices 62 A and 62 B, which are positioned orthogonally, is considered.

The acceleration sensor of the x-ray image blurring compensation device 6 is present in two directions, preferably in directions perpendicular to one another, specifically or substantially orthogonally in the horizontal direction or in two orthogonal directions corresponding to a direction of movement of a plane of motion during a radiography process, while the person P and the imaging system are involved of the x-ray image generating device 2 and the x-ray generator 1 can be adjusted relatively in order to thereby implement a two-dimensional blur compensation process.

The reason for the two-way limitation in Attaching the acceleration sensor is that in the In the case of a conventional imaging device, e.g. B. one X-ray panoramic radiography device, the motion blur in a direction orthogonal to a relative adjustment plane is tiny during radiography, so no compensation is required. The acceleration sensors can, if required to be attached in three directions. If the Accelerometer of the three-axis type only one sensor is attached. The number of sensors can also apply in the event that a Angular velocity sensor and an angle sensor can be used as described below.

When the sensor device 62 is an angular velocity sensor, each angular velocity sensor is 62 A and 62 B, the angular velocity of the inclination angle Θ of the Kopffixierteils 41 (target projection position PA) from the chair 42, a reference position on. The angle of inclination Θ is obtained by subjecting the obtained angular velocity data to temporal integration. In this case, as in the case of the acceleration data, the DC component is not taken into account. Gyroscopic sensors of mechanical type, optical type, hydraulic type, vibration type, etc. with a micro-gyroscope sensor can be used as the angular velocity sensor.

When the sensor device 62 is an angle sensor, each angle sensor detects 62 A and 62 B directly the inclination angle Θ of the Kopffixierteils 41 (target projection position PA) from the chair 42, a reference position. In the case of an angle sensor, the DC component is also obtained, which is why compensation including the same is accomplished. A connected angle sensor or a tape-type one can be used.

In the case of both the angular velocity sensor and the angle sensor, the holding column 41 a in this embodiment, the construction for defining the target projection position, is understood as a support structure, and the extent Δ of the change in position of the target projection position is determined by means of the inclination angle Θ of the column 41 a (head fixing part 41 ) received opposite the chair 42 . The relationship is shown in Fig. 2b, according to which the extent Δ the change in position as a function of the inclination angle Θ and the length h of the support column 41 a is obtained.

The function is shown in the form of the graph in FIG. 2c.

If an angular velocity sensor and an angular sensor are used as the sensor device 62 , the operation can be carried out easily.

Instead of an acceleration sensor, one An angular velocity sensor and an angle sensor can be a Strain gauge or a semiconductor strain gauge for measuring stresses caused by stress are present, to the external force F from the measured voltage calculate and the extent of the position change of the Target projection position from the above-mentioned deflection formula receive.

Fig. 3 is an explanatory view of the relationship between the thus obtained degree of position change for the target projection position, the motion blur in a flat direction in the imaging plane and the deviation of the zoom rate due to the motion blur of the person.

21 shows an image generation plane of the x-ray image generation device 2 , ○ shows the center of the target projection position PA (head of the person P) without motion blur, ○ 'shows the center of the target projection position PA' in the event that motion blur is caused, xy shows a Coordinate system, where x and y denote orthogonal directions in which the sensor devices 62 A and 628 , as shown in FIG. 2, are respectively present when the center ○ corresponds to the origin, Δx and Δy are dimensions of the position change in the direction x and the direction y as obtained by the detection information of the sensor devices 62 A and 628 , respectively, and e shows the extent of the position change in combination with Δx and Δy.

The reference symbol c in the figure also shows the interface of the image plane 2 I and a vertical line (X-ray beam) which, starting from the X-ray generator 1 , extends through the center ○ of the target projection position PA, without motion blur, into the image plane 2 I, and the number " Ce "is the interface of the image plane 2 I and a straight line (X-ray beam), which extends from the X-ray generator 1 through the center ○ 'of the target projection position PA', if motion blur is caused, into the image plane 2 I.

The reference symbol "FOD" shows the distance from the X-ray generator 1 to the center ○ without motion blur, "FID" shows the distance from the X-ray generator 1 to the image plane I, "E" shows the image motion blur in an image plane direction in the image plane 2 I, "u" is a unit vector in a direction away from the X-ray generator 1 and in a direction perpendicular to the image plane 2 I when the interface C corresponds to an origin, and "v" is a unit vector perpendicular to the unit vector u in a direction in the interface Ce.

As can be seen from the figure, the Image motion blur E and the zoom rate Mfe for the image like influenced by the extent e of the change in position (by the secondary motion blur in one direction perpendicular to the image motion blur E)), from the extent e the position change of the target projection position PA be preserved.

Accordingly, the zoom rate MF for the center ○ of the target projection position PA without motion blur is represented by the following formula:

MF = FID / FOD

On the other hand, the zoom rate MFe taking into account the motion blur of the person, ie the zoom rate MFe taking into account the extent e of the change in position, is represented by the following formula:

MFe = FID / (FOD + e * u)

Furthermore, the image motion blur E is represented by the following formula:

E = MFe * e * v

In the case of X-ray CT, a rear projection thereby is executed that the images obtained are continuous be used, and also in the case of one X-ray panoramic radiography, in which a curved sectional image is generated that the images obtained are assembled the influence of a blurring of the zoom rate would be large , which is why the zoom rate MFe and the Image motion blur E should be taken into account. Otherwise, in a simpler way, only that Image motion blur E are taken into account.

It should be noted that the blurring of the zoom rate is one Deviation between the zoom rate MF without motion blur and the zoom rate MFe with motion blur means.

FIG. 4 is a flowchart illustrating the blur compensation procedure according to the invention. The blurring compensation procedure for the case of X-ray CT is explained below with reference to this flowchart.

While the rotating arm is rotated through 360 °, the X-ray beam 1 a is radiated from the X-ray generator 1 onto the target projection position PA of the person P in order to obtain a number of two-dimensional images (n layers) of the target projection position PA. In this case, the amount Δ of the position change in each direction is calculated on the basis of the detection information from the two sensor devices 62 A and 62 B as provided for the head fixing part 41 for each projection, as explained with reference to FIG. 2 was (S1).

Next, the composite dimension e is the Change in position from the amount Δ of the change in position in calculated each direction corresponding to each image (S2).

The image movement blur E in the image plane 2 I of the X-ray image generating device 2 and the zoom rate MFe after the blur compensation process for each image are calculated from the extent e of the position change obtained in this way, as was explained with reference to FIG. 3 (S3) ,

The obtained two-dimensional image is shifted by the image motion blur E in the direction of a unit vector u in the image plane 2 I to carry out the blurring compensation process with respect to the zoom rate MFe, and based on the X-ray image after the blurring compensation process, a back projection is carried out to Reconstruct the CT image (S4).

In the case of another X-ray radiography, such as X-ray Panoramic radiography, they are Blur compensation procedures are the same.

Fig. 5 shows the basic principle of the blur compensation operation.

The Fig. 5 is an example of a CT radiography. In the CT case, radiography is carried out while rotating the X-ray generator and the X-ray image generating device with the center of rotation fixed to the target projection position, so that the X-ray image is obtained by gradually changing the angle sequentially and regularly for the target projection position.

FIG. 5Aa is an example of the picture frame before executing the compensation process, and FIG. 5Ab is an example of the picture frame after executing the compensation process.

More specifically, Fig. 5Aa shows a frame image before compensation, which is moved back against the direction of the X-rays before and. This is the irregular movement mentioned above. After performing the blur compensation, the tooth Tx regularly moves in a fixed direction (from right to left in the figure), evenly following the radiation direction.

The x-ray images obtained are arranged in a series of frames, F # 1, F # 2,. , ., F # n generated. The changes in position e1, e2,. , ., en are calculated on the basis of the detection signal of the sensor device 62 , as in the projection of each image frame F # 1, F # 2,. , , F # n recorded. Furthermore, the image motion blur E ( 1 ), E ( 2 ),. , ., E (i),. , . which correspond to the degree of blurring for the corresponding image and the zoom rate MFe ( 1 ), MFe ( 2 ),. , ., MFe (i),. , ., MFe (n) on the basis of the calculated position changes e1, e2,. , ., en calculated. Here, within the picture frames F # 1, F # 2,. , ., F # n a special tooth Tx noted before the compensation, as shown in point a) in the figure.

The picture frames F # 1, F # 2,. , ., F # n are pictures without Motion blur, as shown in point e) in the figure is, with the tooth Tx in the compensated picture frame regularly from right to left with constant Amount of change moves, as shown in point e). In contrast, it can be seen that the tooth Tx before the compensation, as shown in point a) in the figure, a Executes movement with irregular change extent. This irregular motion change is a blurred motion.

The calculation result for the motion blur E ( 1 ), E ( 2 ),. , ., E (i),. , ., E (n) and the zoom rate MFe ( 1 ), MFe ( 2 ),. , ., MFe (i),. , ., are compared with the previously created threshold to determine the presence of motion blur.

Then the picture frames. , ., F # i ',. , ., for which the Motion blur of the object image found in the determination step and after removing the picture frame becomes a predetermined blur compensation process executed.

That is, the frame F # i 'is returned in that that the target projection position PA does not match the Reference position matches based on the calculated one Change of position e1. The object image is also varied in this way (zoomed in and out) that the calculated zoom rate matches the predetermined one.

According to the above procedure, after the the Image frames F # i 'causing motion blur are compensated the compensated picture frame F # i in the projected Series of picture frames F # 1, F # 2,. , ., F # n present, so that they are rearranged and in the chronological order of the projection can be saved to the following image processing prepare.

As stated above, if the sensor is designed that it detects in the X, Y, or Z direction, the Angular velocity sensor based on the extent of the Change of position in three directions in a similar way is executed, and blur compensation is performed by zooming according to the zoom rate, if necessary. The motion blur in the Z direction is general only slightly, and it generally works with the Motion blur in the X and Y directions is not together but occurs more randomly. Therefore, the extent of Position change in the Z direction separated from that in the X- and the Y direction, and it’s enough if one Compensation for the Z direction based on the detected Extent of the change in position or following that Zoom rate, if necessary.

FIG. 6 shows the overall structure of an embodiment of a medical x-ray device using the x-ray image blur compensation device according to the invention.

The medical x-ray device 20 is a local x-ray CT device with a panoramic radiography function. The device 20 has a rotating arm 3 , on which an X-ray generator 1 and an X-ray image generation device 2 hang facing each other, as well as a person holding device 4 , a person movement device 5 , a motion blur operating unit 61 and a sensor device 62 , both of which have an X-ray image blur compensation device 6 form, an image processing device 9 for overall control of the device, a main frame 10 and an operating console 11 with a display device 11 b for showing operating instructions in a simple manner for operating the device 20 , and an operating console 10 e for performing a radiography process following the display on the Display device 11 b.

The x-ray generator 1 has an x-ray control 1 b, which controls the energy of the generated x-ray beam in order to emit the x-ray beam 1 a with the desired beam width.

The X-ray image generating device 2 receives and detects the X-ray radiation radiated from the X-ray generator 1 , which has been transmitted through the person, and outputs the X-ray transmission image data as electrical analog or digital data if it itself has an A / D converter. A two-dimensional X-ray image sensor can be used, such as a cadmium telluride (CdTe) detector and a MOS sensor, a CCD image sensor, which is a combination of a scintillator, a glass fiber and a CCD, an XII and an XICCD. In this case, the XII can be used to output analog data.

In XII the X-rays run into one Scintillator layer on the surface and they are visible Light converted that is converted to electrons by a photoelectric converter electrically amplified and the electrons are then replaced by a fluorescent material converted into visible light to pass through a two-dimensional CCD camera (Solid-state imaging device) to be imaged by a lens.

If a two-dimensional image sensor is used that completely captures the person's head, X-ray radiography in the CT case can be carried out regardless of the local area. However, when performing X-ray CT with a view to minimizing the X-ray exposure, it is necessary to irradiate X-ray radiation only on an area of interest for the projection. In this case, the x-ray radiation area is minimized by the x-ray control 1 b, which determines the shape of the x-ray beam emitted by the x-ray generator 1 .

The rotary arm 3 is designed to be that the X-ray rotary center 3a does not move in the directions K, Y and Z, that is, not horizontal and not vertical, and there is only a rotation motor 31 provided to the rotary arm 3 with constant or variable Speed to rotate the X-ray rotation center 3 a.

The X-ray rotation center 3 a of the rotating arm 3 , that is, the axis of rotation, is present vertically, and the rotating arm 3 rotates horizontally to locally irradiate the conical X-ray beam 1 a horizontally, which makes it possible to construct a vertical device with a small footprint.

The rotary motor 31 forms a rotary drive device of the rotary arm 3 . Any motor can be used which can control the rotational speed and the rotational position of the rotary arm 3 , e.g. B. a servo motor and a stepper motor. The motor is connected directly with an axis to the X-ray rotation center 3 a of the rotating arm 3 .

Accordingly, the rotary arm 3 is rotated around the rotation center 3a, and the rotation position along the time axis is known, it is convenient to remove the X-ray transmission image by the X-ray image forming apparatus 2, and perform effective X-ray CT without operation stop.

For the center of rotation 3 a of the rotary arm 3 , a hollow part 3 b is present. It is necessary to form a hollow part for all elements at the rotation center 3 a in order to have such a hollow part 3 b. For this purpose, a servo motor with a hollow axis can be used as the rotation control motor 31 .

The hollow part 3 b is provided in order to attach connecting lines between the x-ray generator 1 and the x-ray image generating device 2 , which hang on the rotating arm 3 , the control console 11 of the main frame 10 and the image processing device 9 :

The procedure for attaching the line becomes a problem when electrical wiring needs to be provided for rotating elements. If the connecting line is arranged in the manner mentioned through the center of rotation 3 a of the rotary arm 3 , influences caused by twisting, such as twisting, can be minimized, and an advantageous effect, such as a good appearance, can be achieved.

The person P sits on the chair 42 so that his head is fixed on the head fixing part 41 , and a calibration is carried out in such a way that the projection reference point for the person P and the projection reference point for the X-ray radiography match, which is done by means of the person movement device 5 . In the case of x-ray radiography in a curved plane, the person is moved along a predetermined path during the rotating radiation of x-ray radiation. In the CT case, the center of rotation of the rotary arm 3 is true a 3 match the interest for the projection area within the person P.

The area of interest for the projection relates to an area within the target projection position PA of the person P, and the X-ray 1 a is irradiated onto the area which is the target to be subjected to the X-ray CT.

In the aforementioned person holding device 4 , the patient sits on the chair 42 in such a way that his head is fixed by the head fixing part 41 in order to carry out a radiography of the head as a target projection position, in order to thereby carry out an advantageous use as a vertical radiography device.

In the case of a horizontal device, the Personal holding device such a bed type for horizontal storage one patient lying on a bed and the bed is in the X, Y and Z directions. Furthermore, in the case the horizontal direction of a horizontal device Rotation axis of the rotating X-rays horizontally, deviating from vertically with a vertical device.

The image processing device 9 has an operation processing device 9 a, the d with an operational processor, which is operable for image process analysis at high speed, a motion blur operating means 61 as a function of the operation processing device 9 a, an A / D converter 9 c, a frame memory 9 and an operating memory 9 e is constructed.

The display selection section 12 is e.g. B. from a PC for displaying a curved X-ray sectional image or a sectional image obtained by X-ray CT after the blur compensation process by the image processing device 9 .

The display selection section 12 also has a communication function for transferring accumulated data via a public telephone line, etc., more specifically, a curved X-ray sectional image obtained by the X-ray CT 20 or a sectional image obtained by the X-ray CT 20 to another device, and for required data and images received by another device. Further, the display selector 12 is provided with an external recording medium reproducing means for recording and storing the above-mentioned data and X-ray sectional images for a curved surface or a flat surface on a floppy disk, MO, DVD, CDR, CDRW, etc.

The image processing device 9 is constructed in the above-mentioned manner, and it is connected to the X-ray generator 1 , the X-ray image forming device 2 , the motors 31 , 51 , 52 , 53 , 54 , the control panel 12 and the display selector 12 to use these devices process the supplied data and carry out the blur compensation process in order to achieve control.

More specifically, the image data received from the X-ray image generating device 2 is subjected to a blur compensation process by the motion blur operation means 61 by means of the information detected by the sensor 62 to be converted into digital signals by the A / D converter 9 c, and the digitized Image data are stored in the frame memory 9 d.

A number of image data in the frame memory 9 d is stored in the operation memory 9 e, and a predetermined operation is carried out according to a projection mode such as X-ray tomography in a curved surface, X-ray tomography in a flat surface and X-ray CT. The slice images are then generated or a three-dimensional X-ray absorption coefficient is calculated for the region of interest in the projection. A plurality of images are reconstructed from the three-dimensional X-ray absorption coefficient thus obtained in order to be displayed on the display selection device 12 , or they are stored in an external storage device (not shown).

The image processing device 9 controls the x-ray control 1 b, the motors 31 , 51 , 52 , 53 , 54 by means of the operation processing device 9 a in such a way that the cone-shaped x-ray beam from the x-ray generator 1 , the rotation of the rotating arm 3 and the movement of the person movement device 5 accordingly Rotation are controlled.

The x-ray control 1 b carries out such a control that the shape of the x-ray beam radiated from the x-ray generator 1 to the x-ray image generating device 2 varies. For example, in the case of X-ray tomography, the beam is long for a curved surface and in the CT case it is rectangular.

When the light receiving area of the X-ray image generating device 2 is small, radiography is repeated by changing the height of the person holding device 4 by the Z-axis motor 53 to add the obtained data.

FIG. 7 is a control diagram regarding the angular velocity sensor process for a medical X-ray device according to the invention.

FIG. 7 extracts parts relating to the control of the rotating X-ray radiation, the movement of the person and the blurring compensation process for the object image from FIG. 6, which shows the overall structure to show details.

The arm motor 31 , the X-axis motor 51 , the Y-axis motor 52 , the Z-axis motor 53 and the armrest motor 54 are via an arm rotation control 31 f, an X-axis drive control 51 f, a Y- Axis drive control 52 f, a Z-axis drive control 53 f and an armrest drive control 54 f connected to the operation processing device 9 a.

An arm origin detection sensor 31 g, an X-axis arm origin detection sensor 51 g, a Y-axis arm origin detection sensor 52 g, a Z-axis arm origin detection sensor 53 g and an armrest height detection sensor 54 g are for the driven one Side such as the rotary arm 3 , etc., which are driven by these motors 31 , 52 , 53 , 54 , and their output signals are supplied to the operation processing device 9 a.

The motion blur operating device 61 , which forms an X-ray image blur compensation device, and the sensor devices 62 A and 62 B are connected to the operation processing device 9 a in order to carry out the blur compensation process in association with the irradiation data and the movement data, as indicated above.

The operation processing device 9 a is connected to a memory 9 f for recording and storing the device control data and a program, an irradiation switch 10 f, which is a start switch for X-ray irradiation, and a remote control device 10 g to carry out necessary operations by remote control.

According to the above construction, the operation processing means 9 executes a is the X-ray rotary control of the motion control for the person and the motion-blur control for the object image.

FIG. 8 shows an external view of a medical X-ray device according to the invention, FIG. 8a is the associated front view and FIG. 8b is the associated side view.

In this medical x-ray device 20 , the x-ray generator 1 , the x-ray image generating device 2 , the rotating arm 3 , the person holding device 4 , the person movement device 5 , the sensor device 62 , the x-ray image blur compensation device 6 , and the control console 11 a with the display 11 b are for the main arm 10 is present as indicated above.

The display 11 b is present on a surface of a vertical support 10 c, which belongs to the main frame 10 , and it is present on the control panel 11 a, which is attached where it can be easily used by the operator while it is standing ,

The display 11 b shows a dental dentition model and an operator guidance display.

For the operating console 11 a there is a movement switch (not shown) for adjusting the chair from one side to the other, from the back to the front or from the top to the bottom by means of the person movement device 5 . The person movement device 5 is also used to bring the reference position for X-ray radiography and the projection position of the person into agreement by means of the switch.

The main frame 10 consists of a rotating arm 3 rotatably holding arm 10 a, a cross member 10 b, which holds the foundation of the arm 10 a, a pair of vertical beams 10 c for holding the cross arm 10 b and a base 10 d, on which the Pair of vertical beams 100 is attached and which is the foundation of the entire device 20 .

A steel material of high strength is used for the elements of the main frame 10 , and bands and angle reinforcing elements are used in a suitable manner to counteract deformation so that the center of rotation 3 a of the rotating arm 3 does not vary during rotation.

The main frame 10 is constructed in such a way that there is no rotary deflection of the rotary arm 3 , so that it can be used in an X-ray CT device that does not require a rotary deflection.

In this figure, the X-axis motor 51 , the Y-axis motor 52 , the Z-axis motor 53 and the armrest motor 54 , which constitute the person moving device 5 for moving the person holding device 4 for holding a patient, are as shown below explained with reference to FIG. 1 has been schematically illustrated by solid arrows with the same reference numbers.

As stated above, in this medical X-ray device 20 , although the image generation system with the X-ray generator 1 and the X-ray image generation device 2 rotates around the person, the X-ray rotation center 3 a itself is well fixed in order not to move. On the other hand, tomography in a curved surface (including a dental X-ray panoramic radiography) is possible by adjusting the person holding device 4 that holds the person P by means of the person moving device 5 .

In the medical x-ray device 20 , x-ray radiography is possible in that the person is moved, in contrast to the prior art, in which the imaging system does not move. In this case, object image motion blur is strongly induced, so that the effect of the device according to the invention with an unsharpness compensation device for X-ray images is advantageously shown.

The medical x-ray device 20 also uses a two-dimensional semiconductor x-ray image sensor which can sequentially store and reconstruct the x-ray images received continuously. By combining the movement of the person and the rotatable imaging system, the device 20 can , in principle, perform any X-ray tomography, including an incision tomography, on a flat surface. In this case, the effect of the device according to the invention can be effectively achieved with a blurring compensation device for X-ray images.

Fig. 9 shows the overall structure of another embodiment of a medical X-ray apparatus according to the invention.

In contrast to the X-ray device 20 in FIG. 6, the medical X-ray device 20 A does not have a person movement device 5 . These devices differ in that the person holding device 4 of the device 20 A only has a motor 55 for adjusting the head fixing part 41 upwards and downwards relative to the chair 42 . They also differ in that the device 20 A has a rotation center adjustment device 7 with an XYZ table 74 , which has the rotating arm 3 , an X-axis motor 71 , a Y-axis motor 72 and a Z axis -Motor 73 for adjusting the XYZ table 74 in the X, Y and Z directions.

The construction of the X-axis motor 71 , the Y-axis motor 72 and the Z-axis motor 73 of the rotation center adjuster 7 is the same as that of the X-axis motor 51 , the Y-axis motor 52 and of the Z-axis motor 53 of the person moving device 5 . The XYZ table 74 is constructed in such a way that three pairs of engaging and receiving rails 51 c and 51 d, 52 c and 52 d, 53 c and 53 d are combined in such a way that the rotating arm 3 held in the directions X, Y and Z slides.

The image forming device 20 A is provided with the above-mentioned rotation center adjusting device 7 in order to carry out tomography in a curved surface by adjusting the X-ray rotation center 3 a of the rotary arm 3 during a rotational irradiation.

Compared to the image forming apparatus 20, in which the person is moved, and X-ray tomography X-ray CT can be performed as in the apparatus 20 while the center of rotation X 3 a X-ray irradiation is adjusted.

According to such a device 20 A, there is hardly any object image motion blur because the person is not moving. However, irradiation is required within a fixed time, so that the object image motion blur cannot be prevented because the object is human. Therefore, compensation of the object image motion blur is required, and it can show its function effectively.

EFFECT OF THE INVENTION

The effect of the invention will now be explained.

An embodiment of an inventive Blur compensation device for X-ray images has a Sensor device for detecting a Object image motion blur around the target projection position at the Personnel holding device, thereby making a change in position the target projection position with respect to the reference position the passenger holding device. In other words, is the sensor device around the target projection position at the Personal restraint available around, not for that Person, so the sensor device is not for every person needs to be replaced, which saves work leads.

In addition, a three-dimensional change in the Target projection position can be recorded by such way the position change in the Target projection position is captured, which enables one multi-dimensional blur compensation process using the Data compared to the state of the art.

Furthermore, the sensor device for the Person holding device for holding and moving the person present, if the person is moved, which is why the sensor device is moved together with the person and it can always be the relative motion blur of the person compared to the Passenger holding device can be detected. Accordingly, yourself then when the person is moved, the motion blur regarding the target projection position can be detected without that this is affected by the overall movement of the person becomes.

Because the sensor device for the person holding device no other preparation is required as a positioning of the person in the Projection start position to thereby burden an operator reduce. In addition, a detection device does not have to a different position than the person holding device be attached so that the system can be made compact can.

If an acceleration sensor as a sensor device, a Angular velocity sensor or an angle sensor used which is a two- or three-dimensional detection can run a more accurate and compact Construction can be achieved.

In these cases, the sensor device preferably guides a two- or three-dimensional detection in relation to each other orthogonal directions. It can be a sensor device be present, which is a two or three dimensional Can perform capture, or multiple Sensor devices are present, the two or one can perform three-dimensional acquisition.

According to another embodiment of the invention Blur compensation device are the projected X-rays developed into a series of picture frames, being the detection signal of the sensor device every frame is assigned, and for each frame there will be one Image blur and the zoom rate processed so that x-ray radiography and separately perform a blur compensation process can be, so applicability for the next Process exists.

In another embodiment of an inventive X-ray image blur compensation device is called Sensor device uses an acceleration sensor to the To record acceleration in the target projection position, and acceleration is regarded as an external force that on the target projection position, without integration, and the construction defining the target projection position as Carrier structure acts so that the on the Beam construction caused by the external force deflection as a change in position at the target projection position is determined. Therefore, the deflection of the Beam construction, d. H. the change of position on the Target projection position, easily through a calculation formula for the Beam deflection is calculated without a difficult integration would have to be carried out.

Furthermore, two acceleration sensors are used in two used different directions so that the two-dimensional motion blur is captured accurately without difficult image processing to capture the Motion blur would run. In addition, the sensors are in the Generally very small on a fingertip can be attached, which enables a more compact device.

If different from a two-dimensional one Motion blur captured a three-dimensional motion blur only one sensor needs to be added. Therefore the device can be more compact than a construction with several TV cameras are built. Similarly, you can an angular velocity sensor and an angle sensor be attached.

As indicated above, there is only one sensor if the Accelerometer is of the three-axis type, which means that Reduction is achieved.

In this x-ray image blur compensation device the acceleration sensor in two directions, more preferably in two directions orthogonal to each other, specifically in two Directions orthogonal to the horizontal direction, or in two directions orthogonal to an adjustment plane during Radiography while one person and one Imaging system consisting of an x-ray image generating device and one X-ray generator can be adjusted relative to each other present what a two-dimensional Blur compensation process enabled.

The acceleration sensor is in three if necessary Directions available.

The other embodiment of an inventive X-ray image blurring compensation device is in this regard the same as the above embodiment, in which the Construction defining target projection position as Support structure can be seen. However, this exists Embodiment the sensor device from a Angular velocity sensor. The angular velocity sensor detects the Angular velocity of the angle of inclination at the Target projection position to the angle of inclination at this Determine target projection position through integration. Furthermore, the Position change calculated at the target projection position, to thereby facilitate the arithmetic operation.

The other embodiment of an inventive X-ray image blurring compensation device is also the same as the above embodiment in that the construction forming the target projection position as Support structure can be seen. However, this exists Embodiment the sensor device from a Angle sensor. The angle sensor detects the angle of inclination in the Target projecting position. Then the position change in the target projection position to thereby calculate the to facilitate arithmetic operation.

According to the other embodiment of an inventive Blurring compensation device is because at least the two-dimensional position change on the Target projection position is calculated by the sensor device, the Position change reconstructed to be a blurred motion X-ray image in an imaging plane of the X-ray image generating device and in a direction perpendicular to To calculate the direction of the plane, d. H. the blur of the Zoom rate for an X-ray image to thereby Allow image blur compensation process. Therefore, a two-dimensional blur compensation process possible, which in State of the art was difficult.

According to the other embodiment of an inventive X-ray image blur compensation device is the Personnel holding device practically fixed where the Setting position of the sensor device on the head fixing part and the reference position is on the chair. The Sensor detects the change in position on the Blur compensation, which is a human head, opposite the chair, so this compensation device preferably for the projection of the head, the jaw, the Dental arch and teeth used for dental purposes becomes.

An embodiment of a medical according to the invention X-ray machine has the above X-ray blur compensation device so that it has the effects of Compensation device achieved.

According to the other embodiment of the invention medical x-ray machine is compared to the above mentioned device, also the person holding device available.

That is, the person is moved during the X-ray radiography (including a rotation) so that it often becomes a Object image motion blur is coming. Therefore, they show up Effects of the above X-ray image blur compensation device even more effective.

The other embodiment of an inventive medical x-ray machine is a dental device for Performing x-ray radiography on a human head. The Device has the X-ray image blurring compensation device according to X-ray CT and X-ray panoramic radiography, whereby the person is moved. The effect of that X-ray CT and X-ray panoramic radiography standardized can be achieved more effectively.

According to another embodiment of an inventive medical x-ray machine are the projected X-rays developed into a series of picture frames that Detection signal of the sensor device is every frame assigned, and an image blur and the Processed zoom rate so that x-ray radiography and a Blur compensation process to be performed separately can, so there is applicability for the next process.

Claims (11)

1. X-ray image blurring compensation device for a person to be examined, this device being used for a medical X-ray device, with an X-ray generator and an X-ray image generation device opposing it, the X-ray generator and the X-ray image generation device including the person held by a person holding device between them. in which
a sensor device for detecting a motion blur of the person near a target projection position on the person holding device is present and
for the x-ray image obtained by the x-ray image generating device, a blurring compensation process is carried out on the basis of a position change information calculated from a detection signal detected by the sensor device during an x-ray radiography process, this position change information being the extent of the position change with respect to the target projection position relative to a reference position, which was previously was specified on the person holding device. 2. X-ray image blurring compensation device according to claim 1, which carries out the following steps:
Determining the presence of motion blur in the subject's x-ray image with respect to a series of x-ray image frames, such as are produced when x-ray radiography is performed, based on the extent of the change in position and / or a deviation in the zoom rate, as from the detection signal detected by the sensor device calculated;
sequentially executing the blur compensation process for the x-ray image frame, in which the motion blur in the x-ray image of the person is found in the determining step, based on the extent of the change in position and / or the deviation of the zoom rate as obtained by the sensor device; and
Reordering and storing a series of X-ray image frames, including the X-ray image frame for which the motion blur was compensated for in the above manner, in the same chronological order as in X-ray radiography. 3. X-ray image blurring compensation device after Claim 1 or claim 2, wherein the sensor device two Has acceleration sensors in two different Show directions, these two acceleration sensors the accelerated speed at the Capture the target projection position and take the position change information calculated based on the acceleration data that dynamic processing as before provided, is executed. 4. X-ray image blurring compensation device after Claim 1 or 2, wherein the sensor device two Has angular velocity sensors in two different Directions exist, these two Angular velocity sensors the angular velocity of the Tilt angle of the target projection position with respect to the Detect reference position and where the position change information is calculated from the angular velocity data. 5. X-ray image blur compensation device after Claim 1 or 2, wherein the sensor device two Has angle sensors that are in two different directions are present and the the angle of inclination of the Measure the target projection position with respect to the reference position Position change information is calculated from the angle data becomes. 6. X-ray image blurring compensation device after one of claims 1 to 5, which the motion blur in an image plane of the X-ray image generating device and the Deviation of the zoom rate based on the calculated The extent of the change in position is calculated and the Blurring compensation process for that by the X-ray image generating device executes the image obtained. 7. X-ray image blurring compensation device after one of claims 1-6, wherein the Person holding device a chair for holding a person in a seated position Position as well as a head fixing part for fixing the human head in the upper part of the chair, being the sensor device is present on the head fixing part and the reference position on the chair is set. 8. A medical X-ray device for obtaining an X-ray image of a person to be examined, with an X-ray generator and an X-ray image generating device opposing it, the X-ray generator and the X-ray image generating device including a person held by a person holding device between them, this medical X-ray device including the X-ray image blur compensation device has at which
a sensor device for detecting a motion blur of the person near a target projection position on the person holding device is present and
for the x-ray image obtained by the x-ray image generating device, a blurring compensation process is carried out on the basis of position change information calculated from a detection signal detected by the sensor device during an x-ray radiography process, this position change information being the extent of the position change with respect to the target projection position relative to a reference position, which was previously was specified on the person holding device. 9. The medical X-ray apparatus of claim 8, further a person movement device for adjusting the Personal holding device depending on the purpose of the Has X-ray radiography. 10. A medical x-ray device for obtaining an x-ray image of a person to be examined, with an x-ray generator and an x-ray image generating device opposing it, the x-ray generator and the x-ray image generating device being rotatable around a center of rotation, and with a person movement device for adjusting the person holding device for holding the Person at least in a direction parallel to the plane of rotation of the rotation, wherein
this medical X-ray machine performs X-ray CT radiography and X-ray panoramic radiography; and
This medical x-ray device has an x-ray image blurring compensation device with a person holding device with a chair for holding a person in a seated position and a head fixing part for firmly holding the human head in the upper part of the chair, and furthermore a sensor device for detecting a motion blur of the person on the head fixing part and a reference position is set on the chair. 11. Medical X-ray device according to one of claims 8-10, in which the blur compensation device carries out the following steps:
Determining the presence of motion blur in the subject's x-ray image with respect to a series of x-ray image frames, such as are produced when x-ray radiography is performed, based on the extent of the change in position and / or a deviation in the zoom rate, as from the detection signal detected by the sensor device calculated;
sequentially performing the blur compensation process for the x-ray frame in which the motion blur in the x-ray image of the person is found in the determining step, based on the amount of change in position and / or the deviation of the zoom rate as obtained by the sensor device; and
Rearranging and storing a series of x-ray image frames, including the x-ray image frame for which the motion blur in the x-ray image of the person has been compensated for in the above manner, in the same chronological order as in x-ray radiography.