KR102118674B1 - Video guidance system for supporting localization of mobile c-arm fluoroscopy and method for locating the position of mobile c-arm fluoroscopy using the same - Google Patents

Abstract

In a video guide system for assisting positioning of mobile radiographic imaging equipment and a method for positioning mobile radiographic imaging equipment using the same, the video guide system for positioning the mobile radiographic imaging equipment includes a radiation generating unit that generates radiation, and the radiation. A camera mounted on a generator and photographing an external image, an image receiving unit processing image information of radiation generated by the radiation generating unit as a first image, and image processing an image captured by the camera as a second image, the image Located on one surface of the receiving unit, the size and position of the area of the second image is corrected based on a calibration grid and a calibration grid serving as a reference for registering the first and second images. It includes a correction unit for matching the region of the first image with the region.

Description

VIDEO GUIDANCE SYSTEM FOR SUPPORTING LOCALIZATION OF MOBILE C-ARM FLUOROSCOPY AND METHOD FOR LOCATING THE POSITION OF MOBILE C-ARM FLUOROSCOPY USING THE SAME}

The present invention relates to a video guide system and a method for setting a position using the same, and more specifically, when moving the mobile radiographic imaging device to photograph the affected area in the center of the image, the mobile radiographic imaging equipment (Mobile C) through the camera image The present invention relates to a video guide system for supporting the positioning of mobile radiographic equipment, which reduces the radiographic imaging time by supporting initial positioning of -arm Fluoroscopy), and a method for positioning the mobile radiographic imaging equipment using the same.

In general, medical or industrial X-ray imaging apparatuses that use a X-ray's transmissive properties to see and photograph a patient's body parts or objects are widely used.

1 is an exemplary view showing a rotating image diagnosis system according to the prior art.

As shown in FIG. 1, the X-ray generator 1 and the detector 2 rotate and show a rotating image diagnosis system that photographs an object and reconstructs it using the obtained data. By adjusting the height of the overall system, you can match the volume of interest and the ISO-center of the subject.

Aligning the center of the volume of interest of the patient or the subject to be imaged and the ISO-center, which is the center of the X-ray tube and detector, is essential for the accuracy of the diagnostic image.

However, in order to find the center of the target volume of interest, the distance between the X-ray tube and the center of the target volume of interest must be known. In other words, in such a rotational image diagnosis system, in order to optimally align the center of the system to the patient's imaging area, that is, the center of the volume of interest, the image of the imaging sensor is visually inspected by taking multiple images of the affected area or the object to be visually inspected. You have to adjust and control its moving parts.

This, too, is taken on unnecessary lesions and is taken multiple times, which increases the patient's exposure dose. In addition, not only is it inconvenient, but also the exposure dose of the operator is increased because it is determined by the naked eye when the machine operator controls the machine.

Republic of Korea Registered Patent No. 10-1616670 Republic of Korea Patent Publication No. 10-2015-0043757

Accordingly, the technical problem of the present invention was conceived in this regard, and the object of the present invention is to attach a small camera to a mobile radiographic equipment (Mobile C-arm Fluoroscopy) used for the procedure, and to project radiation when setting a location for imaging. The present invention relates to a video guide system for supporting positioning of a mobile radiographic imaging device that reduces the exposure of radiation that is not directly related to a procedure occurring during positioning by allowing the affected part to come to the center of the image through a camera image without a camera.

Another object of the present invention relates to a method for positioning a mobile radiographic imaging apparatus using a video guide system for assisting the positioning of the mobile radiographic imaging equipment.

The video guide system for supporting the positioning of the mobile radiographic imaging apparatus according to an embodiment for realizing the object of the present invention is a radiation generating unit for generating radiation, a camera mounted on the radiation generating unit and photographing an external image , An image receiving unit for processing the information of the radiation generated by the radiation generating unit as a first image, and processing the image captured by the camera as a second image, located on one surface of the image receiving unit, the first and Correct the size and position of the region of the second image based on the calibration grid and the calibration grid as a reference for registering the second images to match the region of the second image with the region of the first image It may include a correction unit.

In one embodiment, the camera is mounted to be detachable to the radiation generating portion, and the calibration grid can be positioned to be detachable to the image receiving portion.

In one embodiment, the camera may be attached to the side of the radiation generating portion.

In one embodiment, the calibration grid may be formed of a grid of polygonal rulers.

In one embodiment, the correction unit may move or rotate the coordinates of the area of the second image in space to match the coordinates of the area of the first image.

In a method of positioning a mobile radiographic imaging apparatus using a video guide system for supporting positioning of the mobile radiographic imaging apparatus according to an embodiment for realizing another object of the present invention described above, the radiation generating unit generates radiation. The camera mounted on the radiation generating unit photographs an external image. The image receiving unit processes the radiation information generated by the radiation generating unit as a first image, and processes the image captured by the camera as a second image. The first and second images are matched using a calibration grid. The position of the subject is adjusted using the captured image of the camera. The radiation generating unit irradiates the subject with radiation.

In an embodiment, in the step of matching the first and second images, the location and size of the region of the second image may be matched to the location and size of the region of the first image based on the calibration grid.

In one embodiment, in the step of matching the first and second images, expanding and reducing an area of the second image on a spatial coordinate to match an area of the second image with an area of the first image. It can contain.

In one embodiment, in the step of matching the first and second images, rotating the region of the second image on spatial coordinates to match the region of the second image with the region of the first image. Can be.

In an embodiment, before the radiation generating unit generates radiation, the method may further include mounting the camera on the radiation generating unit and placing the calibration grid on the image receiving unit.

In one embodiment, in the step of adjusting the position of the subject using the captured image of the camera, the step of taking the image of the subject using the camera and the subject is located in the center of the shooting area of the camera It may include the step of adjusting the position of the object to be.

According to embodiments of the present invention, after the radiation generating unit and the imaging area of the camera are matched with each other using a calibration grid, radiation is directly radiated onto the object by first taking a picture through a camera mounted on the radiation generating unit. It is possible to predict the imaging area of the radiation generating unit only by imaging the camera without performing using, so that the position can be accurately moved when the initial position of the radiation generating unit is set.

In addition, by accurately photographing the patient's affected area at once through the radiation generating unit whose position is accurately moved, unnecessary lesions are not taken, and exposure to unnecessary X-rays by the patient or operator is reduced, and the operator's position provides convenience in the operation of the diagnostic device. It has the effect.

In particular, the camera and the calibration grid can be attached and detached, and applied directly to a radiographic apparatus already used in the field, that is, the camera is mounted on the radiation generating unit, the calibration grid is fixed to the image receiving unit, and the imaging area is matched. Since the position of the radiation generating unit can be easily set through the operation, usability to the site can be improved.

1 is an exemplary view showing a rotating image diagnosis system according to the prior art.
FIG. 2 is a schematic diagram showing a video guide system for supporting positioning of a mobile radiographic imaging apparatus according to an embodiment of the present invention.
FIG. 3 is a schematic diagram illustrating a state in which a calibration grid is positioned on one surface of an image receiving unit in a video guide system for supporting positioning of the mobile radiographic imaging apparatus of FIG. 2.
FIG. 4 is a schematic diagram illustrating an imaging area of a radiation generating unit and an imaging area of a camera in a video system guide for assisting positioning of the mobile radiographic imaging device of FIG. 2.
FIG. 5 is a schematic diagram showing a region of a first image and a region of a second image processed by an image receiving unit according to the imaging region of the radiation generating unit of FIG. 4 and the imaging region of the camera.
FIG. 6 is a schematic diagram showing a state in which the regions of the first image and the regions of the second image are matched with each other by matching the first and second images of FIG. 5.
7 is a schematic diagram showing a state in which the imaging area of the radiation generating unit and the imaging area of the camera are matched according to areas coincident with each other of the first and second images of FIG. 6.
FIG. 8 is a flowchart illustrating a method of supporting positioning of a mobile radiographic imaging apparatus using a video guide system for supporting positioning of the mobile radiographic imaging apparatus of FIG. 2.
9 is a flowchart illustrating a step of adjusting a position of a subject using a photographed image of a camera in the method for assisting the position setting of the mobile radiographic imaging apparatus of FIG. 8.

The present invention can be applied to various changes and can have various forms, and the embodiments are described in detail in the text. However, this is not intended to limit the present invention to a specific disclosure form, and it should be understood as including all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals are used for similar components. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms.

The terms are used only for the purpose of distinguishing one component from other components. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, terms such as “comprises” or “consisting of” are intended to indicate the presence of features, numbers, steps, operations, components, parts or combinations thereof described in the specification, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, actions, components, parts or combinations thereof are not excluded in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms, such as those defined in a commonly used dictionary, should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. Does not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a schematic diagram showing a video guide system for supporting positioning of a mobile radiographic imaging apparatus according to an embodiment of the present invention, and FIG. 3 is a video guide system for supporting positioning of the mobile radiographic imaging equipment of FIG. 2. It is a schematic diagram showing a state in which a calibration grid is placed on one surface of an image receiving unit, and FIG. 4 shows a photographing area of a radiation generating unit and a photographing area of a camera in a video system guide for supporting the positioning of the mobile radiographic imaging equipment of FIG. 5 is a schematic diagram showing a region of a first image and a region of a second image processed by an image receiving unit according to a photographing region of a radiation generating unit of FIG. 4 and a photographing region of a camera, and FIG. 6 is a schematic diagram of FIG. It is a schematic diagram showing a state in which the regions of the first image and the regions of the second image are matched by matching the first and second images of FIG. 7, and FIG. 7 is a region in which the first and second images of FIG. 6 coincide with each other. Accordingly, it is a schematic diagram showing a state in which the imaging area of the radiation generating unit and the imaging area of the camera are matched.

Referring to FIG. 1, the video guide system 10 for supporting the position setting of the mobile radiographic imaging apparatus according to the present embodiment includes a radiation generating unit 100, a camera 200, an image receiving unit 300, and a calibration grid 400 ) And a correction unit (not shown).

The radiation generating unit 100 is a component that irradiates radiation toward the object 20, and the image receiving unit 300 is a component that represents radiation generated from the radiation generating unit 100 as an image.

Meanwhile, the video guide system 10 in the present embodiment includes only the camera 200, the calibration grid 400, and the correction unit, and the camera 200 includes the radiation generating unit 100. It is attached to one side so as to be detachable, and the calibration grid 400 is attached to be detachable to the image receiving unit 300, so that the correction unit is attached to the camera 200 and the calibration grid 400. It can be implemented to operate only when possible.

Thus, the video guide system 10 in the present embodiment can be selectively attached and detached to all types of radiographic equipment provided with a radiation generating unit and an image receiving unit, to support positioning of the corresponding radiographic imaging equipment.

Particularly, in this embodiment, the camera 200 may be attached to an arbitrary position on the side of the radiation generating unit 100, and will be described later, but the correction unit compensates for the imaging area at the attached position. Since it is possible to realize the matching of the image by performing, it can be selectively attached and detached to all types of radiographic imaging equipment.

Similarly, in this embodiment, the calibration grid 400 may also be attached on the surface of the image receiving side lens of the image receiving unit 300, and after implementing the matching of the image, it can be removed, so that all It can be selectively attached to and detached from a radiographic imaging device.

However, hereinafter, the radiation generating unit 100 and the image receiving unit 300 will be described as components of the video guide system 10.

When the radiation generating unit 100 directly irradiates the object (eg, a patient's body part, 20) and the image receiving unit 300 displays it as an image, the patient's body part is the center of the image. May not be optimally located.

In this case, conventionally, in order to optimally position the patient's body part in the center of the image, radiation is irradiated to the patient's body part and the position of the radiation generating unit 100 is controlled by visually observing the position of the body part through the image. The operation was repeatedly performed, and accordingly, radiation was irradiated to unnecessary body parts of the patient, thereby increasing the exposure dose of medical personnel such as patients and operators.

Therefore, in the present embodiment, first, the radiation generating unit 100 irradiates radiation toward the outside in a state in which the object 20 is not positioned outside.

When the radiation generating unit 100 generates radiation, as shown, the image receiving unit 300 is electrically connected to the radiation generating unit 100 through a separate connection unit 500, so that the radiation generating unit ( From 100), the generated radiation may be represented as a first image through image processing, and a more accurate irradiation position and dose distribution may be detected in real time through the first image.

At this time, the radiation generating unit 100 is equipped with the camera 200 so as to take an external image, and the image taken by the camera 200 is image-processed through the image receiving unit 300, and a second It is output as a video.

2, the camera 200 can be attached to the side surface of the radiation generating unit 100, and in this case, interference by the radiation generating unit 100 when photographing the camera 200 is possible. To minimize, the lens of the camera 200 and the lens of the radiation generating unit 100 may be arranged in line with each other.

In this case, as illustrated in FIG. 4, the imaging area of the radiation generating unit 100 and the imaging area of the camera 200 may be different, and accordingly, the regions of the images appearing on the image receiving unit 300 may also be different. have.

That is, the image receiving unit 300, as described above, represents the images processed through the radiation generating unit 100 and the image receiving unit 300 as images, and in this case, as shown in FIG. Likewise, the region C of the first image and the region D of the second image output through the image receiving unit 300 may be different.

In the present embodiment, when the region C of the first image and the region D of the second image are different, the calibration grid 400 to match the regions of the first and second images with each other To use.

The calibration grid 400 is located on one surface of the image receiving unit 300 as shown in FIGS. 2 and 3 to confirm the positions of the first and second images appearing on the image receiving unit 300 Can serve as a coordinate.

In addition, as described above, the calibration grid 400 may be selectively attached on the surface of the image receiving unit 300, although not shown, a separate frame for attaching the calibration grid 400 is the It is attached on the image receiving unit 300, and may be attached in a form in which a calibration grid in the form of a ruler is fixed inside the frame.

Meanwhile, since the calibration grid 400 is located on the image receiving unit 300, the entire area of the ruler displayed on the calibration grid 400 is formed to have a size smaller than the size of the image receiving unit 300. It is preferred.

In other words, as shown in FIG. 3, the calibration grid 400 may be formed as a grid pattern to be used as coordinates for confirming the positions of the first and second images. . That is, in the calibration grid 400, a pattern formed of a plurality of through holes 401 is arranged, and a plurality of regular polygonal patterns 402 are arranged in a grid, so that each vertex 403 of the plurality of regular polygonal patterns is It can be used as the coordinate point.

Furthermore, the calibration grid 400 may be formed in a square shape as shown (in this case, the plurality of regular polygonal patterns are formed in a square shape), and may be formed in various shapes such as a circle, a square, and a triangle.

In addition, the intervals of the rulers may be formed in various sizes, which may be formed in consideration of the precision of an image received from the image receiving unit 300 and the resolution of the camera 200.

Meanwhile, as illustrated in FIGS. 4 and 5, for example, the region A first photographed by the radiation generator 100 and the region B first photographed by the camera 200 appear differently, The area D of the second image may be much larger than the area C of the first image. In this case, since the region where the patient's affected area is actually photographed during surgery is the region C of the first image, the region D of the second image is matched to the region C of the first image. shall.

More specifically, in this embodiment, the size and position of the region C of the first image and the region D of the second image are compared through the correction unit (not shown), and according to the comparison result, The size and position of the area D of the second image are corrected to match the area C of the first image.

That is, the correction unit checks and compares the position and size of the regions C and D of the first and second images using the calibration grid 400 of the predetermined shape, and moves and enlarges according to the comparison result. And a distance to be reduced or an angle to be rotated, and controlled by adjusting the position and size of the area D of the second image according to the calculated distance and rotation angle.

As described above, if the size and position of the region D of the second image is adjusted to match the region C of the first image, as shown in FIG. 6, the region C of the first image is matched. The area D'of the modified second image is derived.

For example, coordinate information for an area first photographed by the radiation generator 100 and an area first photographed by the camera 200 is used. Coordinates for the first photographed area (first coordinate, FIG. 5) In (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4)) are set to the area to be matched, and the coordinates (second) of the area that the camera 200 first photographed Coordinates, the coordinates for the area to be aligned (X5, Y5), (X6, Y6), (X7, Y7), (X8, Y8) in FIG. 5 (the first coordinates, (X1, Y1), The travel distances to (X2, Y2), (X3, Y3), (X4, Y4)) are calculated.

Furthermore, although regions of each of the first and second images are not illustrated, they may have constant coordinates with respect to a three-dimensional coordinate system. That is, four first projection points located at four corners of the first image and four second projection points for four corners of the second image are selected on the three-dimensional coordinate system (spatial coordinates). When the first and second projection points are selected in this way, it is possible to measure the size and position of each of the first and second images based on the first and second projection points, and accordingly, the first and second projection points. It is possible to measure the horizontal and vertical distances between the second projection points.

Then, in order to match the second projection point with the first projection point, the region D of the second image on the three-dimensional coordinate system is X-axis, Y-axis, and Z with respect to the region C of the first image. The first and second axes are enlarged and reduced in each direction, or the area D of the second image is rotated based on the X axis, the Y axis, and the Z axis with respect to the area C of the first image. The second projection points can be matched.

Thus, as illustrated in FIG. 6, the region D of the second image is corrected to the region D′ of the modified second image, and coincides with the region C of the first image while the first and first regions 2 The images are registered, and as shown in FIG. 7, the imaging area A of the radiation generating unit 100 and the imaging area B′ of the camera 200 coincide with each other.

On the other hand, as described above, a correction value to correct the area D of the second image to match the area C of the first image, that is, enlargement and reduction in each of the X-axis, Y-axis, and Z-axis directions. Information about the rotation value based on the value, the X-axis, the Y-axis, and the Z-axis is stored in the correction unit as a calibration value.

Thus, the stored calibration value is assigned as a calibration value of the video guide system 10, and accordingly, the assigned calibration value is always assigned to an image captured by the camera 200 in the video guide system 10. Will apply.

Further, if a calibration value for the video guide system 10 is assigned as described above, the video guide system 10 omits imaging by the radiation generating unit 100 when the position is moved, and the camera 200 is used. Position control can be performed only with the image captured by.

Hereinafter, with reference to FIGS. 8 and 9, a method 50 for supporting location setting of a radiographic imaging apparatus using the video guide system 10 will be described. FIG. 8 is a flow chart showing a method of supporting location setting of a mobile radiographic imaging apparatus using a video guide system for supporting location setting of the mobile radiographic imaging apparatus of FIG. 2, and FIG. 9 supports location setting of the mobile radiographic imaging equipment of FIG. 8 It is a flow chart showing the step of adjusting the position of the subject using the captured image of the camera in the method. First, the camera 200 is mounted on one side of the radiation generating unit 100 (step S100), and the calibration grid 400 is placed on the surface of the image receiving side lens of the image receiving unit 300 ( Step S200).

Then, the image receiving unit 300, when the radiation generating unit 100 generates radiation (step S300), the generated radiation is represented as a first image through image processing, and the radiation generating unit 100 When the camera 200 mounted on the camera photographs an image (step S400), the image photographed by the camera 200 is displayed as a second image through image processing (step S500).

Thereafter, when the region of the first image and the region of the second image are matched using the calibration grid 400 to match the first and second images by the correction unit, the first and second images of the Matching is completed (step S600).

When the matching of the first and second images is completed as described above, the position of the subject (the patient's affected area, 20) is adjusted using the captured image of the camera 200 to perform the next operation (step S700). ).

That is, first, an image of the object is captured using the camera 200 (step S710). At this time, if the subject 20 is not positioned in the center of the second image, or if the subject 20 is out of the shooting area of the camera 200, the position is adjusted while moving the subject 20 Then, the operation of photographing the subject 20 is repeatedly performed several times so that the subject 20 is positioned at the center of the second image (step S720).

When it is confirmed that the subject 20 is located in the center of the second image, the radiation generating unit 100 is operated (step S800).

In this case, as described above, since the imaging area of the radiation generating unit 100 and the imaging area of the camera 200 coincide with each other, the radiation generating unit 100 appears by irradiating radiation to the object 20 In the first image, as in the second image, the subject 20 may be positioned at the center.

In this way, the radiation generating unit 100 irradiates radiation at a time to accurately photograph the object at a time so that the object is in the center of the image, so that unnecessary lesions are not photographed.

That is, the patient or the operator is exposed to unnecessary X-rays by automatically adjusting the photographing area of the radiation generating unit 100 before irradiating radiation using information of the second image photographed through the camera 200. It can reduce and provide convenience to the operation of the diagnostic device from the operator's point of view.

According to embodiments of the present invention, after the radiation generating unit and the imaging area of the camera are matched with each other using a calibration grid, radiation is directly radiated onto the object by first taking a picture through a camera mounted on the radiation generating unit. It is possible to predict the imaging area of the radiation generating unit only by imaging the camera without performing using, so that the position can be accurately moved when the initial position of the radiation generating unit is set.

In addition, by accurately photographing the patient's affected area at a time through the radiation generating unit whose position is accurately moved, unnecessary affected areas are not photographed, and exposure to unnecessary X-rays by the patient or operator is reduced, and the operator's position provides convenience in the operation of the diagnostic device. It has the effect.

In particular, the camera and the calibration grid can be attached and detached, and applied directly to a radiographic apparatus already used in the field, that is, the camera is mounted on the radiation generating unit, the calibration grid is fixed to the image receiving unit, and the imaging area is matched. Since the position of the radiation generating unit can be easily set through the operation, usability to the site can be improved.

Although described above with reference to the preferred embodiments of the present invention, those skilled in the art may variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that you can.

100: radiation generating unit 200: camera
300: image receiving unit 400: calibration grid
500: connection

Claims (11)

A radiation generating unit that generates radiation;
A camera mounted on the radiation generating unit and photographing an external image;
An image receiving unit which processes image information of the radiation generated by the radiation generating unit as a first image and processes an image captured by the camera as a second image;
A calibration grid attached to a surface of the image receiving side of the image receiving unit and serving as a reference for registering the first and second images; And
And a correction unit that matches an area of the second image with an area of the first image based on the calibration grid,
The object is located between the radioactive generator and the image receiver,
The calibration grid is a ruler is formed of a polygonal grid,
The correction unit corrects the position and size of the area of the second image on the grid to match the position and size of the area of the first image,
A video guide system using the camera to take an image of the subject and adjusting the position of the subject so that the subject is located in the center of the shooting area of the camera. According to claim 1,
The camera is mounted so as to be detachably attached to the radiation generating unit, and the calibration grid is positioned to be detachably attached to the image receiving unit, a video guide system. According to claim 2,
The camera is a video guide system, characterized in that attached to the side of the radiation generating portion. delete The method of claim 1, wherein the correction unit,
A video guide system comprising moving or rotating the coordinates of the area of the second image in space to match the coordinates of the area of the first image. A radiation generating unit generating radiation;
A camera mounted on the radiation generating unit photographs an external image;
An image receiving unit image-processing information of radiation generated by the radiation-generating unit as a first image, and image-processing the image captured by the camera as a second image;
Matching the first and second images using a calibration grid in which a ruler is formed of a polygonal grid pattern;
Placing an object between the radiation generating unit and the image receiving unit;
Photographing an object image using the captured image of the camera, and adjusting the position of the object so that the object is located in the center of the photographed area of the camera; And
The radiation generating unit includes the step of irradiating radiation to the subject,
In the step of matching the first and second images, the position and size of the region of the second image on the grid are corrected to match the location and size of the region of the first image. Method for positioning mobile radiographic imaging equipment. delete According to claim 6, In the step of matching the first and second images,
And enlarging and reducing the area of the second image on a spatial coordinate to match the area of the second image with the area of the first image. According to claim 6, In the step of matching the first and second images,
And rotating the region of the second image on a spatial coordinate to match the region of the second image with the region of the first image. According to claim 6, Before the radiation generating unit generates radiation,
Attaching the camera to the radiation generating unit; And
And positioning the calibration grid on the image receiving unit. delete

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