KR20140009915A - X-ray imaging apparatus, remote controller for the x-ray imaging apparatus and method for controlling the x-ray imaging apparatus - Google Patents

Abstract

The present invention relates to an x-ray imaging device, a remote control device for the x-ray imaging device, and a method for controlling the x-ray imaging device. The ray imaging device comprises a movable x-ray irradiation part which irradiates an object with x-rays; a movable x-ray detection part which detects the x-ray emitted from the x-ray irradiation part and converts the x-rays into an electric signal; an input part which receives at least target position information of the x-ray irradiation part and the x-ray detection part; and a control part which controls the movement of the x-ray irradiation part and the x-ray detection part according to the inputted target position information. [Reference numerals] (110) X-ray irradiation part; (120) X-ray detection part; (13) Control part

Description

X-ray imaging apparatus, remote controller for the X-ray imaging apparatus and method for controlling the X-ray imaging apparatus}

An X-ray imaging apparatus, a remote control apparatus for an X-ray imaging apparatus, and a method of controlling the X-ray imaging apparatus are disclosed.

The X-ray imaging apparatus radiates X-rays (X-rays, also called roentgen rays) to an object, such as a human body or a baggage, and detects tissues or structures inside the object, such as a human body, a baggage, or an object inside the object. An imaging system for acquiring an image of a human body is a device for allowing a user, for example, a doctor or a diagnostician, to visually identify tissues, structures, and objects inside an object.

The X-ray imaging apparatus utilizes a property of absorbing or penetrating according to characteristics of a material, for example, density, etc., in which X-rays arrive when X-rays are irradiated onto an object.

In detail, the operation principle of a general X-ray imaging apparatus may include: radiating X-rays to an object such as a human body, receiving X-rays passing through or passing through the object, converting the received X-rays into an electrical signal, and converting the converted electrical The X-ray image is generated by reading out the X-ray image from the signal. The generated X-ray image displays an internal tissue, a structure, or a material inside the object.

Therefore, such an X-ray imaging apparatus may be used to detect abnormalities such as lesions in the human body or to grasp the internal structure of an object or a part, and may also be used for scanning baggage at an airport or the like.

Examples of X-ray imaging apparatuses include digital radiography (DR), computed tomography (CT), and mammography (FFDM).

Technical problems include an X-ray imaging apparatus, a remote control apparatus, and an X-ray radiator capable of controlling movement of both an X-ray radiator (X-ray source) for irradiating X-rays to an object and an X-ray detector (detector) for receiving the irradiated X-rays; An X-ray imaging apparatus control method is provided.

Another object of the present invention is to allow both the X-ray radiator or the X-ray detector to transmit information about a position to be moved or a control command to move to a specific position.

In addition, another object of the present invention is to provide a means for remotely controlling the movement of both the X-ray radiator or the X-ray detector.

In addition, in X-ray imaging using an X-ray radiator and an X-ray detector of the X-ray imaging apparatus, it may also be an object to determine an optimal position for photographing an object.

It may also be another object to acquire an X-ray image in an accurate view by performing X-ray imaging at an optimal position.

The X-ray imaging apparatus may include: an X-ray irradiator which irradiates X-rays to an object, an input unit configured to detect X-rays irradiated from the X-ray radiator, and receive at least one object position information of the X-ray detector, the X-ray radiator, and the X-ray detector; According to the input target position information may include a control unit for controlling the movement of the X-ray radiator and the X-ray detector.

The input unit may separately receive object position information of the X-ray radiator and the X-ray detector, and the controller may control movement of the X-ray radiator and the X-ray detector according to the input target position information. have.

In addition, the controller may receive the target location information from the remote control device.

The X-ray imaging apparatus controlling method includes an input step of receiving at least one of object position information of the X-ray radiator and object position information of the X-ray detector, and a movement step of moving the X-ray radiator and the X-ray detector according to the object position information. can do.

In this case, the input step is a step of separately receiving the target position information of the X-ray irradiation unit and the X-ray detection unit, the moving step, the X-ray irradiation unit and the X-ray detection unit is moved according to the respective input target position information It may be a step.

According to the X-ray imaging apparatus, the remote control apparatus, and the X-ray imaging apparatus control method, it is possible to control the movement of both the X-ray radiator for irradiating X-rays to the object and the X-ray detector for receiving the irradiated X-rays.

In addition, the X-ray radiator or the X-ray detector may transmit information about a position to which the X-ray radiator or the X-ray detector is to be moved or a control command to move to a specific position.

In addition, the movement of both the X-ray radiator or the X-ray detector can be remotely controlled.

Also, by moving the X-ray radiator and the X-ray detector to the optimal position, X-ray imaging can be performed at the optimal position. As such, by performing X-ray imaging at an optimal position, an effect of obtaining an X-ray image in an accurate view may be obtained.

1A is a diagram illustrating an embodiment of a system for controlling an X-ray radiator and an X-ray detector in an X-ray imaging apparatus.
1B is a block diagram of an embodiment of an X-ray imaging apparatus.
2 is a front view of an embodiment of the X-ray imaging apparatus.
3 is a perspective view of an embodiment of an X-ray irradiation module.
4 is a diagram illustrating an embodiment of an X-ray radiator.
5 is a diagram illustrating an embodiment of an X-ray detection module.
6 is a diagram illustrating an embodiment of an X-ray detection module.
7 is a diagram illustrating another embodiment of an X-ray detection module.
8 is a block diagram of an embodiment of a controller.
9A illustrates another embodiment of a system for controlling an X-ray radiator and an X-ray detector in the X-ray imaging apparatus.
9B is a configuration diagram of another embodiment of the X-ray imaging apparatus.
10 to 12 are diagrams for describing an exemplary embodiment of a remote control apparatus and an X-ray imaging apparatus.
13 and 14 are schematic and side views illustrating an example of an X-ray imaging apparatus to which a location information collecting unit is added.
15 and 16 are flowcharts illustrating a method of controlling the X-ray imaging apparatus.

1A is a diagram illustrating an embodiment of a system for controlling an X-ray radiator and an X-ray detector in an X-ray imaging apparatus.

As shown in FIG. 1A, the X-ray imaging apparatus may include an X-ray radiator 110, an X-ray detector 120, and a controller 13. Here, in order to control the movement of the X-ray radiator 110 and the X-ray detector 120, the controller 13 separately transmits predetermined information or commands to the X-ray radiator 110 and the X-ray detector 120, respectively. The 110 and the X-ray detector 120 are controlled to move according to the received predetermined information or command. After the movement, the X-ray radiator 110 radiates X-rays to the object. If necessary, the controller 13 may receive predetermined data or commands from the outside, and transmit the predetermined data or commands to the X-ray radiator 110 and the X-ray detector 120. In this case, the controller 13 may generate new data or commands according to the input predetermined data or commands, and then transfer the generated new data or commands to the X-ray radiator 110 and the X-ray detector 120.

1B is a block diagram of an embodiment of an X-ray imaging apparatus.

Referring to the embodiment of the X-ray imaging apparatus illustrated in FIG. 1A in more detail, as shown in FIG. 1B, the X-ray imaging apparatus receives and receives the X-ray radiator 110 and the irradiated radiation, which irradiate X-rays to an object. And an X-ray detector 120 and a controller 13 for converting the converted radiation into an electrical signal. The X-ray radiator 110 and the X-ray detector 120 may be moved to a predetermined position so that the X-ray radiator 110 and the X-ray detector 120 may receive X-rays or receive X-rays at a plurality of locations. In addition, the X-ray imaging apparatus may include an input unit 14 for allowing a user to input a predetermined command to control the X-ray imaging apparatus, an image processor 15 for generating an X-ray image from the electrical signal converted by the X-ray detector 120, and an image. The display unit 16 may further include at least one of the display unit 16 displaying the X-ray image generated by the processor 15 to the user, and may include all of them if necessary.

2 is a front view of an embodiment of the X-ray imaging apparatus.

As an example of the X-ray imaging apparatus described above, as illustrated in FIG. 2, a digital radiography apparatus DR may be mentioned. In the digital radiography apparatus DR, an X-ray irradiation module 11 movable to a predetermined position may be disposed at an upper end thereof, and a X-ray detection module 12 having a table shape on which an object is mounted may be disposed at the lower end thereof.

Hereinafter, an embodiment of the X-ray imaging apparatus will be described based on the digital radiography apparatus DR. However, the embodiment of the X-ray imaging apparatus is not limited thereto, and the CT or mammography apparatus FFDM is not limited thereto. The same may be applied to various devices for photographing an object using other X-rays, such as).

3 is a perspective view of an embodiment of an X-ray irradiation module.

The X-ray irradiation module 11 is designed to be movable so that X-rays may be irradiated to the object ob at a plurality of positions. As shown in FIG. 3, the X-ray irradiation module 11 may further include a moving unit 111. The moving part 111 may include, for example, a rail 1111 and a connection part 112 that travels along the rail 1111.

The connecting portion 112 may be provided with, for example, a wheel which is brought into contact with the rail and guided along the rail. When the connection part 112 travels along the rail 1111, other components of the X-ray irradiation module 11 connected to the rail 111 through the connection part 112, for example, the X-ray irradiation part 110, are connected to the connection part ( In accordance with the movement of 112, it moves to a predetermined position.

As shown in FIG. 3, the rails 1111 may be installed in a row on the X-ray irradiation module 11. The X-ray irradiation unit 110 of the X-ray irradiation module 11 may be movable in at least one direction along the rails 1111 installed in a line. In addition, a plurality of rails may be provided in a plurality of directions. Accordingly, the X-ray irradiation unit 110 of the X-ray irradiation module 11 may move in various directions, for example, the x-axis and the y-axis directions.

In addition, the X-ray irradiation module 11 may include, for example, a robot arm instead of the rail 1111. The X-ray radiator or the like may be designed to be connected to the robot arm and move to a predetermined position according to the driving of the robot arm. In addition, the X-ray irradiation module 11 may be able to move the X-ray irradiation unit 110 to a predetermined position according to an operation of a pneumatic cylinder or a hydraulic cylinder connected to the X-ray irradiation unit 110 or the like. In addition, other means for moving the position of a certain object may be applied to the X-ray irradiation module 11 within a certain range.

An X-ray radiator 110 for radiating X-rays may be installed at a lower end of the X-ray radiating module 11. The X-ray radiator 110 may be installed at various positions of the X-ray radiator module 11, for example, at a lower end of the X-ray radiator module 11.

4 is a diagram illustrating an embodiment of an X-ray radiator.

As shown in FIG. 4, the X-ray radiator 110 may be electrically connected to the X-ray tube to apply a predetermined voltage to the X-ray tube 1101 and the X-ray tube 1101 to generate an X-ray having an energy level corresponding to the applied voltage. Includes a connected power source 1102.

When a predetermined voltage is applied to the X-ray tube 1101 from the power supply 1102, electrons of the pillar (1101a) of the negative (-) pole inside the X-ray tube 1101 according to the applied voltage is the anode 1101b, the anode, accelerate in the direction of the anode). When the accelerated electrons collide with the anode 1101b and are rapidly decelerated by the coulomb force, for example, X-rays are generated at the anode 1101b according to the law of energy conservation. The generated X-rays are irradiated in a predetermined direction, for example, downward in the drawing in FIG. 4.

The irradiated X-rays pass through a collimator 1103 formed in one direction of, for example, the X-ray tube 1101 on a path through which the X-rays pass. The collimator 1103 controls so that only X-rays traveling in a predetermined direction may be irradiated by absorbing and filtering X-rays traveling in a direction other than a direction desired by the user. The collimator 1103 allows the user to control the irradiation direction or the irradiation range of the X-rays.

In addition, the X-ray radiator 110 may further include a housing that accommodates an X-ray tube 1101, a power source 1102, a collimator 1103, and the like, as shown in FIGS. 2 and 3.

Referring back to FIG. 2, the X-ray imaging apparatus may include a table-type X-ray detection module 12.

5 is a diagram illustrating an embodiment of an X-ray detection module.

The X-ray detection module 12 may include a mounting unit 121 on which an object ob may be mounted, and X-rays x1 that pass through the object ob or X-rays that reach directly without passing through the object ob ( and an X-ray detector 120 for receiving x2). The X-ray detector 120 may be designed to be movable.

In detail, the X-ray detector 120 may be an X-ray detection panel that detects X-rays. The X-ray detection panel may be divided into a plurality of pixels 120p, and each pixel 120p may include a scintillator 1201, a photodiode 1202, and a reservoir 1203. have.

The scintillator 1201 receives visible X-rays and emits light, and outputs visible light photons. The photodiode 1202 receives the visible light photons and converts them into electrical signals, for example analog data. The converted electrical signal is stored by a reservoir 1203, for example a storage capacitor. The electrical signal stored in the reservoir 1203 is read out by the image processor 15, and the image processor 15 visually views the inside of the object ob by using the read electrical signal. X-ray image is generated to be able to. The X-ray detector 120 may further include a substrate on which the scintillator 1201, the photodiode 1202, and the reservoir 1203 are disposed.

Although not shown in the drawings, a collimator may be further disposed between the object ob and the X-ray detector 120 to filter scattered X-rays while passing through the object ob. In this case, the collimator may be attached to the X-ray detector 120 and move together.

6 is a diagram illustrating an embodiment of an X-ray detection module.

The X-ray detection module 12 may further include a rail 1202 through which the X-ray detection unit 120 is mounted to move to a predetermined position. In this case, the X-ray detection module 12 may include, for example, two rails 1202. An X-ray detector case 1203 is mounted on an upper end of the rail 1202. On the bottom or side of the X-ray detection unit case 1203, wheels that are in contact with the rail 1202 and guided along the rail 1202 are installed to stably move the X-ray detection unit 120 on the rail 1202. There may be. The X-ray detector 120 may be fixed to the X-ray detector case 1203. Accordingly, when the X-ray detector case 1203 moves along the rail 1202, the X-ray detector 120 fixed to the X-ray detector case 1203 also moves in the same manner. Therefore, the X-ray detector 120 may be moved to a predetermined position along the rail 1202.

7 is a diagram illustrating another embodiment of the X-ray detection module 12.

As shown in FIG. 7, the X-ray detection module 12 may include a plurality of two rows of rails 1202a and 1202b. As shown in FIG. 6, if the rail 1202 is installed only in one direction, the X-ray detector 120 may move in one direction only in the direction in which the rail 1202 is installed. In the X-ray detection module 12 illustrated in FIG. 7, a plurality of two rows of rails 1202a and 1202b are provided, and the X-ray detection unit 120 can move two-dimensionally in the x-axis direction and the y-axis direction.

Although not shown in the drawings, according to another embodiment of the X-ray detection module 12, a robot arm or the like may be used to move the X-ray detector 120 instead of the rail. According to another embodiment, the X-ray detector 120 may move to a predetermined position according to the driving of a wheel installed on the X-ray detector case 1203 or the like without a rail, and also connected to the X-ray detector 120 or the X-ray detector case 1203. It may be possible to move to a predetermined position according to the operation of the pneumatic cylinder or the hydraulic cylinder. In addition, other means for moving the position of a certain object may be used to move the X-ray detector 120 within a certain range.

Referring back to FIG. 1B, the control unit 13 of the X-ray imaging apparatus 10 may control the movement of the X-ray radiator 110 and the X-ray detector 120.

According to an embodiment, the control unit 13 obtains or generates object position information of at least one of the X-ray radiator 110 and the X-ray detector 120, and then the X-ray radiator 110 is based on the acquired or generated object position information. ) And the X-ray detector 120 may be moved.

The target position information is information about a position to be moved by the X-ray radiator 110 or the X-ray detector 120 according to a user's manipulation or a predetermined setting. The target position information may include, for example, a predetermined coordinate value for the target position to which the X-ray radiator 110 or the X-ray detector 120 is to be moved.

In order to control the movement of the X-ray radiator 110 and the X-ray detector 120 based on the target location information, the control unit 13 uses the X-ray radiator 110 and the X-ray detector 120 to acquire and generate the target position information of the X-ray radiator 110 and the X-ray detector 120. The light emitter 110 and the X-ray detector 120 may be delivered to each of them. The X-ray radiator 110 and the X-ray detector 120 move to a predetermined target position according to the received target position information. As another example, the control unit 13 may be a target position of each of the X-ray radiator 110 and the X-ray detector 120. Acquire or generate information, and generate a movement command to the X-ray radiator 110 and the X-ray detector 120 based on the target position information of the X-ray radiator 110 and the X-ray detector 120 that are acquired or generated to generate the information. 110 and the X-ray detector 120.

As shown in FIG. 1B, the control unit 13 separately transmits the respective target position information or a movement command to the X-ray radiator 110 and the X-ray detector 120. In other words, the transfer of the target position information and the movement command to the X-ray radiator 110 is performed separately from the transfer of the target position information and the movement command to the X-ray detector 120. In this case, the generation of the target position information or the movement command of the X-ray radiator 110 may be performed separately from the generation of the target position information or the movement command of the X-ray detector 120 or may be performed together.

The control unit 13 may be a processor installed in the X-ray irradiation module 11 or the X-ray detection module 12, or a separate unit capable of transmitting and receiving data with the X-ray irradiation module 11 or the X-ray detection module 12. It may be an information processing device, for example, a computer device or a processor of the information processing device.

8 is a block diagram of an embodiment of a controller.

Referring to FIG. 8, the control unit 13 generates a new information or command based on the receiving unit 131 that receives predetermined information or commands through the external input unit 14, and receives the received information or commands. The information / command generation unit 132 includes a transmission unit 133 for transmitting the received information or command or newly generated information or command to an appropriate target.

The receiver 131 may include predetermined information input through the input unit 14, for example, the target position information of the X-ray radiator 110, the target position information of the X-ray detector 120, or the movement command to the X-ray radiator 110. In addition, the movement command of the X-ray detector 120 is received.

The information / command generation unit 132 generates new information or commands based on the received information or commands. In more detail, the information / command generation unit 132 generates information for controlling the movement of the X-ray radiator 110 and the X-ray detector 120, for example, target location information or a command thereof, for example, a movement command, This is transmitted to at least one of the X-ray radiator 110 and the X-ray detector 120.

For example, if the user inputs both the target position information of the X-ray radiator 110 and the target position information of the X-ray detector 120 through the input unit 14, the information / command generation unit 132 of the control unit 13 is used. If necessary, generates a plurality of movement commands based on the plurality of movement positions received through the receiver 131. In other words, a movement command is generated for the X-ray radiator 110 based on the target position information of the X-ray radiator 110, and a movement command for the X-ray detector 120 is based on the target position information of the X-ray detector 120. Create each.

If the control unit 13 receives the target position information on the movement position of the X-ray radiator 110 and the X-ray detector 120, for example, the X-ray radiator 110 through the receiver 131, the information / The command generator 132 calculates an optimal position at which the X-ray detector 120 may receive the X-rays radiated from the X-ray radiator 110 based on the received position information of the X-ray radiator 110. It is also possible to generate the target position information of the detector 120. In addition, if necessary, the X-ray radiator 110 moves a command to the X-ray radiator 110 and the X-ray detector 120 generated by the X-ray detector 120 to move according to the received target position information of the X-ray radiator 110. Further, a movement command for the X-ray detector 120 may be further generated to move according to the target location information.

On the contrary, when the target position information of the X-ray detector 120 is received, the target position information of the X-ray radiator 110 is generated, and the X-ray detector 120 or the X-ray radiator 110 moves according to the received or generated target position information. It is also possible to generate an appropriate movement command for the X-ray detector 120 or the X-ray radiator 110.

The transmitter 133 may transmit the target position information of the X-ray radiator 110, the target position information of the X-ray detector 120, or the movement command to the X-ray radiator 110 and the movement command to the X-ray detector 120. ) And the X-ray detector 120. In this case, the target position information of the X-ray radiator 110 and the target position information of the X-ray detector 120 may be received by the receiver 131 or may be generated by the information / command generator 132. In addition, the movement command for the X-ray radiator 110 and the movement command for the X-ray detector 120 may also be received by the receiver 131 or may be generated by the information / command generator 132.

In particular, the transmitter 133 may include a first transmitter 1331 and a second transmitter 1332 as shown in FIG. 8. The first transmitter 1331 transmits the target position information or the movement command of the X-ray radiator 110 to the X-ray radiator 110, and the second transmitter 1332 transmits the purpose of the X-ray detector 120 to the X-ray detector 120. Pass location information or move command. In this case, the first transmitter 1331 and the second transmitter 1332 may each independently perform the above functions. Through the first transmitter 1331 and the second transmitter 1332, the transmitter 132 may separately transmit the target position information or the movement command to both the X-ray radiator 110 and the X-ray detector 120.

Accordingly, each of the X-ray radiator 110 and the X-ray detector 120 simultaneously or independently receives the target position information or the movement command for each. Therefore, the user may separately control the driving of the X-ray radiator 110 and the X-ray detector 120, for example, movement to each predetermined position, and, if necessary, the X-ray radiator 110 and the X-ray detector 120. Can be manipulated to move independently of each other.

Therefore, the X-ray radiator 110 must be moved first and the X-ray detector 120 is moved according to the actual position of the X-ray radiator 110, or conversely, the X-ray detector 120 is first moved and the X-ray radiator ( There is no need to move 120).

When the X-ray radiator 110 receives the target position information on the X-ray radiator 110 from the control unit 13 and the X-ray detector 120 receives the target position information on the X-ray detector 120, the X-ray radiator 110. Moves according to a movement command of the X-ray radiator 110 generated by a separate processor in the X-ray radiator 110 based on the received target position information of the X-ray radiator 110. In this case, the X-ray radiator 110 may move to a position corresponding to the target position information of the received X-ray radiator 110. Similarly, the X-ray detector 120 also corresponds to the target position information of the X-ray detector 110 according to a control command generated by a separate processor installed in the X-ray detector 120 based on the target position information of the X-ray detector 120. Will be moved to the location.

If the X-ray radiator 110 receives a move command to the X-ray radiator 110 from the control unit 13 and the X-ray detector 120 receives a move command to the X-ray detector 120, the X-ray radiator 110 is applied. And the X-ray detector 120 moves to a predetermined position according to each movement command received from the controller 13. In addition, the X-ray radiator 110 may receive a movement command from the control unit 13 to the X-ray radiator 110, and the X-ray detector 120 may receive destination position information of the X-ray detector 120, and vice versa. In the case of

According to an exemplary embodiment, the controller 13 transmits the target position information or the movement command to the X-ray radiator 110 or the X-ray detector 120, and the X-ray radiator 110 or the X-ray detector ( After the movement of the 120, the X-ray radiator 110 or the X-ray detector 120 may receive information about the current position of the X-ray radiator 110 or the X-ray detector 120.

The controller 13 checks whether the X-ray radiator 110 or the X-ray detector 120 is moved correctly by comparing the received information with the transmitted target position information or a moving command, and if the X-ray radiator 110 or the X-ray detector ( When an error occurs between the current position of the 120 and the target position information or the movement command, new object position information or the movement command may be transmitted to the X-ray radiator 110 or the X-ray detector 120 to correct the error.

As illustrated in FIGS. 1B and 5, the X-ray imaging apparatus 10 may include an input unit 14 through which a user may input predetermined information or a command. The input unit 14 may include at least one of object position information of the X-ray radiator 110 with respect to a movement position of the X-ray radiator 110 and object position information of the X-ray detector 120 with respect to a movement position of the X-ray detector 120. Can be input from the user.

In this case, the input unit 14 may include, for example, a joystick, a keyboard, a keypad, a paddle, a handle, a touch screen, a track ball, a mouse, and a tablet. Either one or a combination of at least two of them. For example, the input unit 14 may be composed of at least one keyboard, at least one keypad, or at least one joystick. Alternatively, the input unit 14 may be composed of a combination of a joystick and a keyboard, and a combination of a touch screen and a trackball. May be Meanwhile, when the input unit 14 is a tablet, the user may touch the tablet or input predetermined information or commands using a separate touch pen.

The input unit 14 may transmit the information or command input by the user to the controller 13 using a wired communication technology using a wired cable or a wireless communication technology using radio waves, light waves, sound waves, or ultrasonic waves. The radio communication technology using radio waves includes a digital mobile communication technology, and the radio communication technology using light waves includes an infrared radio communication technology that transmits commands or data using infrared light. In other words, the input unit 14 transmits predetermined data, for example, information about a moving position of the X-ray radiator 110 or the X-ray detector 120, to the remote control unit 13 to remotely control the X-ray imaging apparatus. It becomes possible.

Referring to FIG. 1B, the X-ray imaging apparatus 10 may generate an X-ray image based on an electrical signal stored in the reservoir 1203 of the X-ray detector 120, or may process a predetermined image on the generated X-ray image. The method may further include an image processor 15 for correcting the X-ray image generated by performing the operation. The image processor 15 may be a processor installed in the X-ray detection module 12, or may be a processor of an external information processing apparatus capable of transmitting and receiving data with the X-ray detection module 12 through a wired or wireless network. It may be.

The X-ray image acquired by the image processor 15 is displayed to the user through the display unit 16. The display unit 16 may be installed in the X-ray imaging apparatus 10 or may be a display device such as a monitor connected to an external information processing device through a cable.

9A illustrates another embodiment of a system for controlling an X-ray radiator and an X-ray detector in the X-ray imaging apparatus.

As shown in FIG. 9A, the X-ray radiator 110 and the X-ray detector 120 of the X-ray imaging apparatus 10 receive and transmit predetermined information or commands from the remote control apparatus 20. It is controlled to move or irradiate X-rays according to the received predetermined information or command. In this case, the X-ray radiator 110 and the X-ray detector 120 may receive, for example, predetermined information or commands through the transceiver 17 capable of transmitting and receiving data with the remote control apparatus 20.

9B is a configuration diagram of another embodiment of the X-ray imaging apparatus.

As shown in FIG. 9B, the X-ray imaging apparatus includes an X-ray radiator 110, an X-ray detector 120, an image processor 15, a display unit 16, and a transceiver 17. It may include.

The X-ray radiator 110 may generate X-rays as described above with reference to FIGS. 1B through 4 and irradiate the generated X-rays to an object, and may move X-rays to a predetermined position as shown in FIG. 3.

The X-ray detector 120 receives the X-rays irradiated from the X-ray radiator 110 and converts the received X-rays into an electrical signal as described above with reference to FIGS. 5 through 7, but as shown in FIGS. 6 and 7. The X-rays may be received by moving to the position of.

The image processor 15 generates an X-ray image based on the electrical signal converted by the X-ray detector 120, and corrects the X-ray image by performing predetermined image processing on the generated X-ray image.

The display unit 16 displays the X-ray image generated or corrected by the image processor 15 to the user. The display unit 16 may be included in the monitor device connected to an external separate information processing device as well as the case where the display unit 16 is installed in the X-ray imaging apparatus.

According to an embodiment of the X-ray imaging apparatus 10, the X-ray imaging apparatus 10 may receive predetermined information from the remote control apparatus 20, for example, target position information of the X-ray radiator 110 or a predetermined control command, For example, the apparatus may further include a transceiver 17 that receives a movement command with respect to the X-ray radiator 110.

The transceiver 17 transmits a control command or data received from the remote control apparatus 20 to the X-ray radiator 110 and the X-ray detector 120 separately, so that the X-ray radiator 110 and the X-ray detector 120 control the remote control. It can be driven according to a predetermined information or control command transmitted from the device 20.

10 to 12 are diagrams for describing an exemplary embodiment of a remote control apparatus and an X-ray imaging apparatus.

As shown in FIGS. 10 and 11, the X-ray imaging apparatus 10 receives predetermined information or control commands from the remote control apparatus 20, for example, target position information of the X-ray radiator 110 or the X-ray detector 120. B) a movement command may be received and controlled according to the received information or control command.

According to one embodiment of the remote control device 20, as shown in FIG. 1B, the remote control device 20 receives a predetermined data or control command transmitted from an external input unit 14, etc. The information / command generation unit 23 and the reception unit 21 or the information / command generation unit 23 for generating new data or control commands or the like according to predetermined data or control commands received by the reception unit 21, 23 may include a transmission unit 24 for transmitting the data or control command generated by the 23 to the receiving unit 171 of the X-ray imaging apparatus.

The input unit 14 receives a predetermined command from the user so that the X-ray imaging apparatus can be controlled. In detail, the input unit 14 may include at least one of object position information of the X-ray radiator 110 with respect to a movement position of the X-ray radiator 110 and object position information of the X-ray detector 120 with respect to a movement position of the X-ray detector 120. One can be input from the user. If necessary, the input unit may generate a movement control command of the X-ray radiator 110 or the X-ray detector 120 based on information about a target position of the X-ray radiator 110 or the X-ray detector 120 input from the user.

According to an embodiment, the input unit 14 is isolated from the remote control device 20 as shown in FIG. 10 and uses a wired communication technology using a wired cable or a wireless communication technology using radio waves, light waves, sound waves, or ultrasonic waves. The control command or data input from the user may be transmitted to the remote control device 20. The input unit 14 may be, for example, any one of a joystick, a keyboard, a keypad, a paddle, a handle, a touch screen, a trackball, a mouse, a tablet, or a combination of at least two of them.

The information / command generation unit 23 of the remote control apparatus 20 is based on predetermined data or control commands input through the input unit 14, for example, new information or commands, for example, the X-ray irradiation unit 110 or the X-ray detection unit. Generate the target position information or the movement command of 120.

The transmitter 24 is inputted through the input unit 14 or predetermined data or control commands generated by the information / command generator 23, for example, target position information of the X-ray radiator 110 or the X-ray detector 120. Alternatively, the movement command may be transmitted to the transceiver 17 of the X-ray imaging apparatus 10 so that at least one of the X-ray radiator 110 and the X-ray detector 120 may be controlled. In this case, a wired cable, radio waves, light waves, sound waves, or ultrasonic waves may be used as a transmission medium for transmitting information or control commands between the transmitter 24 and the transceiver 17 of the X-ray imaging apparatus 10.

If necessary, the transmission unit 24 may identify an identification code for identifying which device, for example, the device of the X-ray radiator 110 and the X-ray detection unit 120, with the predetermined data or control command. In addition to the control command, it can be transmitted to the transceiver 17.

When the transmitter 24 transmits predetermined information or a control command to the transceiver 17 of the X-ray imaging apparatus 10, the transceiver 17 of the X-ray imaging apparatus 10 is remotely controlled through the receiver 171. Receives predetermined data or control commands transmitted from the transmitter 24 of the 20, for example, the target position information or the movement command of the X-ray radiator 110 or the X-ray detector 120.

In this case, as shown in FIG. 10, the transceiver 17 of the X-ray imaging apparatus 10 may use any device, for example, the X-ray radiator 110 and the X-ray, to receive the predetermined information or control command received through the receiver 171. The detection unit 120 determines whether the device is predetermined information or a control command and transmits the same to each device. In this case, for example, the identification code described above can be used to determine which device is predetermined information or a control command.

The transceiver 17 may include a first transmitter 172 and a second transmitter 173. For example, the first transmitter 172 transmits predetermined information or a command to the X-ray radiator 110, for example, the target position information or a movement command of the X-ray radiator 110, and the second transmitter 173 is an X-ray detector ( Predetermined information or commands, for example, the target position information and the movement command of the X-ray detector 120, are transmitted.

The first transmitter 172 and the second transmitter 173 may operate independently of each other to transfer predetermined information or commands to each device. Then, the X-ray radiator 110 and the X-ray detector 120 may be controlled separately, simultaneously, or at a time, respectively, and may be manipulated so that the X-ray radiator 110 and the X-ray detector 120 move independently of each other as necessary. do.

Meanwhile, according to another exemplary embodiment, the transmitter 24 of the remote control apparatus 20 may include a first transmitter 241 and a second transmitter that separately transmit predetermined information or data according to an identification code, for example, as shown in FIG. 11. 2 may include a transmitter 242. In this case, the remote control apparatus 10 may include the first receiver 17a and the second receiver 17b so as to correspond to the respective transmitters 241 and 242.

For example, the first transmitter 241 transmits the target position information or the movement command of the X-ray radiator 110 to the first receiver 17a of the remote control apparatus 10, and the second transmitter 242 is the X-ray detector. The target position information or the movement command for the 120 may be transmitted to the second receiver 17b of the remote control apparatus 10. Then, the first receiver 17a and the second receiver 17b respectively transmit the target position information or the movement command of the received X-ray radiator 110 and the X-ray detector 120 to the X-ray radiator 110 and the X-ray detector 120. By transmitting the X-ray radiator 110 and the X-ray detector 120 to move to a predetermined position.

As illustrated in FIG. 12, the remote control apparatus 20 according to another embodiment may include an input unit 14 that receives a predetermined control command or data from a user, or a predetermined control command input through the input unit 14. The X-ray imaging apparatus displays data or control commands inputted by the information / command generation unit 23 and the input unit 14 that generate new data or control commands based on the data, or generated by the information / command generation unit 23. It may include a transmitter 24 for transmitting to the receiver 171 of the. In other words, the input unit 14 as described above, for example, a joystick, a keyboard, a keypad, a paddle, a handle, a touch screen, a trackball, a mouse or a tablet, etc., through which a user inputs a predetermined command, may be used. It can also be installed directly at.

When the user inputs predetermined data or commands, for example, the target position information of the X-ray radiator 110 or the X-ray detector 120 using the input unit 14 installed in the remote control apparatus 20, the predetermined data inputted. May be directly transmitted to the transceiver 17 of the X-ray imaging apparatus 10. Also, based on the predetermined data input through the input unit 14, for example, a control command related to the predetermined data may be generated by the information / command generation unit 23 of the remote control apparatus 20.

For example, the information / command generation unit 23 illustrated in FIG. 12 may be configured based on information on a position of the input X-ray radiator 110 or the X-ray detector 120 to move. May generate a control command to move to the position to move. The control command generated as described above is also transmitted to the transceiver 17 of the X-ray imaging apparatus 10 and transmitted to the X-ray radiator 110 or the X-ray detector 120.

In addition, the information / command generation unit 23 may also generate new predetermined data or a control command based on predetermined data input by the user as necessary. For example, the information / command generator 23 may generate object position information of the X-ray detector 120 based on object position information of the X-ray radiator 110 input through the input unit 14. The opposite is equally possible. Then, the information / command generation unit 23 is based on the received predetermined data, for example, the target position information of the X-ray radiator 110 and the generated new data, for example, the target position information of the X-ray detector 120. To generate a control command, e.g., a move command.

The new predetermined data or control command generated as described above is transmitted to the transmission / reception unit 17 of the X-ray imaging apparatus 10, and the transmission / reception unit 17 transfers the received predetermined data or control command to an appropriate portion, for example, X-ray. The target position information or the movement command of the irradiator 110 is transmitted to the X-ray radiator 110, and the target position information or the movement command of the X-ray detector 120 is transmitted to the X-ray detector 120.

The remote control apparatus described with reference to FIGS. 9A through 12 may be a separately manufactured device for manipulating an X-ray photographing apparatus according to an exemplary embodiment, but according to the exemplary embodiment, various mobile devices, for example, a mobile phone, a smart phone, and a personal It may be a personal digital assistant (PDA) or tablet PC, may also be an information processing device such as a personal computer, as well as various terminal devices such as an infrared remote controller. Can be. Also, if necessary, the remote control device may be composed of a combination of at least two or more of the various devices.

13 and 14 illustrate an embodiment of an X-ray imaging apparatus to which a location information collecting unit is added.

The X-ray imaging apparatus 10 may further include a location information collecting unit 30 as shown in FIGS. 13 and 14. The position information collecting unit 30 may be, for example, position information of the object ob mounted on the mounting unit 121 of the X-ray irradiation module 12, for example, 3D coordinate axis information about the position of the object ob. Collect it. As shown in FIG. 14, the position information collecting unit 30 is disposed at a predetermined position of the X-ray imaging apparatus 10, for example, an edge of the X-ray detection module 12 or a lower end of the X-ray irradiation module 11. The location information of the object ob is collected.

The location information collecting unit 30 may be, for example, a range sensor, a 3D camera, a 3D depth camera, a 3D color depth camera, Stereo cameras, infrared cameras, position sensitive device (PSD) sensors, and the like. In addition, the location information collection unit 20 may be made of a combination of at least two of them. In this case, location information of the object ob is collected using a plurality of sensors.

For example, the location information collecting unit 30 irradiates a predetermined light to the object ob, receives light reflected from the object, and then measures a time elapsed between the irradiation and the light receiving to detect the camera and the object ob. By measuring the distance therebetween, the position information of the object ob, for example, three-dimensional space coordinates of the object ob may be obtained.

The control unit 13 receives the position information of the object ob collected by the position information collecting unit 30 as described above, and moves the X-ray irradiation unit 110 and the X-ray detecting unit 120 based on the collected position information. Location, that is, information about the destination location, that is, destination location information is generated, or a movement command for moving the X-ray radiator 110 and the X-ray detector 120 is generated.

The controller 13 may properly photograph the object ob by the X-ray radiator 110 and the X-ray detector 120 when generating the target position information or the movement command of the X-ray radiator 110 and the X-ray detector 120. The X-ray radiator 110 and the X-ray detector 120 may calculate the optimal position to be moved to generate the target position information, or may generate a movement command based on the generated target position information. In this case, as described above, the controller 13 may generate the target position information or the movement command of the X-ray radiator 110 and the target position information or the movement command of the X-ray detector 120 separately.

In addition, as shown in FIG. 1A, the controller 13 transmits the target position information or the movement command of the X-ray radiator 110 to the X-ray radiator 110 and transmits the target position information or the movement command of the X-ray detector 120. The X-ray detector 120 may be delivered to the X-ray detector 120, respectively.

If necessary, the control unit 13 may further receive predetermined data or commands from a user or the like, and transmit the predetermined data or commands to the X-ray radiator 110 and the X-ray detector 120. In addition, the control unit 13 may generate a control command for controlling the position information collecting unit 30 according to an embodiment.

15 and 16 are flowcharts illustrating a method of controlling the X-ray imaging apparatus.

According to an embodiment of the method of controlling the X-ray imaging apparatus as shown in FIG. 15, first, the X-ray imaging apparatus 10 inputs the target position information of the X-ray radiator 110 and the target position information of the X-ray detector 120. 14 or via the location information collection unit 30, etc. (s300).

The X-ray imaging apparatus 10 separately generates movement commands of the X-ray radiator 110 and the X-ray detector 120 based on the input position information of the X-ray radiator 110 and the X-ray detector 120 (s301).

Thereafter, the generated movement command of the X-ray radiator 110 is transmitted to the X-ray radiator 110, and the movement command of the X-ray detector 120 is transmitted to the X-ray detector 110, but is transmitted separately from each other (s302 and s303).

Then, the X-ray radiator 110 and the X-ray detector 120 separately move according to the transferred command. (S304, s305)

In addition, according to another embodiment of the method for controlling the X-ray imaging apparatus, as shown in FIG. 16, the X-ray imaging apparatus 10 first includes at least one of target position information of the X-ray radiator 110 and the X-ray detector 120. (S310) That is, the X-ray imaging apparatus 10 may receive the target location information of either the X-ray radiator 110 or the X-ray detector 120, or both of the target location information. You can also receive input.

In this case, if both the target position information of the X-ray radiator 110 and the X-ray detector 120 are input (s311), the X-ray radiator 110 is based on the input position information of the X-ray radiator 110 and the X-ray detector 120. ) And the target position information of the X-ray radiator 110 and the target position information of the X-ray detector 120 (No of s320), if the movement command is not generated for the X-ray detector 120 and the X-ray detector 120. 120, the X-ray radiator 110 and the X-ray detector 120 are respectively moved according to the received destination position information.

If the X-ray radiator 110 and the X-ray detector 120 generate movement commands to the X-ray radiator 110, the X-ray imaging apparatus 10 may move the X-ray radiator 110 to the X-ray radiator 110 through the control unit 13. And generate a movement command for the X-ray detector 120 (s323), and transmit the same to the X-ray radiator 110 and the X-ray detector 120. (s324) The X-ray radiator 110 and the X-ray detector 120, It is controlled to move according to the generated movement command to the X-ray radiator 110 and the movement command to the X-ray detector 120 (s325).

If the input target position information is only the target position information of the X-ray radiator 110 (s312), the target position information of the X-ray detector 120 may be generated based on the target position information of the X-ray radiator 110 (s313). )

If the input target position information is only the target position information of the X-ray detector 120 (s314), the target position information of the X-ray radiator 130 is generated based on the target position information of the X-ray detector 120 (s315). )

Thereafter, as described above, the target position information of the X-ray radiator 110 and the target position information of the X-ray detector 120 are determined by the X-ray radiator according to whether a movement command to the X-ray radiator 110 and the X-ray detector 120 is generated (s320). Each of the movements generated after the transfer to the 110 and the X-ray detector 120 (s321) or after generating a movement command for the X-ray radiator 110 and a movement command for the X-ray detector 120 (s323). The command is transmitted to each of the X-ray radiator 110 and the X-ray detector 120 (s324).

The X-ray radiator 110 and the X-ray detector 120 are moved based on the received target position information or a movement command. (S322, s325).

10 X-ray imaging apparatus 11: X-ray irradiation module
12: X-ray detection module 13: X-ray control unit
14 input unit 15 image processing unit
16 display unit 20 remote control device
110: X-ray irradiation unit 120: X-ray detection unit

Claims (20)

An X-ray irradiation unit which irradiates and moves X-rays to the object;
An X-ray detector which detects and moves X-rays radiated from the X-ray radiator;
An input unit configured to receive at least one target position information of the X-ray radiator and the X-ray detector; And
A controller for controlling movement of the X-ray radiator and the X-ray detector according to the input target position information;
X-ray photographing apparatus comprising a.
The method of claim 1,
The input unit separately receives the target position information of the X-ray radiator and the X-ray detector,
And the control unit controls movement of the X-ray radiator and the X-ray detector according to the input target position information.
The method of claim 1,
The control unit, the X-ray imaging apparatus for controlling the movement of the X-ray radiator and the X-ray detector by transmitting the target position information of at least one of the X-ray radiator and the X-ray detector.
The method of claim 1,
And the control unit controls movement of the X-ray radiator and the X-ray detector by generating movement commands to the X-ray radiator and the X-ray radiator based on object position information of the X-ray radiator and the X-ray detector.
The method of claim 1,
The control unit, the X-ray imaging apparatus for transmitting the target position information or the movement command of the X-ray radiator or the X-ray detector using a wired or wireless communication network.
The method of claim 1,
The input unit, the X-ray imaging apparatus for transmitting the at least one input destination position information to the controller using a wired communication technology using a wired cable or a wireless communication technology using radio waves, light waves, sound waves or ultrasonic waves.
The method of claim 1,
The input unit may be at least one of a joystick, a keyboard, a keypad, a handle, a touch screen, a track ball, a mouse, and a tablet.
The method of claim 1,
The controller may be configured to calculate a target position of the X-ray detector by using the target position information of the X-ray radiator input through the input unit, or to use the target position information of the X-ray detector by the input unit. X-ray imaging device that calculates the position.
The method of claim 1,
And the control unit generates a movement command of the X-ray radiator or the X-ray detector by using target position information of the X-ray radiator or the X-ray detector input through the input unit.
The method of claim 1,
A location information collector configured to detect the object and collect location information about the object;
Further comprising an X-ray photographing apparatus.
The method of claim 10,
The controller is configured to generate object position information of the X-ray radiator or object position information of the X-ray detector based on position information of the object collected by the position information collector.
12. The method of claim 11,
And the control unit generates a movement command to the X-ray radiator or the X-ray detector based on the generated object position information of the X-ray radiator or the object position information of the generated X-ray detector.
The method of claim 1,
The control unit, the X-ray photographing apparatus receives the target position information from a remote control device.
The method of claim 13,
The remote control apparatus is an X-ray imaging apparatus for transmitting the input at least one target position information using a wired communication technology using a wired cable or a wireless communication technology using radio waves, light waves, sound waves or ultrasonic waves.
The method of claim 13,
The remote control device is at least one of a mobile phone, a smart phone, a personal digital assistant (PDA), a tablet PC, a personal computer, and an infrared remote controller.
The method of claim 13,
The remote control apparatus may calculate the target position information of the X-ray detector or the X-ray radiator based on the target position information of the X-ray radiator or the X-ray detector input through the input unit.
Or generating a movement command of the X-ray radiator or the X-ray detector based on the target position information input through the input unit.
In the control method of the X-ray imaging apparatus including a movable X-ray irradiation unit for irradiating the X-rays to the object and detecting the X-rays transmitted through the object,
An input step of receiving at least one of object position information of the X-ray radiator and object position information of the X-ray detector; And
A movement step of moving the X-ray radiator and the X-ray detector according to the target position information;
X-ray imaging apparatus control method comprising a.
18. The method of claim 17,
The input step is a step of separately receiving the target position information of the X-ray radiator and the X-ray detector,
And the moving step includes moving the X-ray radiator and the X-ray detector according to the input target position information.
18. The method of claim 17,
The moving step may include generating a movement command of the X-ray radiator and the X-ray detector based on the target position information of the X-ray radiator and the X-ray detector;
Transmitting a movement command of the X-ray radiator to the X-ray radiator, and transmitting a movement command of the X-ray detector to the X-ray detector separately from the X-ray radiator; And
Moving the X-ray radiator and the X-ray detector according to the transferred command;
X-ray imaging apparatus control method comprising a.
18. The method of claim 17,
In the moving step, if the input target position information is the target position information of the X-ray radiator, the target position information of the X-ray detector is determined based on the target position information of the X-ray radiator, and the input target position information is the X-ray detector. Determining object position information of the X-ray radiator based on object position information of the X-ray detector if the object is position information;
Transmitting a movement command of the X-ray radiator to the X-ray radiator, and transmitting a movement command of the X-ray detector to the X-ray detector; And
Moving the X-ray radiator and the X-ray detector based on object position information of the X-ray radiator and object position information of the X-ray detector;
X-ray imaging apparatus control method comprising a.

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