RU2807152C2 - X-ray system for location of target object during medical procedure and method for positioning the x-ray system - Google Patents

Abstract

FIELD: medical equipment.

SUBSTANCE: system and method for determining the location of a target object connected by an X-ray system, making it possible to increase the efficiency of determining the location of a target object. The x-ray system may include an x-ray source, a detection component, an arc, and a platform. The x-ray system may also include a first positioning component, a second positioning component, or a third positioning component.

EFFECT: first positioning component may be configured to determine a target point where a region of interest (ROI) of the target object is located. The second positioning component may be configured to locate the target object. The third positioning component may be configured to obtain real-time position information of the target device associated with the target.

10 cl, 24 dwg

Description

Cross reference to related applications

[0001] This application claims priority to Chinese Patent Application No. 201710874065.2, filed on September 25, 2017, Chinese Patent Application No. 201711242643.7, filed on November 30, 2017, Chinese Patent Application No. 201711384644.5, filed on December 20, 2017 '17, and Chinese patent application No. CN201810671197.X, filed June 26, 2018, the contents of which are incorporated herein by reference in their entirety.

Field of technology

[0002] The present invention relates generally to a medical system and, more particularly, to a system and method for determining the location of a target object during a medical procedure or imaging.

State of the art

[0003] In a surgical procedure (eg, a puncture procedure), the operator may perform surgery on a lesion (eg, puncture site) associated with a target entity (eg, a patient). An anatomical image can be obtained by emitting X-rays towards the target object using a medical imaging system, which can help the operator determine the location of the lesion. In some cases, the location of the lesion may be detected based on anatomical imaging and the operator's clinical experience, which may be relatively ineffective or inaccurate. In some surgical cases, anatomical images may be needed at different angles, and the operator may need to adjust the x-ray emission (eg, the direction of the x-rays) to ensure that the lesion is at or near the center of the anatomical image at different angles. In some cases, to control a surgical operation in real time (eg, to navigate operating room equipment), at least one additional device (eg, a gurney) is used to position the navigation device in the operating room. On the one hand, an additional device may take up space in the operating room. On the other hand, the additional device may need to be registered with the medical imaging system before navigation, which may not be efficient. Thus, it may be desirable to develop a method or system for determining the location of a target object or target device during a medical imaging procedure.

The essence of the invention

[0004] In one aspect of the present invention, an x-ray system may be provided. The x-ray system may include: an x-ray source configured to emit a beam of x-rays towards a target object; a detection component configured to receive at least a portion of the x-ray beam that passes through the target object; an arc configured to support the detection component and the x-ray source; a platform configured to accommodate a target object, the platform being placed between the x-ray source and the detection component; and a first positioning component configured to determine a target point where a region of interest (ROI) of the target object is located, where the first positioning component includes a first laser component configured to emit a first laser beam and a second laser component configured to emit a second laser beam, wherein said first and second laser beams intersect at a target point.

[0005] In some embodiments, the arc may span a group selected from a C-arc and a G-arm.

[0006] In some embodiments, the target point may be located at the intersection of a first x-ray beam emitted by the x-ray source when the arc is in a frontal position and a second x-ray beam emitted by the x-ray source when the arc is in a lateral position.

[0007] In some embodiments, the target point may be located at the intersection between the central axis of said first x-ray beam and the central axis of said second x-ray beam.

[0008] In some embodiments, the first laser component may be mounted at a site selected from the x-ray source and the detection component.

[0009] In some embodiments, the first laser component may be mounted on the outside of the detection component.

[0010] In some embodiments, the second laser component may be mounted on the inside of the arc.

[0011] In some embodiments, one of the first laser beam and the second laser beam may be in the shape of a cross, and the other beam is in the shape of a slit.

[0012] In some embodiments, the first laser beam or the second cross-shaped laser beam may be emitted by a cross laser generator or two perpendicular slot laser generators.

[0013] In some embodiments, the system also includes a position determining device configured to determine the angle of rotation of the arc, where the position determining device is mounted on the arc; and a prompting device configured to prompt a rotation angle, wherein the prompting device is connected to the position determining device.

[0014] In some embodiments, the system may also include a third laser emitting component configured to emit a third laser beam with a first specified pattern on a target object; and a second positioning component located between the detection component and the platform, wherein the first predetermined template projected onto the second positioning component matches the template of the second positioning component, and the second positioning component is configured to localize a target object based on the first predetermined template and an anatomical image associated with the target object, obtained by projecting a beam of X-ray radiation in the direction of the target object.

[0015] In some embodiments, the propagation path of a third laser beam emitted by the third laser emitting component may coincide with a second propagation path of an x-ray beam emitted by the x-ray source.

[0016] In some embodiments, the system may also include a third positioning component configured to obtain real-time location information of a target device associated with the target object.

[0017] In some embodiments, the third positioning component may include at least two positioning detectors.

[0018] In a second aspect of the present invention, an X-ray system is provided. The x-ray system may include: an x-ray source configured to emit a beam of x-rays towards a target object; a detection component configured to receive at least a portion of the x-ray beam that passes through the target object; an arc configured to support the detection component and the x-ray source; a platform configured to accommodate a target object, the platform being placed between the x-ray source and the detection component; a laser emitting component configured to emit a laser beam with a first predetermined pattern on a target object; and a positioning component located between the detection component and the platform, wherein the first predetermined template projected onto the positioning component matches the template of the positioning component, and the positioning component is configured to localize a target object based on the first predetermined template and an anatomical image associated with the target object, obtained by projecting a beam of X-ray radiation towards a target object.

[0019] In some embodiments, the arc may span a group selected from a C-arm and a G-arm.

[0020] In some embodiments, the first predetermined pattern may have meshes selected from the group including regular lines, meshes including regular polygons, meshes including irregular polygons, meshes including regular curves, and meshes , including circles.

[0021] In some embodiments, the first propagation path of said laser beam may coincide with the second propagation path of said x-ray beam.

[0022] In some embodiments, the laser emitting component may be mounted on the x-ray source.

[0023] In some embodiments, the x-ray source may include: an x-ray component configured to emit a beam of x-ray radiation towards a target object; and a laser control component below the x-ray component including a reflector and a laser emitting component, wherein the first propagation path of a laser beam emitted by the laser emitting component, after being reflected by the reflector, coincides with the second propagation path of the x-ray beam.

[0024] In some embodiments, the positioning component may include at least one positioning marker, and the at least one positioning marker is configured to locate a target object.

[0025] In some embodiments, the at least one positioning marker may include at least one laser marker.

[0026] In some embodiments, at least one positioning marker may be located at at least one grid intersection of the first specified pattern.

[0027] In some embodiments, the positioning component may be located on a surface of the detection component facing the platform.

[0028] In some embodiments, the system may also include a movement device configured to move the positioning component from a surface of the detection component facing the platform.

[0029] In some embodiments, the movement device includes a transmission mechanism configured to move the positioning component, the transmission mechanism being coupled to the positioning component.

[0030] In some embodiments, the positioning component may be placed on the detection component or wound by a transmission mechanism.

[0031] In some embodiments, the transmission mechanism may include at least one transmission wheel, and the transmission mechanism is coupled to the positioning component through at least one transmission wheel.

[0032] In some embodiments, the system may also include a second positioning component configured to obtain real-time location information of a target device associated with the target object.

[0033] In some embodiments, the second positioning component may include at least one positioning detector.

[0034] In a third aspect of the present invention, an X-ray system is provided. The x-ray system may include an x-ray source configured to emit a beam of x-rays towards a target object; a detection component configured to receive at least a portion of the x-ray beam that passes through the target object; an arc configured to support the detection component and the x-ray source; a platform configured to accommodate a target object, the platform being placed between the x-ray source and the detection component; and a positioning component configured to obtain information about the position of the target device associated with the target object in real time.

[0035] In some embodiments, the arc may span a group selected from a C-arm and a G-arm.

[0036] In some embodiments, the target device associated with the target object may include operating equipment.

[0037] In some embodiments, the positioning component may include at least two position detectors.

[0038] In some embodiments, the at least two position detectors may be movable to adjust at least two distances between the at least two position detectors.

[0039] In some embodiments, the positioning component may include at least one reciprocating rod, with the end of each of the at least one reciprocating rod mounted on an arc.

[0040] In some embodiments, each of the at least one reciprocating rod may correspond to each of the position detector.

[0041] In some embodiments, the third positioning component may include at least one rail, wherein the at least one rail is mounted on the arc.

[0042] In some embodiments, the position detector may slide along at least one rail.

[0043] In some embodiments, the rail guide may include a reciprocating rail guide.

[0044] In some embodiments, the positioning component may be mounted on the detection component or x-ray source.

[0045] In some embodiments, the positioning component may be mounted to slide along an arc.

[0046] In some embodiments, the arc may accommodate at least one rail.

[0047] In some embodiments, the positioning detector may include at least one slide block aligned with at least one guide rail.

[0048] In some embodiments, the positioning detector may include an optical positioning detector.

[0049] In a fourth aspect of the present invention, a method for positioning an X-ray system may be provided. The x-ray system may include an x-ray source, a detection component, an arc, a platform, a first positioning component including a first laser component, and a second laser component, and the positioning method includes rotating the arc to a frontal position; initiating the first laser component and the second laser component; and determining a target point based on the intersection between the first laser beam emitted by the first laser component and the second laser beam emitted by the second laser component.

[0050] In a fifth aspect of the present invention, a method for positioning an X-ray system can be provided. The x-ray system may include an x-ray source, a detection component, an arc, a platform, a positioning component and a laser emitting component, and this positioning method includes installing a positioning component between the detection component and a target object; obtaining an overlay image including an anatomical image associated with the target object obtained by projecting a detector beam towards the target object, and a positioning component pattern formed on the surface of the target object; determining a lesion location associated with a target object based on the superimposed image and a first predetermined pattern determined by projecting a positioning beam to the target object using the laser emitting component; and determining a target point corresponding to the lesion site based on the superimposed image and the first predetermined template.

[0051] In a sixth aspect of the present invention, a method for positioning an X-ray system is provided. The x-ray system may include an x-ray source, a detection component, an arc and a platform, and this positioning method includes obtaining an anatomical image associated with a target object by projecting a detector beam towards the target object; applying the first template to the anatomical image; forming a second pattern on the surface of the target object by projecting a positioning beam to the target object, where the first pattern coincides with the second pattern; and determining a target point based on the anatomical image and the second template.

[0052] In some embodiments, the first template or the second template may include grids.

[0053] In some embodiments, determining said target point based on the anatomical image and the second template includes: determining a location of a lesion associated with the target object based on the anatomical image; and determining a target point on the second template grids based on the location of the lesion.

[0054] In some embodiments, determining a specified lesion location associated with a target object based on an anatomical image includes: obtaining diagnostic information associated with the target object; and determining the location of the lesion associated with the target object based on the diagnostic information.

[0055] In some embodiments, the method may also include displaying diagnostic information associated with a target object on an anatomical image.

[0056] In some embodiments, determining a target point on the second template grids based on the location of the lesion includes determining a relationship between a plurality of first points on the first template grids and a plurality of second points corresponding to the plurality of first points on the second template grids.

[0057] In some embodiments, the method may also include marking a target point by projecting a marker beam or positioning beam onto the target object.

[0058] In some embodiments, the marker beam is emitted by a laser device mounted on the arc.

[0059] In some embodiments, the target point may be a site where surgery is performed.

[0060] In some embodiments, the method may also include adjusting the positioning beam based on the first template and the second pattern projected by the positioning beam.

[0061] In some embodiments, adjusting the positioning beam based on the first pattern and the second pattern projected by the positioning beam includes: adjusting the positioning beam if the second pattern projected by the positioning beam does not match the first template.

[0062] Additional features will be set forth in part in the description that follows and in part will become apparent to one skilled in the art upon examination of the following and accompanying drawings or can be learned by manufacture or operation of the examples. The features of the present invention can be implemented and achieved by practicing or applying various aspects of the methodologies, tools and combinations set forth in the detailed examples discussed below.

Brief description of drawings

[0063] The present invention is also described by way of example embodiments. Such exemplary embodiments are described in detail with reference to the drawings. These embodiments are non-limiting exemplary embodiments in which like reference numerals mean like structures throughout the several views of the drawings.

[0064] FIG. 1 is a schematic diagram illustrating a typical x-ray system in accordance with some embodiments of the present invention.

[0065] FIG. 2 is a circuit diagram illustrating typical hardware and/or software components of a typical computing device in accordance with some embodiments of the present invention.

[0066] FIG. 3 is a circuit diagram illustrating typical hardware and/or software components of a typical mobile device in accordance with some embodiments of the present invention.

[0067] FIG. 4 is a schematic diagram illustrating a typical frontal X-ray system in accordance with some embodiments of the present invention.

[0068] FIG. 5 is a schematic diagram illustrating a typical X-ray system in a lateral position in accordance with some embodiments of the present invention.

[0069] FIG. 6 is a schematic diagram illustrating a typical propagation path of an x-ray beam emitted by an x-ray source and a typical propagation path of a first laser beam emitted by a first laser component, in accordance with some embodiments.

[0070] FIG. 7 is a flowchart illustrating a method for determining a target point where a region of interest (ROI) of a target object is located, in accordance with some embodiments of the present invention.

[0071] FIG. 8-9 are schematic diagrams illustrating a typical x-ray system in accordance with some embodiments of the present invention.

[0072] FIG. 10-11 are circuit diagrams illustrating a typical third positioning component in accordance with some embodiments of the present invention.

[0073] FIG. 12 is a schematic diagram illustrating a typical x-ray system in accordance with some embodiments.

[0074] FIG. 13 is a schematic diagram illustrating a typical propagation path of an x-ray beam emitted by an x-ray source and a typical propagation path of a first laser beam emitted by a first laser component, in accordance with some embodiments of the present invention.

[0075] FIG. 14 is a circuit diagram illustrating a typical pattern of a second positioning component in accordance with some embodiments.

[0076] FIG. 15 is a schematic diagram illustrating a typical anatomical view associated with a typical second positioning component template in accordance with some embodiments of the present invention.

[0077] FIG. 16-19 are schematic diagrams illustrating typical second positioning components in accordance with some embodiments of the present invention.

[0078] FIG. 20 is a flowchart illustrating a method for determining a target point in accordance with some embodiments of the present invention.

[0079] FIG. 21 is a flowchart illustrating a typical processing device 120 in accordance with some embodiments of the present invention.

[0080] FIG. 22 is a flow chart illustrating a method for determining a target point of an x-ray system in accordance with some embodiments of the present invention.

[0081] FIG. 23 is a flowchart illustrating a method for determining a target point associated with a target object in accordance with some embodiments of the present invention.

[0082] FIG. 24 is a flowchart illustrating an exemplary method for determining the location of a lesion associated with a target object, in accordance with some embodiments of the present invention.

Detailed description

[0083] In the following detailed description, numerous specific details are presented by way of example in order to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that the present invention can be practiced without such details. In other cases, well-known methods, procedures, systems, components and/or circuits are described at a relatively high level, without detail, to avoid unnecessarily obscuring aspects of the present invention. Various modifications to the disclosed embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the embodiments shown, but should be given the broadest scope consistent with the claims.

[0084] The terminology used in the document is for the purpose of describing specific examples of embodiments and is not intended to be limiting. Singular forms used herein may also include plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprise”, “contains” and/or “comprising”, “include”, “includes” and/or “including” as used herein define the presence of the claimed features, integers , stages, operations, elements and/or components, but do not exclude the presence or addition of one or more other characteristics, integers, stages, operations, elements, components and/or groups thereof.

[0085] It should be understood that the terms "system", "machine", "assembly", "module" and/or "unit" as used herein are one way of distinguishing different components, elements, parts, sections or assemblies of different levels in order increasing. However, these terms may be replaced by another expression if they achieve the same purpose.

[0086] Typically, the word "module", "node" or "block" as used herein refers to logic embodied in hardware or firmware, or a set of software instructions. The module, assembly, or block described herein may be implemented in software and/or hardware and may be stored on any type of non-transitory computer-readable medium or other information storage device. In some embodiments, a program module/node/block may be compiled and linked into an executable program. It should be noted that software modules can be called from other modules/nodes/blocks or by themselves and/or can be called in response to detected events or interrupts. Program modules/assemblies/blocks configured to be executed on computing devices (e.g., processor 210 as shown in FIG. 2) may be presented on a computer-readable medium such as a compact disc, digital video disc, flash drive, magnetic a disk or any other tangible storage medium, or as a digital download (and may initially be stored in a compressed or installable format that requires installation, deployment, or decryption before execution). Such program code may be stored, in part or in whole, on an execution computing device information storage device for execution by the computing device. Software commands may be embedded in firmware, such as EPROM. It should also be noted that hardware modules/assemblies/blocks may be included in connected logic components such as gates and flip-flops, and/or may be included in programmable blocks such as field programmable gate arrays or processors. The modules/assemblies/blocks or functionality of computing devices described herein may be implemented as software modules/assemblies/blocks, but may be represented in hardware or firmware. In general, the modules/nodes/blocks described herein refer to logical modules/nodes/blocks that can be combined with other modules/nodes/blocks or divided into submodules/subassemblies/subblocks despite their physical organization or storage. This description can be applied to a system, machine or part thereof.

[0087] It should be understood that when a node, machine, module or block is designated as being "connected to", "connected to" or "attached to" another node, machine, module or block, it may be directly included, connected to or connected to another node, machine, module or block or may interact with it, or there may be an intermediate node, machine, module or block present unless the context clearly indicates otherwise. As used herein, the term “and/or” includes any and all combinations of one or more related listed elements.

[0088] These and other features and characteristics of the present invention, as well as the modes of operation and function of the corresponding elements of structure and combination of parts and economics of manufacture, may become apparent upon consideration of the following description with reference to the accompanying drawings, all of which form a part of the invention. However, it should be clearly understood that the drawings are presented for purposes of illustration and description only and are not intended to limit the scope of the present disclosure. It is clear that the drawings are not to scale.

[0089] Flow diagrams used in the present invention illustrate operations that systems perform in accordance with some embodiments of the present invention. It should be clearly understood that the operations of the flowchart may not be performed in order. Conversely, operations can be performed in reverse order or simultaneously. Moreover, one or more other operations may be added to the flow diagram. One or more operations may be excluded from the diagram.

[0090] The present invention relates to a system and method for determining the location of a target object associated with an x-ray system. The x-ray system may include an x-ray source, a detection component, an arc, and a platform. The x-ray system may also include at least one positioning component (eg, a first positioning component, a second positioning component, a third positioning component). The first positioning component may be configured to determine a target point at which a region of interest (ROI) of the target object is located. The first positioning component may include a first laser component configured to emit a first laser beam and a second laser component configured to emit a second laser beam. The first laser beam and the second laser beam may intersect at the target point. The second positioning component may be configured to determine the location of a target object. The second positioning component may be located between the detection component and the platform. The third positioning component may be configured to obtain location information of a target device (eg, operating equipment) associated with the target object in real time.

[0091] FIG. 1 is a schematic diagram illustrating a typical x-ray system in accordance with some embodiments of the present invention. The x-ray system 100 may include an x-ray imaging apparatus 110, a processing device 120, a storage device 130, a terminal 140, and a network 150. The components of the x-ray system 100 may be connected to each other in various ways. By way of example only, x-ray imaging apparatus 110 may be coupled to processing device 120 via network 150. As another example, x-ray imaging apparatus 110 may be coupled to processing apparatus 120 directly. As another example, storage device 130 may be coupled to processing device 120 directly or via network 150. As yet another example, terminal 140 may be coupled to processing device 120 directly or via network 150.

[0092] The x-ray imaging apparatus 110 may include an x-ray source 111 (also called an x-ray tube), a detection component 112, a C-arm 113, and a platform 114. The x-ray source 111 and the detection component 112 may be mounted on the C-arm 113. C -arc 113 may include a first end and a second end located opposite each other. For example, an x-ray source 111 may be mounted at a first end of the C-arm 113 and a detection component 112 may be mounted at a second end of the C-arm 113. Alternatively, an x-ray source 111 may be mounted at a second end of the C-arm 113 and the detection component 112 may be mounted at the first end of the C-arc 113.

[0093] The platform 114 may hold or support an object. The object may be a biological object (eg, patient, animal) or a non-biological object (eg, man-made object). The X-ray source 111 may emit X-rays (also called an “X-ray beam”) toward an object, and the X-rays may be attenuated as they pass through the object. Detection component 112 may receive attenuated x-rays that pass through an object and generate readings (also called scan data) corresponding to the received x-rays. In some embodiments, detection component 112 may include a scintillation detector (eg, a cerium iodide detector), a gas detector, a round detector, a square detector, an arc detector, or the like, or any combination thereof. Detection component 112 may be a single-row or multi-row detector.

[0094] In some embodiments, processing device 120 may process data received from x-ray imaging machine 110, data storage device 130, or terminal 140. For example, processing device 120 may receive scan data related to an object. Processing device 120 may also process the scan data to generate an anatomical image of the object. As another example, processing device 120 may determine a target point where a region of interest (ROI) of an object is located. As another example, processing device 120 may evaluate location information of a target device (eg, operating equipment) associated with an object in real time.

[0095] The processing device 120 may include a central processing unit (CPU), a digital signal processor (DSP), a system on a chip (SoC), a microcontroller unit (MCU), or the like, or any combination thereof. In some embodiments, processing device 120 may be a single server or a group of servers. A group of servers can be centralized or distributed. In some embodiments, processing device 120 may be local or remote. For example, processing device 120 may have access to information and/or data stored in x-ray imaging machine 110, storage device 130, and/or terminal 140 via network 150. As another example, processing device 120 may be directly connected to the machine X-ray imaging device 110, data storage device 130, and/or terminal 140 for accessing stored information and/or data. In some embodiments, processing device 120 may be implemented on a cloud platform. By way of example only, a cloud platform may include a private cloud, a public cloud, a hybrid cloud, an enterprise cloud, a distributed cloud, an inter-cloud environment, a multi-cloud environment, or the like, or any combination thereof.

[0096] Data storage device 130 may store data and/or instructions. In some embodiments, storage device 130 may store data received from processing device 120 and/or terminal 140. In some embodiments, storage device 130 may store data and/or instructions that processing device 120 can execute or use to perform typical methods described in the present invention. In some embodiments, storage device 130 may include mass storage device, removable storage medium, volatile read-write memory, read-only memory (ROM), or the like, or any combination thereof. A typical mass storage device may include a magnetic disk, optical disk, solid state drive, etc. A typical removable storage device may include a flash drive, floppy disk, optical disk, memory card, zip disk, magnetic tape, etc. Typical volatile read memory and the recording may include a random access memory (RAM). Typical RAM may include dynamic RAM (DRAM), double-clock synchronous dynamic RAM (DDR SDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), and compressed random access memory (Z). -RAM), etc. A typical ROM may include Pattern Programmable ROM (MROM), Programmable ROM (PROM), Erasable Programmable ROM (PEROM), Electronically Programmable ROM (EEPROM), Compact Disc Read Only Memory (CD-ROM) and ROM on a digital versatile disk, etc. In some embodiments, the storage device 130 may be implemented on a cloud platform. By way of example only, a cloud platform may include a private cloud, public cloud, hybrid cloud, enterprise cloud, distributed cloud, cross-cloud, multi-cloud, etc., or any combination thereof.

[0097] In some embodiments, storage device 130 may be connected to network 150 to interface with one or more components of x-ray system 100 (eg, terminal 140, processing device 120). One or more components of the x-ray system 100 may have access to data or commands stored in the storage device 130 through a network 150. In some embodiments, the storage device 130 may be directly connected to or interface with one or more components of the x-ray system 100 ( for example, with terminal 140, processing device 120). In some embodiments, storage device 130 may be part of processing device 120.

[0098] The terminal 140 includes a mobile device 140-1, a tablet computer 140-2, a laptop computer 140-3 or the like, or any combination thereof. In some embodiments, the mobile device 140-1 may include a smart home device, a wearable device, a smart mobile device, a virtual reality device, an augmented reality device, or the like, or any combination thereof. In some embodiments, the smart home device may include a smart lighting device, a smart electrical equipment control device, a smart monitoring device, a smart TV, a smart video camera, an intercom device, or the like, or any combination thereof. In some embodiments, the wearable device may include a bracelet, shoes, glasses, helmet, watch, clothing, backpack, accessory or the like, or any combination thereof. In some embodiments, a smart mobile device may include a smartphone, a personal digital assistant (PDA), a gaming device, a navigation device, a point of sale (POS) or the like, or any combination thereof. In some embodiments, a virtual reality device and/or an augmented reality device may include a virtual reality headset, a virtual reality glass, a virtual reality patch, an augmented reality headset, an augmented reality glass, an augmented reality patch, or the like, or any combination thereof. For example, a virtual reality device and/or augmented reality device may include Google Glass, Oculus Rift, HoloLens, Gear VR, etc. In some embodiments, the terminal 140 may remotely control the X-ray imaging machine 110. In some embodiments, the terminal 140 may control the X-ray imaging machine visualization 110 via wireless connection. In some embodiments, terminal 140 may receive information and/or commands entered by a user and forward the received information and/or commands to X-ray imaging machine 110 or processing device 120 via network 150. In some embodiments, terminal 140 may receive data and/or commands. or a command from processing device 120. In some embodiments, terminal 140 may be part of processing device 120. In some embodiments, terminal 140 may be omitted.

[0099] Network 150 may facilitate the exchange of commands and/or data. In some embodiments, one or more components of the x-ray system 100 (e.g., x-ray imaging unit 110, terminal 140, processing device 120, or data storage device 130) may send command and/or data to other component(s) in the x-ray system 100 via network 150. In some embodiments, network 150 may be any type of wired or wireless network, or a combination thereof. Network 150 may be and/or include a public network (e.g., the Internet), a private network (e.g., a local area network (LAN), a wide area network (WAN), etc.), a wired network (e.g., an Ethernet network ), wireless network (e.g., 802.11 network, Wi-Fi network), mobile network (e.g., Long Term Evolution (LTE) network, frame relay network, virtual private network (“VPN”), satellite network, telephone network, routers, hubs, switches, office computers, and/or any combination thereof. By way of example only, network 150 may include a cable network, a wired network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN ), wide area network (WAN), wireless local area network (WLAN), metropolitan area network (MAN), territorial area network (WAN), public switched telephone network (PSTN), BluetoothTM network, ZigBeeTM network, near field communication (NFC) network , or the like, or any combination thereof. In some embodiments, network 150 may include one or more network access points. For example, network 150 may include wired or wireless network access points, such as base stations and/or Internet exchange points, through which one or more components of X-ray system 100 may be connected to network 150 to exchange data and/or commands.

[0100] It should be noted that the above description of the x-ray system 100 is presented for illustrative purposes, and is not intended to limit the scope of the present invention. Changes and modifications may be made by one skilled in the art in accordance with the teachings of the present invention. However, such changes and modifications will not depart from the scope of the present invention. For example, the X-ray system 100 may include any other arc shapes, such as a G-arm, etc.

[0101] FIG. 2 is a schematic diagram illustrating typical hardware and/or software components for a typical computing device 200 on which processing device 120 may be implemented in accordance with some embodiments of the present invention. As shown in FIG. 2, computing device 200 may include a processor 210, a storage system 220, an input/output (I/O) 230, and a communications port 240.

[0102] The processor 210 may execute computer instructions (program code) and perform the functions of the processing device 120 in accordance with the methods described herein. Computer instructions may include, for example, routines, programs, objects, components, signals, data structures, procedures, modules, and functions that perform the specific functions described herein. For example, processor 210 may process data received from X-ray imaging machine 110, terminal 140, storage device 130, and/or any other components of MRI system 100. More specifically, processor 210 may process one or more sets of experimental data acquired from X-ray imaging apparatus 110. For example, processor 210 may perform one-dimensional (1D) correction or two-dimensional (2D) correction on the experimental data set(s). Processor 210 may reconstruct the image based on the experimental data set(s). In some embodiments, the reconstructed image may be stored in storage device 130, storage system 220, etc. In some embodiments, the reconstructed image may be displayed on the display device using I/O 230. In some embodiments, processor 210 may execute instructions received from terminal 140. In some embodiments, processor 210 may include one or more hardware processors, such as a microcontroller, microprocessor, reduced instruction set computer (RISC), application specific integrated circuits (ASICs), application specific processors (ASIPs), Central Processing Unit (CPU), Graphics Processing Unit (GPU), Physics Processing Unit (PPU), Microcontroller Unit, Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), Advanced RISC Processor (ARM), Programmable Logic Device (PLD) , any two-way communication channel or processor capable of performing one or more functions or the like, or any combination thereof.

[0103] For purposes of illustration only, only one processor is described in the computing device 200. However, it should be noted that the computing device 200 in the present invention may also include multiple processors, hence, operations and/or method steps that are performed by a single processor, such as described in the present invention may also be implemented jointly or separately by multiple processors. For example, if in the present invention the processor of computing device 200 executes both process A and process B, it should be understood that process A and process B may be executed by two or more different processors together or separately on computing device 200 (e.g., the first processor executes process A and a second processor are executing process B, or the first and second processors are jointly executing processes A and B).

[0104] The storage system 220 may store data/information received from the x-ray imaging machine 110, the terminal 140, the storage device 130, or any other component of the MRI system 100. In some embodiments, the storage system 220 may include a mass storage device, a removable storage device, read-write volatile memory, read-only memory (ROM), or the like, or any combination thereof. For example, a mass storage device may include a magnetic disk, an optical disk, a solid state drive, etc. A removable storage device may include a flash drive, floppy disk, optical disk, memory card, zip disk, magnetic tape, etc. Volatile read memory and recording may include random access memory (RAM). RAM may include dynamic RAM (DRAM), dynamic double clock RAM (DDR SDRAM), static RAM (SRAM), thyristor random access memory (T-RAM), compressed RAM (Z-RAM), and others. RAM may include Pattern Programmable ROM (MROM), Programmable ROM (PROM), Erasable Programmable ROM (PEROM), Electronically Programmable ROM (EEPROM), Compact Read Only Memory (CD-ROM), and Digital Versatile ROM, etc. In some embodiments, storage system 220 may store one or more programs and/or instructions for implementing exemplary methods described in the present invention. For example, storage system 220 may store a program for processing device 120 to reduce or remove one or more visual artifacts in an image.

[0105] The I/O 230 may input or output signals, data, and/or information. In some embodiments, I/O 230 may provide user interaction with processing device 120. In some embodiments, I/O 230 may include an input device and an output device. Typical input devices may include a keyboard, mouse, touch screen, microphone, or the like, or a combination thereof. Typical output devices may include a display device, a speaker, a printer, a projector, or the like, or a combination thereof. Exemplary display devices may include a liquid crystal display (LCD), light emitting diode (LED), flat panel display, curved display, television, cathode ray tube (CRT), or the like, or a combination thereof.

[0106] Communications port 240 may be connected to a network (eg, network 150) to facilitate data transfer. Communications port 240 may establish connections between processing device 120 and x-ray imaging machine 110, terminal 140, or data storage device 130. The connection may be a wired connection, a wireless connection, or a combination of both, which allows for data transmission and reception. The wired connection may include an electrical cable, an optical cable, a telephone cable or the like, or any combination thereof. The wireless connection may include Bluetooth, Wi-Fi, WiMax, WLAN, ZigBee, mobile network (eg, 3G, 4G, 5G, etc.) or the like, or a combination thereof. In some embodiments, communications port 240 may be a generic communications port, such as RS232, RS485, etc. In some embodiments, communications port 240 may be a custom communications port. For example, communication port 240 may be designed in accordance with the Digital Imaging and Communications in Medicine (DICOM) standard.

[0107] FIG. 3 is a schematic diagram illustrating typical hardware and/or software components of a typical mobile device 300 in accordance with some embodiments of the present invention. As illustrated in FIG. 3, mobile device 300 may include a communications platform 310, a display 320, a graphics processing unit (GPU) 330, a central processing unit (CPU) 340, I/O 350, memory 360, and storage 390. In some embodiments, any other suitable a component, including, but not limited to, a system bus or microcontroller (not shown), may also be included in the mobile device 300. In some embodiments, a mobile operating system 370 (e.g., iOS, Android, Windows Phone, etc.) and one or multiple information systems 380 may be loaded into memory 360 from storage system 390 for execution by CPU 340. Information systems 380 may include a browser or any other suitable mobile application for receiving and displaying information related to image processing or other information from processing device 120 User interaction with the information flow may be achieved through I/O 350 and presented to processing device 120 and/or other components of MRI system 100 via network 150.

[0108] To implement the various modules, assemblies, and functionality described herein, computer hardware platforms may be used as hardware platforms for one or more of the elements described herein. The hardware elements, operating systems and programming languages of such computers are conventional in nature, and it is believed that one skilled in the art will be sufficiently familiar with them to adapt these technologies to generate an image with reduced Nyquist ghost artifact as described in the invention . A computer with user interface elements can be used to implement a personal computer (PC) or other type of workstation or terminal device, although the computer can also act as a server if programmed accordingly. It is believed that one skilled in the art will be familiar with the structure, programming and general operation of such computer equipment and, as a result, the drawings should be self-explanatory.

[0109] FIG. 4 is a schematic diagram illustrating a typical X-ray system in a frontal position, and FIG. 5 is a schematic diagram illustrating a typical X-ray system in a lateral position, in accordance with some embodiments of the present invention. The x-ray system 400 may include a C-arm 410, an x-ray source 411, a detection component 412, and a platform (not shown). The X-ray source 411 may be configured to emit X-rays towards a target object. The detection component 412 may be configured to receive at least a portion of the x-rays transmitted through the target object. The platform may be configured to accommodate a target object, and the platform may be positioned between the x-ray source 411 and the detection component 412. The C-arm 410 may be configured to support the detection component 412 and the x-ray source 411.

[0110] The C-arc 410 may be non-isocentric. The C-arm 410 may be configured with at least two perspectives (eg, first perspective, second perspective). The C-arm 410 may be rotated from one perspective to another perspective about the center of the C-arm 410. The X-ray system 400 may be configured to determine an anatomical image from each perspective by scanning at least a portion of the target object. The anatomical image may indicate the health status of the region of interest (ROI) 440 of the target object. X-ray system 400 may also include a first positioning component. The first positioning component may be configured to determine a target point where the target object ROI 440 is located, placing the center of the ROI 440 at or near the target point before scanning, and then obtaining an anatomical image in which the ROI 440 is located near or in the center. More specifically, the first positioning component may be configured to facilitate the process of determining the location of the ROI 440 from at least two perspectives.

[0111] The first positioning component may include a first laser component 420 and a second laser component 430. The first laser component 420 may be mounted on an x-ray source 411 or on a detection component 412. The first laser component 420 may be configured to emit a first laser beam 422 The propagation path of the first laser beam 422 can match the X-rays emitted by the X-ray source 411 by adjusting the installation location and/or the emission angle of the first laser component 420. Therefore, the first laser beam 422 can be configured to recognize the propagation path of the X-rays emitted by the x-ray source 411. A second laser component 430 may be mounted at an internal position of the C-arc 410. The second laser component 430 may be configured to emit a second laser beam 432. The second laser beam 432 and the first laser beam 422 may intersect at a point , and this point may represent a target point at which the ROI 440 of the target object is located before scanning. Therefore, ROI 440 may be near or at the center of the anatomical images defined in the first perspective and the second perspective.

[0112] The configuration of the first positioning component (e.g., the first laser component 420 and the second laser component 430) may facilitate detection of a target point where the target object ROI 440 is located based on the first laser beam 422 and the second laser beam 432 instead of emitting multiple x-rays to obtaining anatomical images of target objects and adjusting the positions of the C-arm 410 based on the acquired anatomical images. When the target object ROI 440 is located at the target point, the ROI 440 may be near the centers or centimeters of the anatomical images acquired in the first perspective and the second perspective, and therefore the ROI 440 located outside the anatomical image or the ROI 440 lying in a position that is not near the center of the anatomical image can be excluded.

[0113] In some embodiments, the angle between the first laser beam 422 and the second laser beam 432 may be equal to the angle between the first perspective and the second perspective such that the x-rays may pass through the center (for example, point F shown in FIGS. 4 and 5 ) ROI 440. For example, the angle could be 90°. Since the propagation path of the second laser beam 432 at the first perspective may be the same as the propagation path of the x-rays (or the first laser beam 422) at the second perspective, and the distance from the end of the C-arc 410 to the center of rotation (eg, point O) may remain the same and Likewise, the distance from the center of rotation to the first laser beam 422 may be equal to the distance from the center of rotation to the second laser beam 432, which may improve the accuracy of determining the target point where the target object ROI 440 is located.

[0114] In some embodiments, the C-arm 410 may be rotated in the direction of multiple perspectives. A plurality of second laser components 430 may be mounted along the inner side of the C-arc 410. Each second laser component 430 may correspond to two perspectives. Before scanning, an operator (eg a doctor) can select two perspectives from a variety of perspectives based on practical requirements. The operator may select a second laser component 430 corresponding to the first laser component 420 from a plurality of second laser components 430 based on two perspectives. The target point where the target object ROI 440 is located can be determined based on the first laser component 420 and the selected second laser component 430. Therefore, after determining the anatomical image in the first perspective, the C-arm 410 can be rotated directly to the second perspective to determine the anatomical image on the second perspective without any other location settings, resulting in an easier process of determining the target point for at least two perspectives.

[0115] As shown in FIG. 4, the x-ray system 400 may be in a frontal position, the C-arm 410 may be in a vertical position, and the detection component 412 may be at the upper end of the C-arm 410. The x-ray source 411 may be at the lower end of the C-arm 410. As shown. in FIG. 5, the X-ray system 400 may be in a lateral position, and the C-arm 410 may be in a horizontal position. The detection component 412 may be located at the left end of the C-arc 410, and the x-ray source 411 may be located at the right end of the C-arc 410. In some embodiments, the x-rays emitted by the x-ray system 400 may be a conical beam. The first x-ray beam emitted by the x-ray source 411 when the C-arm 410 is in a frontal position and the second x-ray beam emitted by the x-ray source 411 when the C-arm 410 is in a lateral position may have an overlap region. Therefore, when the intersection point of the first laser beam 422 emitted by the first laser component 420 and the second laser beam 432 emitted by the second laser component 430 is within the intersection area, this intersection can be designated as a target point where the target object ROI 440 is located.

[0116] In some embodiments, the first central axis of the first x-ray beam and the second central axis of the second x-ray beam may intersect at a point (eg, point E, as shown in FIGS. 4 and 5). This point can be designated as a target point. If the target object ROI 440 is at the target point, the ROI 440 may be at the center of the front image or the side image. In some embodiments, one of the first laser beam 422 and the second laser beam 432 may be in the shape of a cross, and the other beam may be in the shape of a slit. Therefore, the two planes defined by the cross-shaped laser beam and the plane defined by the slit-shaped laser beam can intersect at the target point. The X-ray system 400 described above can make localization of a target point more accurate and observation more convenient, thereby eliminating unwanted irradiation towards the target object and improving the work efficiency of an operator (eg, a doctor).

[0117] In some embodiments, a laser beam (eg, first laser beam 422, second laser beam 432) with a cross shape may be emitted by a cross laser generator or two perpendicular slot laser generators. In some embodiments, the first laser component 420 may include two slot laser generators configured to emit a cross-shaped laser beam, and the two slot laser generators may be mounted on the outside of the detection component 412, respectively. The second laser component 430 may include a slit laser generator configured to emit a laser beam shaped like a slit. In some embodiments, the first laser component 420 and the second laser component 430 may be point laser generators, each laser beam of which is a straight line. The target point can be determined based on the intersection of two straight lines. The structure of the X-ray system described above may be simpler, the location accuracy of the target point determined by the X-ray system may be lower relative to the X-ray system including a cross laser generator or two perpendicular slot laser generators. In some embodiments, the configuration of the first laser component 420 and the second laser component 430 may produce a first intersection line associated with the first laser component 420 near or coincident with the center of the x-ray beam when the C-arm 410 is in a frontal position. The sector emitted by the laser oscillator in the XOY plane and the sector emitted by the laser oscillator in the ZOY plane may intersect at the first intersection line. Moreover, the sector emitted by the laser oscillator of the second laser component 430 in the XOY plane may include a point E and a second intersection line between the point E and the intersection point of the C-arc 410 along the X-axis.

[0118] In some embodiments, the x-ray system 400 may include the first positioning component described above, a position detection device, and a prompt device (not shown in FIGS. 4 and 5). A position detection device may be mounted on the C-arm 410 and configured to detect a rotation angle of the C-arm 410. A prompt device may be mounted on the position detection device and configured to prompt a rotation angle. For example, when detecting that the C-arm 410 is rotated to a frontal position or a lateral position, the position detection device may detect the position of the C-arm 410, and transmit the position information to the microcontroller. The microcontroller may control the prompting device to generate a signal indicating that the C-arc 410 is in the appropriate positions, thereby preventing excessive rotation of the C-arc 410. Moreover, the first laser component 420 and the second laser component 430 may be laser generators, for example, laser radiation, thereby simplifying the X-ray system 400 and operations and reducing costs.

[0119] FIG. 6 is a schematic diagram illustrating a typical propagation path of an x-ray beam emitted by an x-ray source and a typical propagation path of a first laser beam emitted by a first laser component, in accordance with some embodiments.

[0120] As shown in FIG. 6, the x-ray source 411 may include an x-ray component 411-1 and a laser control component 411-2. The X-ray component 411-1 may be configured to emit X-rays towards a target object. The laser control component 411-2 may be located below the x-ray component 411-1. The laser control component 411-2 may include a reflector 411-3 and a first laser component 420. The reflector 411-3 may be inclined, and the first laser component 420 may be located on one side of the reflector 411-3. X-rays emitted by the X-ray component 411-1 may pass through the rear surface of the reflector 411-3, therefore, the propagation path of the X-rays emitted by the X-ray component 411-1 may be the same as the propagation path of the X-rays after being reflected by the reflector 411-3 . The first laser beam 422 emitted by the first laser component 420 may pass through the front surface of the reflector 411-3, therefore, the propagation path of the first laser beam 422 emitted by the first laser component 420 may be different from the propagation path of the laser beam 422 after reflection by the reflector 411-3 , and the propagation path of the laser beam 422 after being reflected by the reflector 411-3 may be the same as the propagation path of X-rays emitted by the X-ray component 411-1. The structure of the x-ray source 411 described above can ensure that the propagation path of the laser after being reflected by the reflector 411-3 can match the propagation path of the x-rays emitted by the x-ray component 411-1, and eliminate the placement of the first laser component 420 under the x-ray component 411-1 , which may cause some X-rays to be blocked.

[0121] In some embodiments, the first laser component 420 may be mounted on the detection component 412, for example, on the exterior of the detection component 412, thereby eliminating the impact on the imaging of the detection component 412 and simplifying the design and installation of the first laser component 420.

[0122] FIG. 7 is a flowchart illustrating a process for determining a target point where a region of interest (ROI) of a target object is located, in accordance with some embodiments of the present invention.

[0123] At block 710, the C-arm (eg, C-arm 410) may be rotated to a frontal position. The frontal position may correspond to the first perspective. The first perspective may be selected in accordance with a practical requirement related to the ROI (eg, ROI 440 described above) of the target object.

[0124] At block 720, a first laser component (eg, first laser component 420 described above) and a second laser component (eg, second laser component 430 described above) may be initiated. The first laser component may emit a first laser beam (eg, the first laser beam 422 described above). The second laser component may emit a second laser beam (eg, the second laser beam 432 described above).

[0125] The target point may be determined based on the intersection between the first laser beam emitted by the first laser component and the second laser beam emitted by the second laser component. A region of interest (ROI) of the target object can be placed at the target point. An anatomical image of the ROI relative to the first perspective can then be obtained.

[0126] In some embodiments, the C-arm may be rotated to a second perspective different from the first perspective. A region of interest (ROI) of the target object can also be placed at the target point. An anatomical image of the ROI relative to the second perspective can then be obtained.

[0127] Anatomical images of the ROI relative to the first perspective and the second perspective can be acquired simultaneously, and the ROI can be near or at the center of the anatomical images, therefore, the operator may not need to adjust the C-arm, scanning time can be shortened, the target object ( eg patient) can avoid unwanted radiation exposure and operator efficiency can be improved.

[0128] In the prior art, an x-ray system may be configured to scan a target object and then obtain an anatomical image of the target object. The anatomical image can indicate the health status of the target, and the anatomical image can be used to assist in performing a surgical operation. An X-ray system typically cannot navigate a surgical procedure, and therefore, an additional navigation device may be necessary to assist the operator in navigating a surgical procedure (eg, surgical knife, surgical site). In this case, the operator can determine the location of the surgical knife and/or the surgical position by repeated scanning, which can result in a relatively large amount of radiation for the operator and the target object and be harmful to them. FIG. 8 and 9 are schematic diagrams illustrating a typical x-ray system in accordance with some embodiments of the present invention. The X-ray system 800 may navigate a surgical procedure. The x-ray system 800 may include a detection component 810, an x-ray source 820, a C-arm 830, and a third positioning component 840. The x-ray source 820 may be configured to emit x-rays toward a target object. The detection component 810 may be configured to receive at least a portion of the x-rays passing through the target object. The C-arm 830 may be configured to support a detection component 810 and an x-ray source 820.

[0129] The third positioning component 840 is configured to obtain information about the position of a target device associated with a target object in real time. The target device may include surgical equipment, such as a surgical knife. The third positioning component 840 may include at least two positioning detectors 841.

[0130] The third positioning component 840 may be integrated into the x-ray system 800. It should be noted that the third positioning component 840 may be integrated into a position of the x-ray system from which surgery on the target object can be controlled. The third positioning component 840 may forward information about the location of the target device to an image processing station (eg, processing device 120). The imaging station can virtually display information about the location of a target device on an anatomical image, thereby navigating the surgical procedure and guiding the operator during the surgical procedure.

[0131] The third positioning component 840 may include at least two positioning detectors (eg, positioning detector 841, as shown in FIGS. 10 and 11). Position detectors may include various types of position detectors. For example, positioning detectors may include optical positioning detectors, such as infrared detectors. Taking the operating equipment as the target device, when the positioning detectors are an infrared detector, the operating equipment may have an infrared source matched to the infrared detector, the operating equipment may, in addition or alternatively, have a reflector that can passively reflect the infrared rays. Infrared rays emitted or reflected by the operating equipment can be collected by an infrared detector, resulting in real-time information about the location of the infrared source or reflector of the operating equipment. In some embodiments, the length of the operating equipment, the relative position of the end of the operating equipment and the infrared source or reflector can be determined in advance, thereby determining the location of the operating equipment and guiding the surgical procedure. In some embodiments, a locator may be mounted at the end of the operating equipment. The locator may include at least three infrared emitting balls or at least three infrared reflecting balls. Positioning detectors (eg, cameras) may track the locations of at least three infrared emitting balls or at least three infrared reflecting balls, thereby determining the relative position of the end of the operating equipment.

[0132] In some embodiments, the positioning detector may also include laser positioning detectors, precision cameras, etc. In some embodiments, the positioning detector may include non-optical positioning detectors, such as magnetic field sensors. A magnetic field sensor can be installed on the target device. The magnetic field source can generate a magnetic field, and the magnetic field sensor can receive a signal emitted by the magnetic field source, thereby detecting the location and spatial arrangement and position of the magnetic field sensor.

[0133] In some embodiments, the third positioning component 840 may be installed at at least one location of the x-ray system 800. In some embodiments, as shown in FIG. 8, a third positioning component 840 may be mounted on the detection component 810. For example, a third component 400 may be mounted on an end of the detection component 810.

[0134] In some embodiments, as shown in FIG. 9, the third positioning component 840 may be mounted on the x-ray source 820. For example, the third component 400 may be mounted on the end of the x-ray source 820.

[0135] In some embodiments, the third positioning component 840 may be mounted on the C-arm 830 of the x-ray system 800. The C-arm 830 may be rotated along different axes of rotation, thereby scanning the target object from different angles. In a certain embodiment, the third positioning component 840 may be mounted at a location that is relatively close to the end of the C-arm 830, and that location may be on the top side of the platform so that the third positioning component 840 can navigate the surgical procedure.

[0136] The space for installing position detectors may be limited and the distance between different position detectors may be small, resulting in inaccurate localization of operating equipment. In some embodiments, the at least two positioning detectors may be movable to adjust at least two distances between the at least two positioning detectors, thereby ensuring accurate navigation of the surgical procedure.

[0137] At least two distances between at least two position detectors can be configured using different structures. FIG. 10 and 11 are circuit diagrams illustrating an example of a third positioning component in accordance with some embodiments of the present invention. As shown in FIG. 10 and 11, the third positioning component 840 may include at least one reciprocating rod 842. The end of each of the at least one reciprocating rod 842 may be mounted, for example, on a C-arm 830. One detector positioning detectors 841 may be mounted on an end that is relatively far away, for example from the C-arm 830, of one reciprocating rod of at least one reciprocating rod 842.

[0138] In some embodiments, the number of at least one reciprocating rod 842 may be 1, 2, or more. For example, if the number of positioning detectors 841 is 2, and the distance between two positioning detectors 841 needs to be adjusted, one of the two positioning detectors 841 may be installed at a position of the x-ray system relatively far from the position of the x-ray system 800, and the other of the two positioning detectors 841 may be mounted at the position of the x-ray system, thereby adjusting the distance between the two positioning detectors 841. In addition or alternatively, the number of at least one reciprocating rod 842 may be 2, and two positioning detectors 841 may be mounted at the end that is away from the position of the reciprocating rod 842, thereby adjusting the distance between the two position detectors 841 using the two reciprocating rods 842.

[0139] In some embodiments, the number of at least one reciprocating rod 842 may equal the number of position detectors 841, resulting in the setting of at least one distance between position detectors 841 being more flexible.

[0140] In some embodiments, the end of the reciprocating rod(s) 842 may be directly secured to a position of the x-ray system 100. For example, the end of the reciprocating rod(s) 842 may be directly secured to the detection component 810. X-ray source 820 or C-arc 830.

[0141] In some embodiments, the number of position detectors 841 may be 3, and the number of corresponding reciprocating rods 842 may also be 3. The three reciprocating rods 842 may be secured collectively using a ring holder. Three reciprocating bars 842 may be mounted along the edge of the ring holder, and each of the three reciprocating bars 842 may extend along a plane of the ring holder. The end of each of the reciprocating rods 842 may be attached to a ring holder. Three position detectors 841 may be mounted on the other end of each of the three reciprocating rods 842. The ring holder may be mounted on the outer periphery of the detection component 810, the outer periphery of the x-ray source 820, or the outer periphery of the C-arm 830.

[0142] In some embodiments, the reciprocating rod(s) 842 may be secured generally by a base. When the number of positioning detectors 841 is 2, the number of corresponding reciprocating rods 842 may be 2. The two reciprocating rods 842 may be arranged in a slot shape, a T shape, a cross shape. The end of each of the two reciprocating rods 842 may be connected to the base. Two position detectors 841 may be mounted on the other end of each of the reciprocating rods 842. The base may be mounted on the outer surface of the detection component housing 810 or on the inner surface of the detection component housing 810. The base may also be mounted on the outer surface of the component housing detection 810 or the interior surface of the x-ray source housing 820. The base may also be mounted on the C-arm 830.

[0143] When the distance between the positioning detectors 841 needs to be adjusted, the reciprocating length of the reciprocating rod(s) 842 can be adjusted, thereby adjusting the distance between the two positioning detectors 841.

[0144] In some embodiments, the reciprocating rod(s) 842 may/may include at least one electric reciprocating rod, thereby automatically adjusting the distances between the position detectors 841. In some embodiments, the at least one electric reciprocating rod may be provided with at least one encoder to control the adjustment of the distances in real time.

[0145] In some embodiments, position detector 841 may include at least one rail. At least two of the position detectors 841 may slide on at least one rail.

[0146] In some embodiments, at least one rail may be mounted on detection component 810, x-ray source 820, or C-arm 830. Each of at least one rail may be shaped like a slot, a letter shape T, cross shape, etc., at least two of the positioning detectors 841 may slide on at least one rail, thereby adjusting the distances between the positioning detectors 841 based on practical need. Therefore, navigation accuracy can be improved. In some embodiments, each of the at least one rail may include a groove structure, a carriage structure.

[0147] In some embodiments, the rail guide may include a reciprocating rail guide. Therefore, the range for setting the distances between the positioning detectors 841 can be increased and the area of the guide rail can be reduced, for example, by using a reciprocating rail track structure.

[0148] The third positioning component 840 can be directly integrated into the x-ray system in the present invention, thereby eliminating the placement of an additional navigation cart in the operating room and saving operating room space. When the X-ray system 800 is used for navigation, an anatomical image of a target object may first be acquired, and information about the location of the target object may be overlaid and displayed on the anatomical image for the purpose of navigation.

[0149] The prior art may require registration of the x-ray system. Three points on at least one flat detector of the x-ray system can be determined using a positioning pin, and the additional navigation device can collect data about the spatial location of the flat detector, thereby registering the additional navigation device with the x-ray system. In the present invention, the third positioning component 840 can be integrated into the X-ray system 800, and therefore, the location information of the X-ray system 800 determined by the third positioning component 840 and the anatomical image can have a relatively high compatibility and degree of correspondence. In addition, image transmission is relatively fast, which effectively improves navigation accuracy as a result.

[0150] FIG. 12 is a circuit diagram illustrating a typical X-ray system, and FIG. 13 is a schematic diagram illustrating a typical propagation path of an x-ray beam emitted by an x-ray source and a typical propagation path of a first laser beam emitted by a first laser component, in accordance with some embodiments of the present invention. The x-ray system 1200 may include an x-ray source 1231, a C-arm 1230, a detection component 1232, and a platform 1250. The x-ray source 1231 may be configured to emit x-rays towards a target object. The detection component 1232 may be configured to receive at least a portion of the x-rays passing through the target object. Platform 1250 may be configured to support detection component 1232 and an x-ray source. The C-arm 1230 may be configured to support a detection component 1232 and an x-ray source. Some of the components of the x-ray system 1200 (e.g., detection component 1232, platform 1250) may be similar to the components of the x-ray system 400 or 800.

[0151] As shown in FIG. 12 and 13, the x-ray system 1200 may also include a second positioning component 1220 and a laser emitter component 1310. The laser emitter component 1310 may be mounted on the x-ray source 1231 and configured to emit a laser beam (also referred to as a “positioning beam”). The projection of the laser beam onto the target object may have a first predetermined pattern. In some embodiments, an array of grids may be provided within the laser emitting component 1310, thereby generating a laser beam whose projection includes the grids when the laser beam penetrates the array. The second positioning component 1220 may be positioned between the detection component 1232 and the platform 1250. In some embodiments, the C-arm 1230 may be configured with at least one holder, and the second positioning component 1220 may be secured by the holder(s). The surface of the second positioning component 1220 may display a pattern.

[0152] The X-ray system 1200 may provide at least one anatomical image associated with a target object by emitting X-rays in the direction of the target object. The anatomical image may show the physical condition of at least a portion of the target object. If something is wrong with at least part of the target object, the location of the lesion can be determined based on the anatomical image. A superimposed image can be obtained by superimposing a template and an anatomical image. Before placing the target object on the platform 1250, the first predetermined pattern may be checked to match or adjusted to match the pattern of the second positioning component, and the laser beam path may be checked to match or adjusted to match the second x-ray beam path. The target point can then be determined after the laser emitting component 1310 fires a laser beam towards the target object, based on the anatomical image and template. The target point may be a point corresponding to the site of the lesion, and surgery may be performed on the target site. As a result, the X-ray system 1200 described above can facilitate an operator (eg, a physician) to localize a target point (eg, a lesion site) of a target object.

[0153] In some embodiments, as shown in FIG. 13, the x-ray source 1231 may include an x-ray component 1330-1 and a laser control component 1330-2. The X-ray component 1330-1 may be configured to emit X-rays towards a target object. The laser component 1330-2 may be located below the x-ray component 1330-1. The laser component 1330-2 may include a reflector 1330-3 and a laser emitting component 1310. The reflector 1330-3 may be inclined, and the laser emitting component 1310 may be located on one side of the reflector 1330-3. The propagation path of x-rays emitted by the x-ray component 1330-1 may be the same path as the propagation path of x-rays after reflection by the reflector 1330-3. The propagation path of the laser beam emitted by the laser emitting component 1310 may be different from the propagation path of the laser beam after reflection by the reflector 1330-3, and the propagation path of the laser beam after reflection by the reflector 1330-3 may be the same as the propagation path of x-rays emitted by the x-ray component 1330-1 . The structure of the x-ray source 1231 described above can ensure that the propagation path of the laser after being reflected by the reflector 1330-3 can match the propagation path of x-rays emitted by the x-ray component 1330-1, and eliminates the placement of the laser emitting component 1310 under the x-ray component 1330-1 , which can lead to blocking of some X-rays. In some embodiments, laser emitting component 1310 may include a laser lamp. The pattern of the laser emitted by the laser lamp may be in the form of grids, and the configuration may contribute to the structure of the second positioning component 1220 in determining the target point of the target object.

[0154] In some embodiments, the second positioning component 1220 may be located on a surface of the detection component 1232 facing the platform 1250, which makes the distance between the second positioning component 1220 and the detection component 1232 closer. The size of the second positioning component 1220 may be approximately equal to the size of the template projected onto the detection component 1232, which reduces the effect of magnification on the second positioning component 1220 and improves the accuracy of target point localization.

[0155] In some embodiments, the second positioning component 1220 may be made of a (soft) metal, such as aluminum, copper. The second positioning component 1220, made of soft metal, may have relatively good flexibility suitable for folding when there is no need to use the second positioning component 1220. The X-ray system 1200 may also include a human-computer interaction module. The human-computer interaction module may be configured to set the second positioning component 1220 to a preoperative mode before surgery to determine a target point and exit the preoperative mode once the target point is determined. The human-computer interaction module may include a control panel and an operation button.

[0156] The second positioning component 1220 may not require attachment to the surface of the target object, which as a result simplifies the process of detecting the location of the target point of the target object and improves the efficiency of the operation. The second positioning component 1220 may be placed between the detection component 1232 and the platform 1250, and the magnification ratio of the grids of the second positioning component 1220 can be relatively small, therefore, the grids of the second positioning component 1220 can be made relatively finer than the grids in the prior art. As a result, the target point of the target object can be localized in one go, and the result can be more accurate. In addition, the time it takes for the X-ray beam to be emitted towards the target object can be reduced.

[0157] FIG. 14 is a circuit diagram illustrating a typical pattern of the second positioning component, and FIG. 15 is a schematic diagram illustrating a typical anatomical image associated with a typical second positioning component template, in accordance with some embodiments of the present invention.

[0158] The template may include at least one laser marker (not shown in FIGS. 12-15). At least one laser marker may be applied to the grid grid. At least one laser marker can be placed at the intersections of the grids in accordance with a given shape. For example, at least one laser marker may be positioned in a cross pattern at the intersections of the grids. The second positioning component 1220 may include at least one positioning marker 1221. Each of the positioning markers 1221 may correspond to at least one of one laser marker. The configuration of the positioning marker(s) 1221 may facilitate the operator to localize the target point of the target object based on the anatomical image. The at least one laser marker projected onto a target object may facilitate an operator to localize a target point (eg, a puncture point) of a target object for an operation (eg, a puncture procedure). As shown in FIG. 14 and 15, positioning marker(s) 1221 may be positioned in a cross pattern at grid intersections. It should be noted that the above description of the location of the positioning marker(s) 1221 is presented for purposes of illustration and does not limit the scope of the present invention. The location of the positioning marker(s) 1221 may be in any other suitable form. In addition, the shape of the grids of the second positioning component 1220 and/or the laser beam grids may include triangle, square, quadrilateral, polygon, circle, curve, concentric circles, etc. When the grid shape is a square, it may make it easier for the operator to detect and locate the target point target object.

[0159] FIG. 16-19 are schematic diagrams illustrating typical second positioning components in accordance with some embodiments of the present invention.

[0160] As shown in FIG. 16-19, the x-ray system 1200 may include a movement device. The movement device may be configured to move the second positioning component 1220 from a surface of the detection component 1232 facing the platform 1250. For example, the movement device may move the second positioning component 1220 using mechanical arms, cylinders, etc. In some embodiments, the movement device may include transmission mechanism 1640. The transmission mechanism 1640 may be configured to place a second positioning component 1220 on the detection component 1232 upon entering the pre-operational mode and collapsing the second positioning component 1220 on the detection component 1232 upon exiting the pre-operational mode. The transmission mechanism 1640 may include at least one transmission wheel. At least one transmission wheel may be coupled to the second positioning component 1220. In some embodiments, as shown in FIG. 16 and 17, the end of the second positioning component 1220 may be fixed to the transmission wheel. When detecting an entry into the pre-operational mode, the transmission mechanism 1640 may extend the second positioning component 1220. When detecting an exit from the pre-operating mode, the transmission mechanism 1640 may retract the second positioning component 1220 onto the transmission wheel. In some embodiments, as shown in FIG. 18 and 19, when the second positioning component 1220 is in use, the transmission mechanism 1640 may place the second positioning component 1220 on the detection component 1232. When there is no need to use the second positioning component 1220, the transmission mechanism 1640 may hide the second positioning component 1220 on the surface of the detection component 1232 facing from platform 1250. It should be noted that the above description of transmission mechanism 1640 is presented for illustrative purposes and is not intended to limit the scope of the present invention. The transmission mechanism 1640 may include any suitable structure that allows the second positioning component 1220 to be positioned or retracted. The configuration of the transmission mechanism 1640 may facilitate the use of the x-ray system and reduce the time required for an operator to perform a surgical procedure. In addition, the second positioning component 1220 may have little impact on the normal anatomical imaging process associated with the target object, thereby increasing the usability of the x-ray system.

[0161] FIG. 20 is a flowchart illustrating a method for determining a target point in accordance with some embodiments of the present invention.

[0162] At block 2010, a second positioning component 1220 may be positioned between the detection component 1232 and the target object. In some embodiments, the transmission mechanism 1640 may move the second positioning component 1220 to the target-facing surface of the detection component 1232 upon detecting that a pre-op mode has been established.

[0163] At block 2020, an overlay image may be obtained. The overlay image may include an anatomical image associated with the target object and a pattern of the second positioning component 1220 formed on the surface of the target object. In some embodiments, an anatomical image may be obtained by projecting a detector beam in the direction of a target object.

[0164] At block 2030, a lesion location associated with a target object may be determined based on an anatomical image or an overlay image. At block 2040, a target point corresponding to the lesion location may be determined based on the superimposed image and the first predetermined pattern determined by projecting a positioning beam to the target object. The positioning beam may be emitted by the laser emitting component. Once the target point is identified, the preoperative mode can be exited and the operator can perform surgery at or near the target point.

[0165] The target point can be determined based on the relationship between the first specified pattern and the pattern of the second positioning component 1220, which results in improved accuracy and reduced operator operating time for determining the target point and shortened irradiation time towards the target object.

[0166] FIG. 21 is a flowchart illustrating a typical processing device 120 in accordance with some embodiments of the present invention. The processing device 120 may include an image determination module 2110, a template overlay module 2120, a template generation module 2130, and a point determination module 2140.

[0167] The image determination module 2110 may be configured to obtain an anatomical image associated with a target object. The anatomical image may show the physical condition of at least a portion of the target object. In some embodiments, image detection module 2110 may determine an anatomical image by projecting a detector beam in the direction of a target object. The image detection unit 2110 may project a detection beam when receiving a command to project the detection beam.

[0168] Template overlay module 2120 may be configured to overlay a first template onto an anatomical image. The first pattern may include a plurality of first repeating shapes. An anatomical image can be divided into many parts using first repeating shapes. The first template may be used to mark at least one point (eg, a lesion location) of a target object based on the first repeating shapes. In some embodiments, template overlay module 2120 may determine at least one location of at least one target object point relative to any control element of the first template. For example, the control element may include a dot on the first pattern, a line on the first pattern, etc. In some embodiments, the first pattern may include at least one marker. The at least one marker may be used to mark at least one point (eg, a lesion location) of the target object. The at least one marker may include grid intersection points, short lines, circles, etc.

[0169] The pattern generating module 2130 may be configured to form a second pattern on the surface of a target object by projecting a positioning beam toward the target object. The positioning beam may be a laser beam. The laser beam may be a collection of induced photons. The second pattern may include a plurality of second repeating shapes, and the second pattern may be the same as the first pattern. In some embodiments, the size of each first repeating shape of the first pattern may be proportional to the size of each second repeating shape of the second template, for example, with a ratio of 1.5:1, 1.2:1, etc.

[0170] The point determination module 2140 may be configured to determine a target point based on the anatomical image and the second template. The target point may be a point where surgery is performed.

[0171] In some embodiments, point determination module 2140 may determine a lesion location associated with a target object based on an anatomical image. If something is wrong with at least part of the target object, the location of the lesion can be determined based on the anatomical image. The point determination module 2140 can then determine a target point on the second template grid based on the location of the lesion. The target point may be a point on the second template or surface of the target object corresponding to the location of the lesion on the anatomical image and the first template.

[0172] In some embodiments, point determination module 2140 may first determine a relationship between a plurality of first points on the first template grids and a plurality of second points corresponding to the plurality of first points on the second template grids. For example, the ratio may include a direct proportional relationship (e.g., 1.5:1, 1.2:1), an inverse proportional relationship, a logarithmic relationship, etc. Point determination module 2140 can then determine a target point on the second template grids based on the location of the lesion and this ratio.

[0173] In some embodiments, point determination module 2140 may obtain diagnostic information associated with a target object. The diagnostic information may be associated with an anatomical image or any other examination finding associated with a target entity that indicates the physical condition of at least a portion of the target entity. The point determination module 2140 can then determine the lesion location associated with the target object based on the diagnostic information.

[0174] FIG. 22 is a flow chart illustrating a method for determining a target point of an x-ray system in accordance with some embodiments of the present invention. The x-ray system may include an x-ray source, a C-arm, a detection component, and a platform. The functions of the x-ray source, C-arm, detection component, and platform may be similar to the functions of the x-ray source, C-arm, detection component, and platform described for the x-ray system 400, x-ray system 800, or x-ray system 1200.

[0175] The x-ray source may further include an x-ray component, a laser control component, and a reflector. The structure and functions of the X-ray component, laser control component, and reflector may be similar to those of the X-ray component 1330-1, laser control component 1330-2, and reflector 1330-3, respectively. As shown in FIG. 13, the laser control component 1330-2 may be located on the side of the x-ray component 1330-1 and cannot be placed within the range in which the x-ray component 1330-1 emits x-rays, thereby preventing overlap of at least a portion of the x-rays. rays. In some embodiments, reflector 1330-3 may be placed within the range in which x-ray component 1330-1 emits x-rays. The propagation path of the laser beam emitted by the laser emitting component may be changed when passing through the reflector, and the changed propagation path may be the same as the propagation path of the x-ray beam emitted by the x-ray source.

[0176] At block 2210, image determination module 2110 may determine an anatomical image associated with a target object. The anatomical image may show the physical condition of at least a portion of the target object.

[0177] The image detection module 2110 may determine an anatomical image by projecting a detection beam towards a target object. The detector beam may be an x-ray beam emitted by an x-ray source. An X-ray can be a stream of particles created when electrons pass between two very different energy levels in an atom. An X-ray can be an electromagnetic wave having a wavelength between ultraviolet rays and gamma rays.

[0178] The image determination module 2110 may project a detection beam when receiving a command to project the detection beam. In some embodiments, a command may be automatically generated upon detection that a target object has been placed on the platform. In some embodiments, a command may be automatically generated upon detection that a target object has been placed on the platform and has not been moved within a specified time. In some embodiments, the command may be created by an operator (e.g., a physician) via network 150.

[0179] At block 2220, template overlay module 2120 may overlay a first template on the anatomical image. The first pattern may include a plurality of first repeating shapes. An anatomical image can be divided into many parts using first repeating shapes. The first template may be used to mark at least one point (eg, a lesion location) of a target object based on the first repeating shapes. In some embodiments, template overlay module 2120 may determine at least one location of at least one target object point relative to any control element of the first template. For example, the control element may include a dot on the first pattern, a line on the first pattern, etc. In some embodiments, the first pattern may include at least one marker. The at least one marker may be used to mark at least one point (eg, a lesion location) of the target object. The at least one marker may include grid intersection points, short lines, circles, etc.

[0180] At block 2230, pattern generating module 2130 may form a second pattern on the surface of a target object by projecting a positioning beam toward the target object. The positioning beam may be a laser beam. The laser beam may be a collection of induced photons. The second pattern may include a plurality of second repeating shapes, and the second pattern may be the same as the first pattern. In some embodiments, the size of each first repeating shape of the first pattern may be proportional to the size of every second repeating shape of the second template, for example, with a ratio of 1.5:1, 1.2:1, etc.

[0181] In some embodiments, the first template or the second template may include grids. For example, the meshes may comprise meshes including regular polygons, meshes including irregular polygons, meshes including circles, etc. As another example, the first template or the second template may include a plurality of closed shapes arranged from outside to inside. . The closed shapes may include circles, regular polygons, irregular polygons, etc. It should be noted that the above description of the first pattern and/or the second pattern is provided for purposes of illustration and is not intended to limit the scope of the present invention. The first template and/or the second template may be any template with suitable shapes.

[0182] In some embodiments, template generation module 2130 may project a positioning beam upon receiving a command to project the positioning beam. In some embodiments, a command may be automatically generated upon detection that a target object has been placed on the platform. In some embodiments, a command may be automatically generated upon detection that a target object has been placed on the platform and has not been moved within a specified time. In some embodiments, the command may be created by an operator via network 150.

[0183] In some embodiments, the template generating module 2130 may generate a second template on the surface of a target object by projecting a marker beam onto the target object. The marker beam may be emitted by a laser device (eg, a laser emitting component, a laser lamp) mounted on the C-arm.

[0184] At block 2240, point determination module 2140 may determine a target point based on the anatomical image and the second template. The target point may be a point where surgery is performed.

[0185] In some embodiments, the positioning beam may be adjusted based on the first pattern and the second pattern projected by the positioning beam. When the target object is not placed on the platform, it may be necessary to match the second pattern projected by the positioning beam with the first pattern so that the target point can be determined based on the location of the lesion. In some embodiments, a metal mesh array may be placed on the surface of the detection component. A reference image can be obtained by emitting X-rays in the direction of the grating. The reference image may include the first template. After emitting a positioning beam in the direction of the grating, the relationship between the first pattern and the second pattern can be determined. The positioning beam can be adjusted if the second pattern in the reference image does not match the first pattern.

[0186] It should be noted that the above description is presented for purposes of illustration and is not intended to limit its scope. Many changes and modifications can be made by one skilled in the art following the teachings of the present invention. However, such changes and modifications are within the scope of the present invention. For example, the detector beam and the positioning beam may be fired simultaneously. As another example, a positioning beam may be fired in front of the detector beam.

[0187] FIG. 23 is a flowchart illustrating a method for determining a target point associated with a target object in accordance with some embodiments of the present invention.

[0188] At block 2310, point determination module 2140 may determine a lesion location associated with a target object based on the anatomical image. As described at block 2210, the anatomical image may show the physical condition of at least a portion of the target object. If something is wrong with at least part of the target object, the location of the lesion can be detected based on the anatomical image. Since the first template is overlaid with an anatomical image, the location of the lesion may be marked on the first template.

[0189] At block 2320, point determination module 2140 may determine a target point on the second template grids based on the location of the lesion. The target point may be a point on the second template or on the surface of the target object corresponding to the location of the lesion on the anatomical image and the first template, and the point determination module 2140 may determine the target point based on the location of the lesion.

[0190] In some embodiments, point determination module 2140 may first determine a relationship between a plurality of first points on the first template grids and a plurality of second points corresponding to the plurality of first points on the second template grids. For example, the ratio may include a direct proportional relationship (e.g., 1.5:1, 1.2:1), an inverse proportional relationship, a logarithmic relationship, etc. The point determination module 2140 can then determine a target point on the second template grids based on the location of the lesion and this ratio. Therefore, the target point can be determined automatically by the X-ray system, which can eliminate the risk of the operator judging the target point, improve the efficiency of target point determination and reduce costs.

[0191] FIG. 24 is a flowchart illustrating a typical process for determining the location of a lesion associated with a target object in accordance with some embodiments of the present invention.

[0192] At block 2410, point determination module 2140 may obtain diagnostic information associated with the target object. The diagnostic information may be associated with the anatomical image obtained at block 2210 or any other examination finding associated with the target entity that is indicative of the physical condition of at least a portion of the target entity. At block 2420, point determination module 2140 may determine a lesion location associated with a target object based on diagnostic information.

[0193] In some embodiments, point detection module 2140 may display diagnostic information associated with a target object on an anatomical image. For example, point detection module 2140 may display diagnostic information on one side of a lesion. This may make it easier for an operator to clearly disclose diagnostic information or share diagnostic information with other remote operators. As a result, this can save time for surgery and improve the likelihood of safety in case of unexpected patients.

[0194] Having described the basic concepts, it may be reasonably apparent to one skilled in the art upon reading this detailed disclosure that the foregoing detailed disclosure is provided by way of example only and is not limiting. Various changes, improvements and modifications may be made and may be implied by one skilled in the art, although not expressly stated herein. These changes, improvements and modifications are intended to be embodied in the invention and are within the spirit and scope of the exemplary embodiments of the invention.

[0195] Moreover, certain terminology is used to describe embodiments of the present invention. For example, the terms “one embodiment,” “an embodiment,” and/or “certain embodiments” mean that the particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment of the present inventions. Therefore, it should be emphasized and appreciated that two or more references to “embodiment” or “one embodiment” or “alternative embodiment” in different parts of this specification do not necessarily all refer to the same embodiment. In addition, specific features, structures or characteristics may be combined as suitable in one or more embodiments of the present invention.

[0196] In addition, one skilled in the art will appreciate that aspects of the present invention may be illustrated and described herein in any of a number of patentable classes or contexts, including any new and useful process, machine, production or material composition, or any new and their useful improvement. Accordingly, aspects of the present invention may be implemented entirely in hardware, entirely in software (including firmware, resident programs, microinstructions, etc.), or by combining software and hardware implementations, which may collectively be referred to herein as a “node,” “ module" or "system". In addition, aspects of the present invention may take the form of a computer program product embodied on one or more computer-readable media having computer-readable program code embodied thereon.

[0197] The computer-readable signal medium may include a propagated data transmission signal with computer-readable program code included therein, for example, in a baseband or as part of a carrier wave. Such propagated signal may take any of a variety of forms, including electromagnetic, optical, or the like, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium that is not a computer-readable information storage medium and that can interoperate, distribute, or carry a program through use by or interaction with an instruction execution system, instrument, or device. The program code included on the computer-readable signal medium may be transmitted using any suitable medium, including wireless, wired, fiber optic, RF or the like, or any suitable combination thereof.

[0198] The computer program code for performing the operations of aspects of the present invention may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C# , V.B. NET, Python or the like, conventional procedural programming languages such as "C" programmable language, Visual Basic, Fortran 2103, Perl, COBOL 2102, PHP, ABAP, dynamic programming languages such as Python, Ruby and Groovy, or other programming languages. The software code may be executed entirely on the user's computer, partially on the user's computer as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, over the Internet using an Internet Service Provider) or in a cloud computing environment, or offered as a service such as software as a service (SaaS).

[0199] In addition, the stated order of technological elements or sequences, or the use of numbers, letters or other designations, is therefore not intended to limit the claimed methods and methods to any order, except as may be indicated in the claims. Although the foregoing description discusses various examples of what are now considered to be many useful embodiments of the invention, it is to be understood that such details are intended solely for this purpose, and that the appended claims are not limited to the disclosed embodiments, but rather are intended to to cover modifications and equivalent means that are within the spirit and scope of the disclosed embodiments. For example, while the various components described above may be implemented in a hardware device, they may also be implemented as a software-only solution, such as by installing on an existing server or mobile device.

[0200] Likewise, it should be understood that in the above description of embodiments of the present invention, various features are sometimes grouped together in a single embodiment, drawing, or description thereof for the purpose of streamlining the disclosure to facilitate understanding of one or more different embodiments of the invention. This manner of disclosure, however, should not be interpreted as reflecting an intent that the claimed subject matter requires more features than are expressly stated in each claim. Rather, the embodiments are based on less than all of the features of the single embodiment disclosed above.

[0201] In some embodiments, numbers expressing amounts or properties used to describe and claim certain embodiments of the application should be understood to be modified in some cases by the term “about,” “approximately,” or “substantially.” For example, “about,” “approximately,” or “substantially” may indicate a deviation of ±20% from the value it describes unless otherwise noted. Accordingly, in some embodiments, the numerical parameters set forth in the written description and appended claims are approximations that may vary depending on the desired properties to be obtained by a particular embodiment. In some embodiments, numerical parameters should be interpreted in light of the number of significant figures reported and using normal rounding techniques. Although the numerical ranges and parameters defining the broad scope of some embodiments of the application are approximate, the numerical values set forth in the specific examples are reported as accurately as practicable.

[0202] Any of the patents, patent applications, patent application publications, and other materials, such as articles, books, specifications, publications, documents, items, and/or the like, referenced herein are incorporated herein by reference and in its entirety for all purposes, except for any proceeding related thereto, any of them that are inconsistent or inconsistent with this document, or any of them that may have a limiting effect as to the broadest scope of the claims. now or later in connection with this document. For example, if there is any inconsistency or conflict between the description, definition and/or use of a term associated with any included material and a term associated herein, the description, definition and/or use of the term herein shall control.

[0203] Thus, it should be understood that the embodiments of the disclosed application illustrate the principles of the embodiments of this application. Other modifications that may be used may be within the scope of the application. Thus, by way of example, and not limitation, alternative configurations of embodiments of the application may be practiced in accordance with the teachings set forth herein. Therefore, embodiments of the present application are not limited to what is exactly shown and described.

Claims (31)

1. An X-ray system for determining the location of a target object during a medical procedure, including: an x-ray source configured to emit a beam of x-rays towards a target object; a detection component configured to receive at least a portion of the x-ray beam that passes through the target object; an arc configured to support the detection component and the x-ray source; a platform configured to accommodate a target object, the platform being placed between the x-ray source and the detection component; a laser emitting component configured to form a second pattern on the surface of a target object by projecting a positioning beam toward the target object, the first pattern coinciding with the second pattern; And a positioning component configured to: obtain information about the position of a target device associated with the target object in real time, wherein the positioning component includes at least one rail and at least two positioning detectors, and at least one distance between the at least two detectors the positioning is adjusted by sliding at least one of the at least two positioning detectors of the at least one rail. 2. The X-ray system according to claim 1, in which at least one rail guide is installed on the arc. 3. The X-ray system according to claim 1 or 2, wherein one of the at least one rail guide includes a reciprocating rail guide. 4. A method for positioning an X-ray system for determining the location of a target object in a medical procedure, wherein the X-ray system includes an X-ray source, a detection component, an arc, a platform, a positioning component and a laser emitting component, and the positioning method comprises: initiating installation of a positioning component between the detection component and the target object; obtaining a superimposed image by superimposing an anatomical image associated with a target object and a first positioning component template, the anatomical image being obtained by projecting, via an x-ray source, a detector beam towards the target object; determining the location of the lesion associated with the target object based on the superimposed image; And determining a target point corresponding to the lesion location based on the superimposed image and the second template, which is determined by projecting a positioning beam to the target object via the laser emitting component. 5. A method for positioning an X-ray system for determining the location of a target object in a medical procedure, wherein the X-ray system includes an X-ray source, a detection component, an arc and a platform, and the positioning method comprises: determining an anatomical image associated with the target object by projecting, through an x-ray source, a detector beam in the direction of the target object; overlaying the first template on the anatomical image; forming a second pattern on the surface of the target object by projecting, through the laser emitting component, positioning the beam towards the target object, the first pattern coinciding with the second pattern; And determination of the target point based on the anatomical image and the second template. 6. The positioning method of claim 5, wherein the second template comprises grids, wherein determining the target point based on the anatomical image and the second template includes: determining the location of the lesion associated with the target object based on the anatomical image; And determining the target point on the second template grids based on the location of the lesion. 7. The positioning method of claim 6, wherein the first template comprises grids, wherein determining a target point on the grids of the second template based on the location of the lesion includes: determining the relationship between the first points on the grids of the first template and the second points corresponding to the first points on the grids of the second template. 8. Positioning method according to any one of paragraphs. 5-7, additionally containing: marking a target point by projecting a marker beam or positioning beam to the target point. 9. Positioning method according to any one of paragraphs. 5-8, additionally including: adjusting the positioning beam based on the first template and the second template. 10. The positioning method according to claim 9, wherein adjusting the positioning beam based on the first template and the second template includes: adjusting the positioning beam if the second pattern does not match the first pattern.

Images