WO2013063829A1

WO2013063829A1 - C-arm x-ray fluoroscopic machine and dedicated camera mechanism

Info

Publication number: WO2013063829A1
Application number: PCT/CN2011/082369
Authority: WO
Inventors: 盖伯晴
Original assignee: Gai Boqing
Priority date: 2011-11-01
Filing date: 2011-11-17
Publication date: 2013-05-10
Also published as: CN102499703A

Abstract

A C-arm X-ray fluoroscopic machine and a dedicated camera mechanism. The C-arm X-ray fluoroscopic machine includes a C-arm and an X-ray emission device installed on the C-arm. The X-ray emission device is provided with a bulb tube (1) in a housing (6), wherein the bottom of the housing (6) is made as a lead door (4) with an adjustable opening, and also provided with a camera mechanism. The camera mechanism includes a camera device (3) and a reflector (2). The reflector (2) is located on an X-ray optical path in a declination way. The tilted reflector (2) is opposite to the camera device (3) and a subject to be cured. The camera head of the camera device (3) and the X-ray focus point of the bulb tube (1) are symmetric with each other by taking the reflector (2) as a symmetric central axis, so that the focus points of X-ray imaging and camera mechanism imaging are totally consistent, improving the match degree of the image.

Description

C-arm X-ray machine and special camera mechanism

Technical field

The invention relates to the technical field of see-through devices, in particular to a C-arm X-ray machine and a special camera mechanism.

Background technique

Ordinary C-arm X-ray fluoroscopy machines are clinically commonly used medical devices, and orthopedic surgeons need to use the device to determine the anatomical location of the lesion and perform surgery. Since the dose of X-ray radiation directly determines the degree of damage to the human body, in the clinic, the doctor only uses the X-ray machine for a short period of time in determining the anatomical location of the lesion and placing the internal fixation material. Time relies on surgical experience and skill to operate. Because the entire process cannot be monitored, it may have a certain impact on the accuracy of the surgery.

In order to obtain better accuracy, a C-arm based positioning system has been developed, and there are currently C-arm guided navigation systems and laser positioning devices. Among them, the navigation system is not only expensive, complicated to use, but also has many uncertain factors that may affect the accuracy. For example, the elastic deformation of the surgical instrument may affect its accuracy, so the navigation system has not been widely used by clinicians. While the laser positioning device is simple and easy to use, the point generated by the laser beam is not suitable for use in the operation. Therefore, laser positioning is usually only used in the stage where the surgery is not started.

In view of the above problems, Chinese patent CN101627915A discloses a C-arm X-ray fluoroscopy machine having an external camera device, which is composed of a C-arm, an X-ray source tube and an image intensifier and an image display device, which adds an external The camera and the positioning device are separately mounted on the X-ray source tube end or the image intensifier end by the positioning device, or at the X-ray source tube end and the image intensifier end, and the camera installed at each end is a Or multiple. When the C-arm X-ray fluoroscopy machine of this structure works, firstly, the imaging device is used to determine the general position of the fluoroscopy, and then the C-arm X-ray machine is activated to determine the fluoroscopic positioning operation position, and then the X-ray emission source stops working, and the imaging device Start again and collect dynamic images. The image captured by the imaging device and the X-ray image are processed and matched by a computer in the image display device and displayed in a display in the image display device. The surgeon guides the specific position of the surgical instrument in real time under the guidance of the image displayed on the display, thus helping the doctor to better perform the positioning and operation. However, in the C-arm X-ray fluoroscopy machine of this structure, the focus of the camera and the X-ray focus of the tube cannot be completely coincident. When the patient is closer to the X-ray imaging mechanism, the image matching will be deviated and needs to be operated. Correct the deviation to ensure accurate positioning of the surgery.

Summary of the invention

The object of the present invention is to provide a C-arm X-ray fluoroscopy machine, wherein the image captured by the camera device is completely matched with the X-ray imaging of the C-arm, and there is no deviation, which can provide accurate positioning for the operation. Moreover, the structure is simple, reliable and practical, and the doctor is convenient to operate, and is more suitable for clinical application.

It is a further object of the present invention to provide a C-arm X-ray machine dedicated imaging mechanism that captures images that are perfectly matched to the X-ray imaging of the C-arm and that provides accurate positioning for the procedure.

The present invention is achieved by the invention comprising a C-arm and an X-ray emitting device mounted on the C-arm, wherein the X-ray emitting device is mounted with a bulb inside the housing, and the lower bottom of the housing is made adjustable in opening. The lead door is improved in that an imaging mechanism is provided, the imaging mechanism includes an imaging device and a mirror, the mirror is located on the X-ray optical path in an inclined shape, and the reflective surface of the inclined mirror and the imaging device are to be operated. In contrast to the body, the camera of the imaging device and the X-ray focus of the tube are symmetrical with each other with the mirror as a central axis of symmetry.

A further object of the present invention is to realize that the C-arm X-ray machine-specific imaging mechanism includes an imaging device and a mirror, and the mirror is disposed on the X-ray optical path of the C-arm X-ray machine in an inclined manner, The reflecting surface of the tilting mirror is opposite to the imaging device and the object to be processed, and the X-ray focus of the camera of the imaging device and the tube of the X-ray machine is symmetrical with each other with the mirror as a central axis of symmetry.

In the present invention, the camera of the imaging device and the X-ray focus of the tube are symmetrical with each other with the mirror as a central axis of symmetry, and the focus of the tube coincides with the focus of the camera, thereby making the X-ray field of view and the camera The fields of view overlap, and the image acquired by the camera mechanism completely coincides with the X-ray image, thereby achieving complete matching of the two images, so that each pixel in the image captured by the camera mechanism and each pixel in the X-ray image are One-to-one mapping relationship. Thereby, the problem of image matching deviation caused by the change in the distance between the human body and the X-ray emission imaging mechanism can be avoided. In turn, full-scale, real-time, and precise monitoring during the surgical procedure is achieved, thereby making the device of the present invention more suitable for clinical use.

The invention adds a mirror and allows the camera to acquire an image through the mirror, thereby ensuring that the focus of the X-ray imaging and the imaging mechanism is completely consistent, thereby improving the matching degree of the image, and thus the operation of the operation is greatly ensured under the condition of ensuring accuracy. simplify. Compared with the surgical navigation system with complicated structure, high cost and complicated operation process, the invention capable of achieving the same function is popularized by many hospitals and medical personnel because of its simple structure, low manufacturing cost, simple operation and promotion.

Under the above technical solution, the present invention can be implemented as follows:

In the C-arm X-ray machine, the imaging mechanism is mounted in the housing.

In the C-arm X-ray machine, the mirror and the imaging device are fixed in the casing.

In the C-arm X-ray machine, a drive mechanism is mounted in the housing, and the mirror is mounted on the drive mechanism.

In the C-arm X-ray machine, the driving mechanism includes a driving motor and an output shaft or transmission driven by the driving motor, and the mirror is fixed to an output shaft or a transmission of the driving motor.

In the C-arm X-ray machine, the image pickup mechanism is mounted outside the casing.

DRAWINGS

Figure 1 is a schematic view of the structure of the present invention.

Fig. 2 is a schematic view showing the state in which the mirror of the present invention is rotated away from the original position.

detailed description

As shown in FIG. 1, a C-arm X-ray fluoroscopy machine includes a C-arm (not shown) and an X-ray emitting device mounted on a C-arm, and the X-ray emitting device is provided with a bulb 1 in the casing 6. The bottom of the casing 6 is made into an open-adjustable lead door 4. The present invention is further provided with an imaging mechanism including an imaging device 3 and a mirror 2, the mirror being located on the X-ray optical path in an inclined shape. The reflecting surface of the tilting mirror 2 is opposite to the imaging device 3 and the body to be operated. The camera of the imaging device 3 and the X-ray focus of the bulb 1 are symmetrical with each other with the mirror as a central axis of symmetry. The image pickup mechanism of the present invention may be mounted inside the casing 6 or may be attached to the outside of the casing 6. When mounted inside the casing 6, the mirror 2 can adopt a mirror having a high reflectance to light and a small absorption rate to the X-ray. In this case, a fixing member can be provided on the inner wall of the casing 6. The mirror is directly fixed in the X-ray optical path by the fixing member. The advantage of this structure is that the mirror position is fixed, and the problem of image shift due to positional shift does not occur. Another embodiment that can be implemented by the present invention is that a drive motor 5 is mounted in the housing, and the mirror 2 is fixed to an output shaft or transmission of the drive motor. With this configuration, when the x-ray fluoroscopy operation is performed, the driving motor operates to drive the mirror to rotate away from the original position, thereby avoiding the influence of normal x-ray fluoroscopy operation. In this embodiment, in order to ensure that the mirror can be accurately returned, the present invention can control the return rotation process of the mirror by setting a stop block or using other technical means in the prior art, such as by setting The limit and position detection controls the return rotation process of the mirror to avoid image shift caused by the mirror return error. When the mirror imaging calibration device of the present invention is mounted outside the housing 6, as described above, the mirror can also be implemented in either a fixed mounting or a motor driven mounting.

When the invention is used, the imaging device performs image acquisition on the object to be processed reflected by the mirror. During the operation, the imaging device is first used to determine the general position of the perspective, and then the C-arm X-ray machine is used for fluoroscopy to determine the surgical position. Then, the X-ray source stops working, and the camera starts up again to acquire a dynamic image. The image of the camera is transmitted to the computer through the data line, and processed by the corresponding image software, so that the image of the camera and the image of the X-ray are coincident on the display. The operator guide assistant marks the feature points of the bone in the X-ray image, then dims the X-ray image, and the camera image is brightened, and the operator can perform drilling operations according to the position of the feature point in the camera image. . Since each pixel of the two images has a one-to-one mapping relationship, multiple feature points can be labeled at the same time. For example, in the treatment of scoliosis and vertebral instability, it is necessary to fix the pedicle screw, and the center point of 8 to 10 pedicles can be marked, so that all the drilling operations can be performed only by one X-ray. Thereby, the accuracy of the operation is ensured, and the X-ray irradiation time is reduced.

Claims

A C-arm X-ray machine comprising a C-arm and an X-ray emitting device mounted on a C-arm, wherein the X-ray emitting device is mounted with a bulb (1) in the housing (6), The bottom of the casing (6) is formed as an open-adjustable lead door (4), characterized in that an imaging mechanism is provided, the imaging mechanism comprising an imaging device (3) and a mirror (2), the mirror is inclined Located on the X-ray optical path, the reflective surface of the inclined mirror (2) is opposite to the imaging device (3) and the object to be operated, and the X-ray focus of the camera and the tube of the imaging device is the mirror Symmetrical central axes are symmetrical to each other.
A C-arm X-ray machine according to claim 1, wherein said image pickup mechanism is mounted in said casing (6).
The C-arm X-ray machine according to claim 2, wherein the mirror and the image pickup device are fixed in the casing.
A C-arm X-ray machine according to claim 2, wherein a drive mechanism is mounted in said housing, and said mirror (2) is mounted on the drive mechanism.
A C-arm X-ray machine according to claim 4, wherein said drive mechanism comprises a drive motor (5) and an output shaft or transmission driven by said drive motor, said mirror (2) being fixed On the output shaft or transmission of the drive motor.
A C-arm X-ray machine according to claim 1, wherein said image pickup mechanism is mounted outside said casing (6).
The utility model relates to a camera mechanism dedicated to a C-arm X-ray machine, which is characterized in that it comprises an imaging device (3) and a mirror (2), and the mirror is placed on the X-ray optical path of the C-arm X-ray machine in an inclined manner. The reflecting surface of the mirror (2) is opposite to the imaging device (3) and the body to be operated, and the X-ray focus of the camera of the imaging device and the tube of the X-ray machine is centered on the mirror The axes are symmetrical to each other.