WO2013190440A1 - Détermination basée sur une image de la relation spatiale source-détecteur - Google Patents

Détermination basée sur une image de la relation spatiale source-détecteur Download PDF

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Publication number
WO2013190440A1
WO2013190440A1 PCT/IB2013/054882 IB2013054882W WO2013190440A1 WO 2013190440 A1 WO2013190440 A1 WO 2013190440A1 IB 2013054882 W IB2013054882 W IB 2013054882W WO 2013190440 A1 WO2013190440 A1 WO 2013190440A1
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WO
WIPO (PCT)
Prior art keywords
ray
scaling
shutter
detector
source
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PCT/IB2013/054882
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English (en)
Inventor
Bernd Menser
Jens Wiegert
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Koninklijke Philips N.V.
Philips Deutschland Gmbh
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Filing date
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Application filed by Koninklijke Philips N.V., Philips Deutschland Gmbh filed Critical Koninklijke Philips N.V.
Publication of WO2013190440A1 publication Critical patent/WO2013190440A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/06—Diaphragms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/582—Calibration
    • A61B6/583—Calibration using calibration phantoms
    • A61B6/584—Calibration using calibration phantoms determining position of components of the apparatus or device using images of the phantom
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/587—Alignment of source unit to detector unit
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/588—Setting distance between source unit and detector unit

Definitions

  • the present invention relates to the determination of spatial source-detector relation and relates in particular to an X-ray source for medical imaging for determination of spatial source-detector relation, to a medical X-ray imaging system, to a method for determining a spatial relation between an X-ray source and a detector, and to a computer program element as well as to a computer readable medium.
  • the spatial relation between the source and the detector may be used for calculating a normalized attenuation image, which is a requirement of scatter correction and other quantitative image analysis methods.
  • US 8,000,435 B2 relates to a method that estimates the amount of scattered radiation in an image, which uses pre-calculated scatter kernel from locally fitted geometric images. This approach, and other methods that are based on information about the true X-ray attenuation, requires appropriate image normalization, using the detector response to direct radiation. Since in the general case direct radiation is not necessarily present in the image, this normalization value is often calculated using an X-ray generation model.
  • the spatial relation of source and detector is a crucial parameter.
  • the spatial relation of tube and detector varies and in generally not recorded during image acquisition.
  • the source detector relationship may also be used for other clinical benefits, such as entrance dose without dose area product measurement.
  • the following described aspects of the invention apply also for the X-ray source for medical imaging for determination of spatial source-detector relation, for the medical X-ray imaging system, for the method for determining a spatial relation between an X-ray source and a detector, for the computer program element and for the computer readable medium.
  • an X-ray source for medical imaging for determination of spatial source-detector relation comprising an X-ray tube for generating an X-ray beam, and at least one X-ray shutter device, partly arranged in a path of the X-ray beam.
  • the X-ray tube is provided with a focal spot for the generation of the X-ray radiation in a projection direction.
  • the at least one X-ray shutter device comprises at least one X-ray shutter element provided for limiting the size of the X-ray beam.
  • the at least one X-ray shutter element comprises a shutter edge portion to be located at least partly in the X-ray beam, which shutter edge is provided with a scaling marking comprising at least two distinguishable scaling indicators visible on an X-ray image.
  • the at least two distinguishable scaling indicators are provided along the shutter edge with a predetermined distance.
  • the scaling marking and the focal spot are arranged in a
  • the predetermined distance is also referred to as known distance, for example for a fixedly provided distance between the scaling indicators.
  • the predetermined distance can thus also be called a predetermined scaling length.
  • the projection of the scaling indicators may then be used for determining the projected predetermined distance of the scaling indicators, i.e. the projected scaling length, to calculate the distance and/or angulation, i.e. the spatial relation, of the detector in relation to the X-ray source.
  • the magnification factor can thus be derived.
  • the term projected predetermined distance refers to the projection of the scaling length on a detector plane.
  • the X-ray tube is also referred to as X-ray source and comprises tubes with rotating anodes as well as X-ray sources with fixed anode structures, as well as X-ray sources with carbon nanotube structures.
  • the detector can be placed below a patient and despite an interrupted direct line of sight between the X-ray source and the detector, the spatial relation can be determined without any additional position detection measurements.
  • an anti-scatter grid may be omitted, for example due to the difficult positioning procedure, in particular with non-mobile patients.
  • X- ray images taken without an anti-scatter grid may thus include a large amount of scattered radiation, which significantly deteriorates the image quality.
  • software-based scatter correction may be provided, based on the determined spatial relation of the X-ray detector to the X-ray source provided by the scaling markings.
  • the source detector distance can be used to calculate the normalized images, which may be used as an input to the respective scatter estimation method.
  • the distance also enters the method directly via the magnification factor of the object. Nevertheless, this may be secondary, since the correct normalization may be crucial.
  • the dependency off scatter estimation on the source detector distance is so to speak more indirect.
  • movable X-ray detectors may be provided, such as C-arm imaging systems, or other movable X-ray imaging systems, and also other systems where the distance between the X-ray source and the X-ray detector can be adapted and thus be changed.
  • a benefit of having knowledge about the source detector distance in radiography is, for example, to enable model-based estimation of the direct radiation level to calculate normalized attenuation values from the raw detector image, as indicated above.
  • This normalized attenuation image is the crucial base of all quantitative applications.
  • One of these applications, i.e. image processing procedures, is scatter estimation; another application may be to provide density assessment from standard single energy radiographic image; other quantitative image assessment may relate to providing figures of equivalent water thickness in the lung region.
  • quantitative image assessment may be provided, for example for thorax radiography.
  • the knowledge of the imaging geometry may also be beneficial when comparing different acquisitions of the same patient. Another advantage may be providing helpful information for images with strong detector tilt.
  • the at least one X-ray shutter device is provided as an adaptable part of an adjustable aperture of the X-ray source for emitting the X- ray beam.
  • the scaling marking is provided during the generation of X-ray radiation for image acquisition.
  • the distinguishable scaling indicators have different X-ray attenuation properties than adjacent portions of the shutter edge.
  • at least two shutter edge portions are provided and at least two pairs of scaling indicators are provided on the two shutter edge portions such that the scaling indicators are arranged in a plane perpendicular to the projection direction.
  • the scaling marking is provided across the whole length of the shutter edge.
  • a medical X-ray imaging system comprising an X-ray source, an X-ray detector and a processing unit.
  • the X-ray source is provided as an X-ray source for determination of spatial source-detector relation according to one of the above-mentioned examples.
  • the X-ray detector is provided to detect X-ray radiation from the X-ray source.
  • the scaling marking is provided during the generation of X-ray radiation for image acquisition.
  • the processing unit is configured to generate X-ray image data from the detected X-ray radiation, and to determine the actual spatial relation between the detector and the X-ray source based on the X-ray image data.
  • the detector is provided as a mobile detector.
  • a method for determining a spatial relation between an X-ray source and the detector comprising the following steps:
  • the at least one X-ray shutter element comprises a shutter edge portion provided with a scaling marking comprising at least two distinguishable scaling indicators provided along the shutter edge with a predetermined distance, which scaling indicators are visible on an X-ray image;
  • X-ray shutters are provided with the additional features providing scaling indications.
  • the size of the projection of the scaling indicators can be determined.
  • the magnification factor of the shutter i.e. the magnification factor of the projection together with the source image distance (SID) can be derived. If two or three shutters are visible in the image, also a potential tilt angle, or even the full 3D position of the tube relative to the detector can be determined.
  • the magnification factor(s) of the shutter may be of no further interest; however it is an intermediate step to derive the SID, and also the tilt angle.
  • the scaling indicators may be provided as being integrated into the X-ray shutters.
  • the scaling indicators may be placed near the edge of the shutters, so that they are still visible in images with only little collimation. This relies on the fact that at least a small collimation is provided, at least large enough to make the projected scaling indicators detectable in the X-ray image data.
  • Many different implementations of scaling indicators are possible, e.g. small cutouts, holes, several small noses and the like.
  • the most important information is not given by the position of the scaling indicators in the image, but the distance of the projected scaling indicators.
  • An important design criterion is the easy determination of the distance of the projected scaling indicators of a single shutter from the X-ray projection.
  • the scaling indicators represent a distance. Instead of the scaling indicators being the start/end points of the distance, an elongated marker may be provided. The term distance would then be replaced by the term size. If desired, the scaling indicators can be easily removed by image processing means before displaying the image.
  • the source image distance, SID i.e. the distance between tube and detector, can be provided for multiple purposes, for example for model-based determination of the entrance signal, which requires, as indicated above, the knowledge of the correct distance between the tube and detector.
  • This acquisition parameter may be unknown for mobile systems and can vary significantly between acquisitions.
  • the determination of the SID from the acquired image is provided without the need of a direct SID measurement, e.g. using RFID techniques.
  • the derived entrance signal can then be used to calculate a normalized attenuation image, which may serve as a basis for scatter estimation methods or many other quantitative imaging applications.
  • additional sensors and system interfaces are not needed according to the present invention.
  • one potential alternative solution for determining the direct radiation entrance signal may be the measurement of the dose-area product using an external dose-area-product-meter.
  • the use of DAP measurements for a modelling of the entrance signal is at the cost of additional hardware.
  • FIG. 1 A schematically shows an example for a setup of an X-ray source for medical imaging for determination of spatial source-detector relation;
  • Fig. IB shows an X-ray shutter device in the viewing direction of the X-ray projection direction of Fig. 1A;
  • Fig. 1C shows a further perspective view of the X-ray beam, the X-ray shutter device and the projected image of Figs. 1A and IB;
  • Figs. 2A and 2B show further examples of X-ray shutter devices
  • Figs. 3A to 3E show different examples of shutter edge portions provided with different scaling markings
  • Fig. 4 shows an example of a medical X-ray imaging system
  • Fig. 5 shows basic steps of an example of a method for determining a spatial relation between an X-ray source and a detector.
  • Fig. 1 shows an X-ray source 10 for medical imaging for determination of spatial source-detector relation.
  • the X-ray source 10 comprises an X-ray tube 12 for generating an X-ray beam 14, and at least one X-ray shutter device 16, partly arranged in a path 18 of the X-ray beam 14.
  • the X-ray tube 12 is provided with a focal spot 20 for the generation of the X-ray radiation in a projection direction 22.
  • the at least one X-ray shutter device 16 comprises at least one X-ray shutter element 24 provided for limiting the size of the X-ray beam. This is indicated by two dotted lines 26 aligned with the path 18 of the X-ray beam that exists before passing the shutter device 16.
  • the two straight boundary lines 28 indicate the limited size of the X-ray beam after the beam has passed the shutter device.
  • the at least one X-ray shutter element 24 comprises a shutter edge portion 30 to be located at least partly in the X-ray beam, which shutter edge portion is provided with a scaling marking 32 comprising at least two distinguishable scaling indicators 34 visible on an X-ray image. This is shown further in Fig. IB showing a viewing direction perpendicular to the viewing direction of Fig. 1A, namely showing the X-ray shutter device 16 in the projection direction 22.
  • the at least two distinguishable scaling indicators 34 are provided along the shutter edge with a predetermined distance 36. Further, the scaling marking and the focal spot are arranged in a predetermined geometrical relation to each other. For example, the scaling marking 34 and the focal spot 20 are arranged in a predetermined distance 38.
  • Fig. 1A also shows an X-ray detector 40 to detect a projection 42 in form of the attenuated X-ray beam and the respective attenuation values after at least partly passing an object 44.
  • the at least one X-ray shutter device 16 is provided as an adaptable part of an adjustable aperture of the X-ray source for emitting the X-ray beam.
  • the at least one X-ray shutter device 16 may thus be an integral part of the beam size regulation of the X-ray tube 10.
  • the scaling marking may be provided on adjacent edges of movable diaphragm parts (not further shown).
  • the edges are limiting the aperture size for emitting the X-ray beam.
  • the edges are inner edges, i.e. edges at least partly enclosing the imaged area.
  • IB are only shown schematically and can be replaced by such examples described further in relation with Figs. 3A to 3E, in particular.
  • an elongated indicator, or an indicator otherwise extending in at least one direction is provided to be able to detect a projection of the determined length, i.e. a distance 36 between two identifiable points of the indicator.
  • Fig. 1C shows the geometrical relations in a perspective view.
  • the X-ray source 20 is the starting point for the X-ray beam 14 radiated towards the detector 40.
  • the shutter edge portion 30 provided in the X-ray beam path with the predetermined distance 38 is provided with the above-mentioned two distinguishable scaling indicators 34, which are provided along the shutter edge with a predetermined distance 36.
  • the scaling indicators 34 are visible on the X-ray image detected by the detector 40 as projected scaling indicators 34'.
  • the distance 36 is provided as a projected distance 36'. Consequently, since the predetermined distance 36, and the predetermined distance 38 of the shutter edge from the X-ray source are known, it is possible to derive a distance D between the shutter edge portion 30 and the detector 40 based on the
  • X-ray radiation for image acquisition. However, with image processing these may be erased or replaced on a displayed X-ray image such that a straight (or curved) image edge may be provided.
  • the distinguishable scaling indicators 34 have different X-ray attenuation properties than adjacent portions of the shutter edge, in order to make them visible on an X- ray image. It must be noted that the term "visible” relates to the potential detection of such X- ray radiation, and not primarily to the visibility by human eye. It must be noted that the present invention is applicable for X-ray detectors with direct conversion and for X-ray detectors with indirect conversion.
  • Fig. 2A at least two shutter edge portions, indicated with reference numerals 30a and 30b, are provided. Further, at least two pairs of scaling indicators are provided on the two shutter edge portions, which pairs are indicated with reference numerals 32a and 32b.
  • the scaling indicators are arranged in a plane 42, indicated by a dotted rectangular or square line completing the plane. For example, the plane 42 is perpendicular to the projection direction.
  • each shutter element is provided with a shutter edge portion 30c, 30d, wherein the two shutter edge portions are arranged facing each other, wherein each shutter element is provided with a respective scaling marking 32c and 32d.
  • a pair of dotted lines 44 indicates the common plane in which the two shutter elements are provided.
  • a plurality of scaling indicators may be provided along the shutter edge.
  • the scaling marking may be provided across the whole length of a respective shutter edge.
  • the scaling indicators may be protrusions 46 and recesses 48 arranged successively along the edge portion forming a stepped edge profile 50.
  • the protrusions and recesses are provided with linear edge segments aligned parallel such that a stepped profile borderline is provided.
  • small recesses 52 can be provided spaced apart from each other with longer linear border segments 54.
  • a profile 56 with small cutouts is provided.
  • noses 58 can be provided, spaced apart from each other with longer linear sections 60, providing an edge profile 62 with small protrusions.
  • the scaling indicators may also be X-ray transparent, instead of being a material cut-out or extension.
  • the scaling indicators may also be provided to be less X-ray attenuating than surrounding areas of the shutter element, or more X-ray attenuating than surrounding areas of the shutter element.
  • small inlays 64 for example triangular shaped, may be provided along a straight edge line 66, which inlays are X-ray transparent or less X-ray attenuating than the surrounding area of the X-ray shutter element.
  • Fig. 3E shows a further example, where a straight edge line 68 is provided, wherein linear inlays 70 are provided in a predetermined length with a predetermined distance along the edge for providing a distinguishable respective scaling projection in an X-ray image.
  • the inlays may also be referred to as fillings of openings or fillings of cutouts.
  • the scaling indicators may comprise a plurality of less X- ray absorbing recesses in the edge profile arranged in a predetermined pitch or displacement.
  • the pitch is indicated with P in the above-mentioned examples.
  • the pitch may be subdivided into sub- pitches PI and P2 provided by the respective length of the scaling indicator and the distance to the next scaling indicator. These can be equal or of different value.
  • the predetermined pitch is a predetermined displacement provided in a constant value along the edge.
  • Fig. 4 shows a medical X-ray imaging system 100, comprising an X-ray source 110 and an X-ray detector 112. Further, a processing unit 114 is provided.
  • the X-ray source is provided as an X-ray source for determination of spatial source-detector relation according to one of the above-mentioned examples.
  • the X-ray detector 112 is provided to detect X-ray radiation 14 from the X-ray source 100.
  • the scaling marking not further shown in Fig. 4, is provided during the generation of X-ray radiation for image acquisition.
  • the processing unit 114 is configured to generate X-ray image data from the detected X-ray radiation, and to determine the actual spatial relation between the detector and the X-ray source based on the X-ray image data.
  • the spatial relation may be the distance and/or the angulation of the X-ray source in relation to the X-ray detector.
  • the angulation relates to an inclination of the detector plane to the X-ray source plane defined by the X-ray shutters.
  • the scaling marking is provided as an integral part of the imaging system.
  • the detector is provided as a mobile detector 116 to be arranged, for example, below a patient 118.
  • the processing unit 114 is configured to determine the actual distance between the detector and the X-ray source. For example, the actual distance is provided for further image data processing steps.
  • Fig. 5 shows basic steps of a method 200 for determining a spatial relation between an X-ray source and a detector, comprising the following steps:
  • a first step 210 an X-ray beam is generated at a focal spot of an X-ray tube for examining an object of interest.
  • at least one X-ray shutter element of an X-ray shutter device is arranged at least partly in the X-ray beam, regulating the size of the X-ray beam, wherein the at least one X-ray shutter element comprises a shutter edge portion provided with a scaling marking comprising at least two distinguishable scaling indicators provided along the shutter edge with a predetermined distance, which scaling indicators are visible on an X-ray image.
  • X-ray radiation is detected with a detector.
  • X-ray image data is generated from the detected X-ray radiation.
  • the distinguishable scaling indicators are determined in the X-ray image data, and the distance between the scaling indicators is detected.
  • a source-detector spatial relation is calculated on behalf of, i.e. based on, the predetermined distance and the detected distance.
  • the first step 210 is also referred to as step a), the second step 212 as step b), the third step 214 as step c), the fourth step 216 as step d), the fifth step 218 as step e), and the sixth step 220 as step f).
  • the X-ray radiation is detected in a detector plane in step c).
  • the detector plane may be provided perpendicular to a projection direction of the X-ray beam, wherein the projection direction refers to a central axis of a fan-like beam.
  • the shutter edge portions are arranged such that the at least distinguishable scaling indicators are visible on the detected X-ray image.
  • a computer program or a computer program element is provided that is characterized by being adapted to execute the method steps of the method according to one of the preceding embodiments, on an appropriate system.
  • the computer program element might therefore be stored on a computer unit, which might also be part of an embodiment of the present invention.
  • This computing unit may be adapted to perform or induce a performing of the steps of the method described above. Moreover, it may be adapted to operate the components of the above described apparatus.
  • the computing unit can be adapted to operate automatically and/or to execute the orders of a user.
  • a computer program may be loaded into a working memory of a data processor.
  • the data processor may thus be equipped to carry out the method of the invention.
  • This exemplary embodiment of the invention covers both, a computer program that right from the beginning uses the invention and a computer program that by means of an up-date turns an existing program into a program that uses the invention.
  • the computer program element might be able to provide all necessary steps to fulfil the procedure of an exemplary embodiment of the method as described above.
  • a computer readable medium such as a CD-ROM
  • the computer readable medium has a computer program element stored on it which computer program element is described by the preceding section.
  • a computer program may be stored and/or distributed on a suitable medium, such as an optical storage medium or a solid state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.
  • a suitable medium such as an optical storage medium or a solid state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.
  • the computer program may also be presented over a network like the World Wide Web and can be downloaded into the working memory of a data processor from such a network.
  • a medium for making a computer program element available for downloading is provided, which computer program element is arranged to perform a method according to one of the previously described embodiments of the invention.

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Abstract

La présente invention concerne la détermination de la relation spatiale source-détecteur. En vue de fournir une voie facilitée de détermination de la relation spatiale entre une source de rayons X et un détecteur, une source de rayons X (10), destinée à l'imagerie médicale pour la détermination de la relation spatiale source-détecteur, selon l'invention comprend un tube de rayons X (12), destiné à la génération d'un faisceau de rayons X (14), et au moins un dispositif obturateur des rayons X (16) partiellement agencé dans une trajectoire (18) du faisceau de rayons X. Le tube de rayons X est doté d'un point focal (20) pour la génération du rayonnement de rayons X dans une direction de projection (22). Ledit au moins un dispositif obturateur de rayons X comprend au moins un élément obturateur de rayons X (24) utilisé pour limiter la taille du faisceau de rayons X. En outre, ledit au moins un élément obturateur de rayons X comprend une partie de bord d'obturateur (30) devant être située au moins partiellement dans le faisceau de rayons X. Le bord d'obturateur selon l'invention est doté d'un marquage d'échelle (32) comprenant au moins deux indicateurs d'échelle distincts (34) visibles sur une image par rayons X. Lesdits au moins deux indicateurs d'échelle distincts sont situés le long du bord d'obturateur à une distance prédéterminée (36), et le marquage d'échelle et le point focal sont agencés dans une relation géométrique prédéterminée l'un par rapport à l'autre.
PCT/IB2013/054882 2012-06-20 2013-06-14 Détermination basée sur une image de la relation spatiale source-détecteur WO2013190440A1 (fr)

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Cited By (2)

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US10136864B2 (en) 2013-02-15 2018-11-27 Koninklijke Philips N.V. X-ray collimator size and position adjustment based on pre-shot
WO2023031924A1 (fr) * 2021-09-01 2023-03-09 Mazor Robotics Ltd. Systèmes, procédés et dispositifs pour générer une image corrigée

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Publication number Priority date Publication date Assignee Title
US6445771B1 (en) * 1999-04-30 2002-09-03 Koninklijke Philips Electronics N.V. X-ray device incorporating detection of shutter edges
WO2006082147A1 (fr) * 2005-02-07 2006-08-10 Siemens Aktiengesellschaft Systeme de diaphragme et procede pour delimiter un champ de rayonnement x
WO2011036968A1 (fr) * 2009-09-28 2011-03-31 株式会社日立メディコ Dispositif de tomodensitométrie à rayons x
US8000435B2 (en) 2006-06-22 2011-08-16 Koninklijke Philips Electronics N.V. Method and system for error compensation

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6445771B1 (en) * 1999-04-30 2002-09-03 Koninklijke Philips Electronics N.V. X-ray device incorporating detection of shutter edges
WO2006082147A1 (fr) * 2005-02-07 2006-08-10 Siemens Aktiengesellschaft Systeme de diaphragme et procede pour delimiter un champ de rayonnement x
US8000435B2 (en) 2006-06-22 2011-08-16 Koninklijke Philips Electronics N.V. Method and system for error compensation
WO2011036968A1 (fr) * 2009-09-28 2011-03-31 株式会社日立メディコ Dispositif de tomodensitométrie à rayons x
US20120170708A1 (en) * 2009-09-28 2012-07-05 Hitachi Medical Corporation X-ray ct device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10136864B2 (en) 2013-02-15 2018-11-27 Koninklijke Philips N.V. X-ray collimator size and position adjustment based on pre-shot
WO2023031924A1 (fr) * 2021-09-01 2023-03-09 Mazor Robotics Ltd. Systèmes, procédés et dispositifs pour générer une image corrigée
US11763499B2 (en) 2021-09-01 2023-09-19 Mazor Robotics Ltd. Systems, methods, and devices for generating a corrected image

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