Classifications

• • 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
  • A61B6/44—Constructional features of apparatus for radiation diagnosis
  • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
  • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
  • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
• • 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
  • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
  • A61B6/027—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis characterised by the use of a particular data acquisition trajectory, e.g. helical or spiral
• • 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
  • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
  • A61B6/03—Computed tomography [CT]
  • A61B6/032—Transmission computed tomography [CT]
• • 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
  • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
  • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
  • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
  • A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
  • A61B6/5241—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT combining overlapping images of the same imaging modality, e.g. by stitching
• • 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
  • A61B6/54—Control of apparatus or devices for radiation diagnosis
  • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T12/00—Tomographic reconstruction from projections
  • G06T12/10—Image preprocessing, e.g. calibration, positioning of sources or scatter correction
• • 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
  • A61B6/44—Constructional features of apparatus for radiation diagnosis
  • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley

Definitions

• the processor is also configured to determine second location information for the second reconstruction volume.
• the processor is further configured to determine a degree of comparability for the first reconstruction volume and the second reconstruction volume based on the first location information and the second location information.
• the processor is still further configured to calculate an adapted second trajectory that results in an increased degree of comparability of the first reconstruction volume and the second reconstruction volume.
• the trajectory adaptor is configured to provide the adapted second trajectory for acquiring the second sequence of X-ray images in the second position of the X-ray imaging device.
• This provides improved comparability of the first and second reconstruction volume and thus provides improvement for comparing purposes.
• the adapted second trajectory is used in a mobile C-arm 3D imaging system.
• the degree of comparability is provided as an overlap degree of the first reconstruction volume and the second reconstruction volume.
• the location information receiver is configured to receive a sequence of first images taken by a camera showing the X-ray imaging device during the acquisition of the first sequence of X-ray images along the first trajectory.
• the processor is configured to determine the first trajectory based on the sequence of images, and to determine the resulting first reconstruction volume.
• an X-ray imaging system comprising an X-ray imaging device with an X-ray source and an X-ray detector movably along a trajectory to acquire a sequence of X-ray images of a region of interest.
• the system also comprises a device for optimizing an X-ray imaging trajectory according to one of the preceding examples.
• the X-ray imaging device provides the first sequence of X-ray images of a region of interest of a subject.
• the trajectory adaptor provides the adapted second trajectory to the X-ray imaging device for acquiring the second sequence of X-ray images in the second position of the X-ray imaging device.
• the X-ray imaging system is a mobile X-ray system with a base freely movable along a floor surface.
• the X-ray imaging device comprises a movable C-arm with the X-ray source and the X-ray detector mounted to opposing ends of the C-arm. Further, a drive mechanism is provided for moving the C-arm to move the X-ray source and the X-ray detector along the adapted second trajectory.
• Fig. 2 shows an example of an X-ray imaging system.
• Mobile X-ray imaging systems are frequently used in surgery applications. Motorized systems can be used for achieving 3D volumetric reconstruction after a predefined scan or sequence of projection images was recorded along a certain trajectory. This movement along the trajectory may be challenging since often many devices and systems, as well as clinical staff are present around the subject table.
• fixedly installed systems with movable components are provided as well as mobile systems, like mobile C-arm imaging systems. If imaging is required that allows comparison, similar images may be helpful for the clinical staff.
• a second 3D acquisition is to be performed to evaluate e.g. the procedure outcome or progress.
• the term “location information” relates to information about the spatial position of the respective reconstruction volume.
• the spatial position at least indirectly refers to the same spatial reference.
• the spatial position of the first reconstruction volume may relate to reference coordinates of the imaging device in the first position
• the spatial position of the second reconstruction volume may relate to reference coordinates of the imaging device in the second position, whilst the displacement between the first and the second position is also provided (or determined).
• the spatial position provides information about the three-dimensional arrangement and rotation.
• the location information may be provided in relation to a fixed base within an examination room, for example a reference point of a 3D coordinate grid inside the examination room.
• the location information may be provided in relation to a moving base within an examination room, such as a subject support, e.g. a patient table.
• the first reconstruction volume relates to a pre-operational scenario
• the second reconstruction volume relates to post-operational scenario.
• An examination, intervention, treatment or other procedure may have taken place between the pre-operational scenario and the post-operational scenario.
• degree of comparability thus also relates to a degree of similarity in view of the comparison.
• the planned second trajectory is the same trajectory as the first trajectory, but (theoretically or virtually) applied to the second position or second location of the X-ray imaging device.
• the planned second trajectory is then adapted to achieve better matching volume of interests, i.e. reconstruction volumes, which adaptation results in the adapted second trajectory, which is then used for performing the second scan.
• a first arrow 20 (shown in dashed lines) indicates a data output, i.e. a data connection.
• a subject on a subject support is also tracked by an optical camera.
• the subject is tracked by images.
• the subject is tracked by electromagnetic tracking.
• the first scan movement is captured by one or more cameras.
• the cameras capture where the first reconstruction volume is located. After a relative movement of imaging device and subject, a repetition of the same scan movement would lead to a second reconstruction volume that would be offset, i.e. displaced.
• the reconstruction volumes are both cylindric regions, and the overlap results in a spherical region.
• a limited angular segment is used.
• the scan directions are indicated with curved, i.e. circular arrows.
• Resulting directions of partial angle artefacts of the first and the second scans are indicated with a first straight arrow 78, 78’ for the first scan, and a second straight arrow 80, 80’ for the second scan.
• a resulting second reconstruction volume for the second sequence of X-ray images is calculated.
• a seventh step 114 also referred to as step g
• the adapted second trajectory is provided for acquiring the second sequence of X-ray images in the second position of the X-ray imaging device.
• the first step 102 of receiving the first location information and the second step 104 of receiving the planned second trajectory can also be provided simultaneously, or the second step 104 may be provided before the first step 102.
• the 3D field of view to be acquired relative to the patient anatomy is estimated. This can be done by tracking optical image features using the above special or natural markers according to the following: Multiple optical images are acquired when executing the first trajectory. In each image, image features can be detected and can be correlated to other optical images that were acquired from a different perspective. For instance, as another option, the camera is attached to the C-arm and the camera “looks” onto the patient when executing the first trajectory. In one image we can e.g. detect the patient’s fingertip. Then the C-arm is moved along the first trajectory and further optical images are acquired. In all of those images, an attempt is made to find the patient’s fingertip, now from different perspectives.
• Different dual axis trajectories may be used to reconstruct the same 3D volume. If a new obstruction is placed in the path of the original trajectory in the second acquisition, a second dual axis trajectory may be chosen to image the same volume but avoiding the obstruction.
• aspects of the invention may be implemented in a computer program product, which may be a collection of computer program instructions stored on a computer readable storage device which may be executed by a computer.
• the instructions of the present invention may be in any interpretable or executable code mechanism, including but not limited to scripts, interpretable programs, dynamic link libraries (DLLs) or Java classes.
• the instructions can be provided as complete executable programs, partial executable programs, as modifications to existing programs (e.g. updates) or extensions for existing programs (e.g. plugins).
• parts of the processing of the present invention may be distributed over multiple computers or processors.
• the processing unit for instance a controller implements the control method.
• the controller can be implemented in numerous ways, with software and/or hardware, to perform the various functions required.
• a processor is one example of a controller which employs one or more microprocessors that may be programmed using software (e.g., microcode) to perform the required functions.
• a controller may however be implemented with or without employing a processor, and also may be implemented as a combination of dedicated hardware to perform some functions and a processor (e.g., one or more programmed microprocessors and associated circuitry) to perform other functions.

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• Health & Medical Sciences (AREA)
• Life Sciences & Earth Sciences (AREA)
• Engineering & Computer Science (AREA)
• Medical Informatics (AREA)
• Physics & Mathematics (AREA)
• Radiology & Medical Imaging (AREA)
• Heart & Thoracic Surgery (AREA)
• High Energy & Nuclear Physics (AREA)
• Veterinary Medicine (AREA)
• Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
• Optics & Photonics (AREA)
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• General Health & Medical Sciences (AREA)
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• General Physics & Mathematics (AREA)
• Apparatus For Radiation Diagnosis (AREA)

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• 2019
  • 2019-12-10 EP EP19214870.8A patent/EP3834732A1/en not_active Withdrawn
• 2020
  • 2020-12-02 WO PCT/EP2020/084187 patent/WO2021115855A1/en not_active Ceased
  • 2020-12-02 US US17/782,871 patent/US12156756B2/en active Active
  • 2020-12-02 EP EP20815823.8A patent/EP4072423B1/en active Active
  • 2020-12-02 JP JP2022534467A patent/JP7617923B2/ja active Active
  • 2020-12-02 CN CN202080092522.2A patent/CN114929112B/zh active Active

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