Portable digital X-ray photography system for veterinarian

Abstract

The portable digital X-ray photography system comprises a host, a wireless panel detection module, a mobile control terminal and a three-dimensional positioning tracking module, and a high-energy density battery, a high-frequency high-voltage generator, a beam limiting device, a wireless communication module, a pre-exposure attenuation analysis module and an exposure control module are integrated in the host. The host supports switching between a battery power supply mode and a network power supply mode; by integrating the high-energy-density battery to support continuous exposure for more than or equal to 50 times, grid power / battery dual-mode power supply is realized, the limitation of a fixed machine room is eliminated, and the animal transfer stress risk is reduced; the target space coordinates are constructed in real time through the three-dimensional positioning module, the dual cameras and the distance detector; the linkage control host and the panel detection module are dynamically aligned with the target part, repeated exposure caused by animal movement is reduced, rapid and accurate imaging is comprehensively achieved, and the operation threshold and the radiation exposure risk are reduced.

Description

Technical Field

[0001] This invention relates to the field of veterinary diagnostic imaging equipment technology, and more specifically, to a portable digital X-ray imaging system for veterinary use. Background Technology

[0002] Veterinary X-ray imaging equipment is a powerful tool for veterinary clinical diagnosis. This equipment emits X-rays that penetrate the animal's body and uses the differences in the absorption of X-rays by different tissues to form an image on an imaging plate or detector. This allows veterinarians to observe the animal's internal condition and is widely used to examine animal fractures, joint dislocations, foreign bodies, organ diseases, etc. For example, when examining a pet's leg fracture, it can clearly show the bone morphology and provide key imaging evidence, providing important references for animal disease diagnosis and health assessment, and greatly improving the efficiency and accuracy of veterinary diagnosis.

[0003] However, current veterinary clinical X-ray imaging systems suffer from problems such as insufficient portability, reliance on experience for exposure parameters, and lack of dynamic tracking. Specifically, traditional equipment relies on grid power, large animals need to be transported to a fixed machine room, increasing the risk of stress. Animal tissue densities vary greatly (e.g., canine thoracic cavity vs. reptile skeleton), and manual parameter setting can easily lead to overdose or imaging failure. In addition, the equipment position needs to be repeatedly adjusted when the animal moves or changes position, resulting in low operating efficiency and increased radiation exposure. Summary of the Invention

[0004] The purpose of this invention is to provide a portable digital X-ray imaging system for veterinary use to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a portable digital X-ray imaging system for veterinary use, comprising a main unit, a wireless flat panel detection module, a mobile control terminal, and a three-dimensional positioning and tracking module, wherein;

[0006] The host unit integrates a high-energy-density battery, a high-frequency high-voltage generator, a beam limiter, a wireless communication module, a pre-exposure attenuation analysis module, and an exposure control module. The host unit supports switching between battery power supply mode and grid power supply mode.

[0007] The wireless flat panel detection module is used to receive X-rays passing through animals and convert them into digital images, supporting both wireless and wired communication;

[0008] The mobile control terminal is connected to the host and the wireless tablet detection module via wireless communication and is used for parameter setting, image preview and exposure control.

[0009] The 3D positioning and tracking module includes at least two cameras with an included angle greater than 90 degrees and a distance detector, used to generate the 3D coordinates of the target location in real time.

[0010] Preferably, the pre-exposure attenuation analysis module includes:

[0011] The low-dose pre-exposure control unit controls the host to emit low-dose detection X-rays;

[0012] The attenuation image acquisition unit acquires the attenuation distribution image after pre-exposure via a wireless flat panel detection module;

[0013] The equivalent attenuation coefficient calculation unit calculates the equivalent attenuation coefficient μ = -ln(I / I0) based on the gray value distribution of the attenuation image and the main exposure area and / or the pre-exposure adjustment area built into the host. Where I is the X-ray intensity of the detection area and I0 is the incident X-ray intensity.

[0014] The dose mapping unit automatically matches the main exposure parameters based on the equivalent attenuation coefficient.

[0015] Preferably, the low-dose pre-exposure control unit supports pulsed emission, and the beam limiter is configured to adjust the pre-exposure area and the main exposure area in a coordinated manner.

[0016] Preferably, the three-dimensional positioning and tracking module further includes:

[0017] The three-dimensional coordinate system establishment unit constructs the three-dimensional coordinates of the detection space;

[0018] The target coordinate calculation unit calculates the target's spatial coordinates in real time based on the target's spatial position, height, and the part to be detected obtained from the camera and distance detector.

[0019] The linkage control unit controls the movement of the host and the wireless tablet detection module, ensuring that the camera and distance detector are always aligned with the target spatial coordinates.

[0020] An electric remote-controlled tripod, wherein the main unit is mounted on the electric remote-controlled tripod, and the electric remote-controlled tripod is controlled by the linkage control unit.

[0021] Preferably, the mobile control terminal includes:

[0022] Exposure mode selection area, including graded exposure mode and direct exposure mode;

[0023] The timer setting area is used to set the first duration and the second duration;

[0024] Exposure termination control, used to stop the exposure operation in an emergency.

[0025] Preferably, the linkage control unit of the three-dimensional positioning and tracking module is communicatively connected to the dose mapping unit of the pre-exposure attenuation analysis module, and the user configures the linkage control unit and the dose mapping unit through the host.

[0026] Preferably, the wireless flat panel detection module uses an amorphous silicon flat panel with a pixel pitch ≤139μm and a power consumption ≤20W.

[0027] Preferably, the high-frequency high-voltage generator of the host has an output range of 40-250kV / 5-100mA and an exposure time adjustment range of 0.02-10s.

[0028] Preferably, the wireless communication module supports WiFi 6 or Bluetooth 5.0 protocols, with a transmission latency of ≤100ms.

[0029] Preferably, the host battery has a rated voltage of 48.1V, a rated capacity of at least 6000mAh, and can withstand ≥50 consecutive exposures.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention integrates a high-energy-density battery to support ≥50 consecutive exposures, realizes dual-mode power supply of grid power / battery, gets rid of the limitation of fixed equipment room, reduces the risk of animal transport stress, and the pre-exposure attenuation analysis module adopts pulsed low-dose detection, calculates the equivalent attenuation coefficient through gray value, automatically matches the optimal main exposure parameters, and solves the problem of excessive dose or imaging failure caused by differences in animal tissue density.

[0031] In addition, the three-dimensional positioning module constructs the target spatial coordinates in real time through dual cameras and distance detectors, and links the control host and the tablet detection module to dynamically align with the target area, reducing repeated exposure caused by animal movement, and comprehensively achieving rapid and accurate imaging, reducing the operation threshold and radiation exposure risk. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating the workflow of a portable digital X-ray imaging system for veterinary use, as described in an embodiment of the present invention.

[0033] Figure 2 This is a structural schematic diagram of the three-dimensional positioning and tracking module in a portable digital X-ray imaging system for veterinary use, according to an embodiment of the present invention.

[0034] Figure 3 This is a structural schematic diagram of the three-dimensional positioning and tracking module in a portable digital X-ray imaging system for veterinary use, according to an embodiment of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figures 1-3 The embodiments of the present invention provide a portable digital X-ray imaging system for veterinary use, including a host 1, a wireless flat panel detection module 3, a mobile control terminal, and a three-dimensional positioning and tracking module;

[0037] like Figure 3 As shown, the host 1 integrates a high-energy-density battery, a high-frequency high-voltage generator, a beam limiter, a wireless communication module, a pre-exposure attenuation analysis module, and an exposure control module. The host 1 supports switching between battery power supply mode and grid power supply mode.

[0038] The pre-exposure attenuation analysis module includes:

[0039] The low-dose pre-exposure control unit supports pulsed emission, with a single pre-exposure time of ≤50ms. The beam limiter is configured to adjust the pre-exposure area and the main exposure area in a linked manner, thereby controlling the host 1 to emit low-dose detection X-rays.

[0040] The attenuation image acquisition unit acquires the attenuation distribution image after pre-exposure through the wireless flat panel detection module 3;

[0041] The equivalent attenuation coefficient calculation unit calculates the equivalent attenuation coefficient μ = -ln(I / I0) based on the gray value distribution of the attenuated image and the main exposure area of ​​the host 1 input by the user and / or the pre-exposure adjustment area built into the host, where I is the X-ray intensity of the detection area and I0 is the incident X-ray intensity. The equivalent attenuation coefficient calculation unit calculates the equivalent attenuation coefficient using the formula μ = -ln(I / I0). For example, the gray value of the canine skeletal area is low, so the calculated μ value is large, while the μ value of the muscle tissue is small. Therefore, the difference in tissue density can be intuitively reflected by the μ value.

[0042] The dose mapping unit automatically matches the main exposure parameters according to the equivalent attenuation coefficient. The main exposure parameters include tube voltage of 40-250kV, tube current of 5-100mA, and exposure time of 0.02-10s. The attenuation image acquisition unit receives the X-ray signal after pre-exposure through the wireless flat panel detection module 3 and generates an attenuation distribution image with a grayscale value range of 0-4095. The image resolution is consistent with that of the wireless flat panel detection module 3.

[0043] The dose mapping unit incorporates a conventional group of animal tissue attenuation data models, including species such as dogs, cats, cattle, sheep, and reptiles. Based on the calculated μ value, it automatically matches the optimal master exposure parameters. For example, for the skeletal region with μ = 1.0, it automatically recommends a tube voltage of 120kV, a tube current of 80mA, and an exposure time of 0.8s; for the soft tissue region with μ = 0.4, it recommends a tube voltage of 80kV, a tube current of 30mA, and an exposure time of 0.3s.

[0044] The beam limiter uses a multi-leaf grating structure with a leaf thickness of 0.5mm. Driven by a motor, it can be continuously adjusted within the range of 0-20cm×0-20cm, with a minimum adjustment accuracy of 1mm. For example, when detecting leg fractures in dogs, the irradiation field is precisely limited to a range of 5cm×8cm, covering only the lesion area and reducing radiation to surrounding tissues and operators.

[0045] Furthermore, the high-frequency high-voltage generator of host 1 has an output range of 40-250kV / 5-100mA, an exposure time adjustment range of 0.02-10s, and a wireless communication module that supports WiFi 6 or Bluetooth 5.0 protocols with a transmission delay of ≤100ms. The high-frequency high-voltage generator is the core component for X-ray generation and can cover different detection needs from small pets such as hamsters and cats to large animals such as cows and horses.

[0046] It should be noted that the rated voltage of the battery of the main unit 1 is 48.1V, the rated capacity is at least 6000mAh, and the continuous exposure is ≥50 times.

[0047] The wireless flat panel detection module 3 is used to receive X-rays passing through the animal and convert them into digital images. It supports both wireless and wired communication. The wireless flat panel detection module 3 uses an amorphous silicon flat panel.

[0048] The mobile control terminal is connected to the host 1 and the wireless tablet detection module 3 via wireless communication, and is used for parameter setting, image preview, and exposure control. The mobile control terminal includes:

[0049] The exposure mode selection area includes graded exposure mode and direct exposure mode. The graded exposure mode divides the exposure process into three levels: low, medium, and high, and recommends a level based on the pre-exposure results, so the operator does not need to manually adjust the parameters.

[0050] The direct exposure mode allows for direct input of parameters such as tube voltage, tube current, and exposure time, offering greater flexibility.

[0051] The timer setting area is used to set the first duration and the second duration. The first duration is the pre-exposure preparation time, and the second duration is the image processing time after exposure. The range of the first duration is 1-10s, with a default of 3s. Setting this duration allows the operator to adjust the animal's position before pre-exposure. The range of the second duration is 2-20s, with a default of 5s. During this period, the system automatically completes image noise reduction, contrast enhancement, and other processing, and displays a clear image immediately after processing.

[0052] The exposure stop control is used to stop the exposure operation in an emergency. The exposure stop control is set as a physical button. In an emergency, the operator can stop the exposure with one click by pressing the exposure stop control to avoid unnecessary radiation.

[0053] Reference Figure 2 The 3D positioning and tracking module includes at least two cameras 4 with an included angle greater than 90 degrees for acquiring target image information, and a distance detector 5 for acquiring spatial distance data. By fusing the target image information and spatial distance data, the 3D spatial coordinates of the animal detection site are constructed in real time. The 3D positioning and tracking module also includes:

[0054] The three-dimensional coordinate system establishment unit is used to construct the three-dimensional coordinates of the detection space. Specifically, based on the location of the host 1 as the origin, a three-dimensional rectangular coordinate system is constructed through the parallax calculation of the dual cameras 4 and the data fusion of the distance detector 5.

[0055] The target coordinate calculation unit, based on the target's spatial position, height, and the part to be detected acquired by camera 4 and distance detector 5, calculates the target's spatial coordinates in real time. Specifically, the target coordinate calculation unit first uses the detection space three-dimensional coordinate system constructed by the three-dimensional coordinate system establishment unit as a reference. The dual cameras 4 acquire left and right views of the target part, and calculate the disparity of the target part in the left and right views using the SGBM semi-global block matching algorithm. Combining the focal length, principal point coordinates, and relative position relationship of camera 4, the three-dimensional coordinates of the target part are initially calculated using the triangulation principle. At the same time, the distance detector 5 acquires the straight-line distance data from the target part to the host 1 position. This distance data is fused and calibrated with the three-dimensional coordinates calculated by binocular vision. Noise interference is eliminated by the Kalman filter algorithm, and finally, high-precision target spatial coordinates are output to ensure that the coordinate update frequency matches the module's dynamic tracking requirements, thereby achieving real-time and accurate positioning of the animal's moving parts.

[0056] The linkage control unit adjusts the height of the electric control host 1 so that the camera 4 and the distance detector 5 are always aligned with the target spatial coordinates. In specific execution, the linkage control unit drives the electric remote control tripod 2 according to the change of the target coordinates through the PID control algorithm, adjusts the X-ray exit height of the host 1, thereby changing the receiving height of the wireless flat panel detection module 3. In addition, the legs of the electric remote control tripod 2 can be mounted on a movable platform, and the central axis of the X-ray beam is always aligned with the center of the target part through height adjustment and lateral adjustment.

[0057] Electric remote control tripod 2, the main unit is installed on electric remote control tripod 2, and electric remote control tripod 2 is controlled by linkage control unit.

[0058] Furthermore, the linkage control unit of the three-dimensional positioning and tracking module is communicatively connected to the dose mapping unit of the pre-exposure attenuation analysis module, and the user configures the linkage control unit and the dose mapping unit through the host 1.

[0059] According to the above embodiment, the process for the user to configure the linkage control unit and dose mapping unit through the host 1 is as follows:

[0060] a) Based on the target spatial coordinates obtained by the three-dimensional positioning and tracking module, the host 1 and the wireless tablet detection module 3 are initially located;

[0061] b) Perform low-dose pre-exposure and obtain the equivalent attenuation coefficient μ of the target area through the pre-exposure attenuation analysis module;

[0062] c) The dose mapping unit calculates the optimal master exposure parameters based on the equivalent attenuation coefficient μ;

[0063] d) The linkage control unit fine-tunes the spatial position and angle of the host 1 and / or the wireless flat panel detection module 3 based on the target spatial coordinates and the distribution of the equivalent attenuation coefficient μ, so as to optimize the alignment of the X-ray beam path with the target area;

[0064] e) Perform main exposure.

[0065] In summary, this invention includes a high-energy-density battery with a capacity configuration that meets the requirements of continuous exposure operations. It also integrates a grid power interface to form a dual-mode power supply architecture of grid power / battery. This architecture breaks through the dependence of traditional imaging equipment on fixed equipment rooms, allowing detection to be carried out in the animal's native environment, effectively reducing the incidence of stress response caused by animal transportation.

[0066] The pre-exposure attenuation analysis module uses pulsed low-dose detection technology to obtain grayscale data by pre-exposure of animal tissues and calculates the equivalent attenuation coefficient based on a preset algorithm. Based on the calculation results, it automatically matches the parameter combination of the main exposure, including but not limited to radiation dose and exposure time, to solve the problem of excessive radiation dose or substandard imaging quality caused by differences in tissue density among individual animals.

[0067] The three-dimensional positioning system consists of dual cameras 4, a distance detector 5, and a linkage control unit. The dual cameras 4 acquire target image information, and the distance detector 5 acquires spatial distance data. Through data fusion, the three-dimensional spatial coordinates of the animal detection site are constructed in real time. The linkage control unit drives the host 1 and the flat panel detection module to dynamically adjust their positions according to the coordinate information, ensuring that the two are always accurately aligned with the target site during the detection process, reducing repeated exposure caused by the animal's involuntary movement, and reducing the difficulty of operation and the risk of radiation exposure.

[0068] All parts not described in this invention are the same as or can be implemented using existing technology. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A portable digital X-ray imaging system for veterinary use, characterized in that, include: The host unit integrates a high-energy-density battery, a high-frequency high-voltage generator, a beam limiter, a wireless communication module, a pre-exposure attenuation analysis module, and an exposure control module. The host unit supports switching between battery power supply mode and grid power supply mode. The wireless flat panel detection module is used to receive X-rays passing through animals and convert them into digital images, supporting both wireless and wired communication; The mobile control terminal is connected to the host and the wireless tablet detection module via wireless communication and is used for parameter setting, image preview and exposure control. The 3D positioning and tracking module includes at least two cameras with an included angle greater than 90 degrees and a distance detector, used to generate the 3D coordinates of the target location in real time.

2. The portable digital X-ray imaging system for veterinary use according to claim 1, characterized in that: The pre-exposure attenuation analysis module includes: The low-dose pre-exposure control unit controls the host to emit low-dose detection X-rays; The attenuation image acquisition unit acquires the attenuation distribution image after pre-exposure via a wireless flat panel detection module; The equivalent attenuation coefficient calculation unit calculates the equivalent attenuation coefficient μ = -ln(I / I0) based on the gray value distribution of the attenuation image and the main exposure area and / or the pre-exposure adjustment area built into the host. Where I is the X-ray intensity of the detection area and I0 is the incident X-ray intensity. The dose mapping unit automatically matches the main exposure parameters based on the equivalent attenuation coefficient.

3. The portable digital X-ray imaging system for veterinary use according to claim 2, characterized in that: The low-dose pre-exposure control unit supports pulsed emission, and the beam limiter is configured to adjust the pre-exposure area and the main exposure area in a linked manner.

4. The portable digital X-ray imaging system for veterinary use according to claim 1, characterized in that: The three-dimensional positioning and tracking module also includes: The three-dimensional coordinate system establishment unit constructs the three-dimensional coordinates of the detection space; The target coordinate calculation unit calculates the target's spatial coordinates in real time based on the target's spatial position, height, and the part to be detected obtained from the camera and distance detector. The linkage control unit controls the movement of the host and the wireless tablet detection module, ensuring that the camera and distance detector are always aligned with the target spatial coordinates. An electric remote-controlled tripod, wherein the main unit is mounted on the electric remote-controlled tripod, and the electric remote-controlled tripod is controlled by the linkage control unit.

5. The portable digital X-ray imaging system for veterinary use according to claim 1, characterized in that: The mobile control terminal includes: Exposure mode selection area, including graded exposure mode and direct exposure mode; The timer setting area is used to set the first duration and the second duration; Exposure termination control, used to stop the exposure operation in an emergency.

6. The portable digital X-ray imaging system for veterinary use according to claim 4, characterized in that: The linkage control unit of the three-dimensional positioning and tracking module is communicatively connected to the dose mapping unit of the pre-exposure attenuation analysis module, and the user configures the linkage control unit and the dose mapping unit through the host.

7. The portable digital X-ray imaging system for veterinary use according to claim 1, characterized in that: The wireless flat panel detection module uses an amorphous silicon flat panel with a pixel pitch ≤139μm and a power consumption ≤20W.

8. The portable digital X-ray imaging system for veterinary use according to claim 1, characterized in that: The high-frequency high-voltage generator of the host has an output range of 40-250kV / 5-100mA and an exposure time adjustment range of 0.02-10s.

9. The portable digital X-ray imaging system for veterinary use according to claim 1, characterized in that: The wireless communication module supports WiFi 6 or Bluetooth 5.0 protocols, with a transmission latency of ≤100ms.

10. The portable digital X-ray imaging system for veterinary use according to claim 1, characterized in that: The host's battery has a rated voltage of 48.1V, a rated capacity of at least 6000mAh, and can withstand ≥50 consecutive exposures.

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