Improved Intraoral X-ray System

Abstract

The present invention provides an intraoral x-ray system, the intraoral x-ray system comprising: an x-ray source located within the environment; a robotic arm including an actuatable scissor arm having a first end configured to be attached to a mounting and a second end attached to an x-ray source, at least one of the first end and the second end including a rotatable actuatable joint; a position sensor for determining variations in position and / or orientation of the environment relative to the X-ray source and variations in position and / or orientation of the mobile X-ray sensor relative to the X-ray source; and a drive unit for actuating the robot arm as a function of the determined variation in position and / or orientation to control the position and / or orientation of the X-ray source relative to a predetermined position and / or orientation of the X-ray source.

Description

[Technical Field]

[0001] The present invention relates to the field of X-ray systems for the healthcare industry, and in particular, but not exclusively, to intraoral X-ray systems used in the dental industry. [Background technology]

[0002] Intraoral x-ray systems are commonly used to provide two-dimensional (2D) images of a patient's teeth. When a practitioner uses an intraoral x-ray system on a patient, an intraoral sensor is placed inside the patient's mouth behind the tooth or teeth to be imaged, and the system's external x-ray source is brought into close proximity to the patient's face near the area to be imaged.

[0003] The x-ray source of such intraoral x-ray systems is typically mounted on an articulated arm, with the x-ray source attached to a first end of the articulated arm. The second end of the articulated arm can be attached to a wall, the dental chairside, or a stand-alone base. If the second end of the articulated arm is attached to a wall, the wall needs to be stable, flat, and perpendicular to the floor of the practitioner's office. Because not all walls are stable, flat, and perpendicular to the floor, installing the articulated arm on a wall can be difficult and time-consuming. If the articulated arm is attached to the dental chairside or a stand-alone base, additional space is required around the dental chair, which is often not available in many practitioner's offices.

[0004] Regardless of where the articulating arm is secured, the x-ray source is often heavy, and therefore the articulating arm includes a spring and a cable to keep the x-ray source stable while an x-ray image is taken of one or more of the patient's teeth. Unfortunately, even with the use of springs and cables, unstable drift can occur during x-ray capture, causing image blurring and other problems that can affect image quality. Additionally, instability can be exacerbated if the wall is not sufficiently flat, stable, and perpendicular to the floor.

[0005] Additionally, because the articulating arm is fixed to a wall, dental chairside, or stand-alone base, the x-ray source is generally limited to use in only a specific exam room, requiring practitioners to outfit their offices with multiple x-ray sources in separate exam rooms or requiring patients to move between exam rooms within the office for x-ray imaging. A practitioner's investment in an intraoral x-ray imaging system could be reduced if the x-ray source were mobile. Also, with a mobile x-ray source, tomosynthesis exams could be performed in various exam rooms at minimal cost to the practitioner.

[0006] Additionally, as previously mentioned, the practitioner moves the x-ray source close to the patient's face to perform the x-ray imaging, which can be difficult for the practitioner to do if the patient is moving. Furthermore, if the patient moves slightly before or during the x-ray imaging, the image quality can be adversely affected. If a satisfactory x-ray image is not obtained, the practitioner must take another x-ray image, which increases the x-ray dose to the patient. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] US Patent Application Publication No. 2009 / 0060145 [Patent Document 2] International Publication No. 2012 / 166262 Summary of the Invention [Problem to be solved by the invention]

[0008] Therefore, there is a need in the industry for an intraoral x-ray system that is easier to install and use, improves positioning of the x-ray source near the patient's face, produces high quality x-ray images, and overcomes these and other problems, difficulties, and shortcomings of current systems. [Means for solving the problem]

[0009] Broadly described, the present invention includes an intraoral x-ray system, which includes an apparatus and method for generating dental x-ray images. Advantageously, the intraoral x-ray system of the present invention facilitates easier wall installation in a practitioner's office because the movable components of the intraoral x-ray system can be moved to compensate for imperfections in the wall's flatness or for walls that are not sufficiently perpendicular to the floor. Furthermore, due at least in part to its monitoring and compensation capabilities, the intraoral x-ray system can compensate for drift in the position of the x-ray source before and during x-ray imaging, thereby avoiding the need to take additional x-ray images and unnecessarily expose the patient to excessive x-ray doses. The intraoral x-ray system can also automatically compensate for patient movement before and during x-ray imaging, as described herein. Furthermore, because the x-ray source can be precisely moved along a predetermined trajectory under the control of a data / signal processing unit, the intraoral x-ray system can be used to perform computed tomosynthesis examinations of patients. Furthermore, the x-ray source and robotic arm may be designed such that the x-ray source is attachable / detachable to the robotic arm and the rest of the intraoral x-ray system, so that there is no violent, unstable reaction when the x-ray source is detached and removed from its connection with the robotic arm. Instead, the data / signal processing unit may detect the change in weight at the second end of the robotic arm due to removal of the x-ray source, and manipulate the robotic arm and other moving components of the intraoral x-ray system to automatically compensate for the change in weight in a safe and predictable manner.

[0010] According to certain aspects of the present disclosure, there is provided an intraoral x-ray system, the intraoral x-ray system comprising: an X-ray source located within the environment; a robotic arm including an actuatable scissor arm having a first end configured to be attached to a mounting and a second end attached to an x-ray source, at least one of the first end and the second end including a rotatable actuatable joint; a position sensor for determining variations in the position and / or orientation of the environment relative to the X-ray source and variations in the position and / or orientation of the mobile X-ray sensor relative to the X-ray source; and a drive unit that actuates the robotic arm as a function of the determined variations in position and / or orientation to control the position and / or orientation of the X-ray source relative to a predetermined position and / or orientation of the X-ray source.

[0011] The intraoral x-ray system according to the present invention offers simplified installation, operation and maintenance. In particular, the intraoral x-ray system according to the present invention does not require any particular characteristics of the mounting to which it is attached other than its robustness.

[0012] In one embodiment, variations in the position and / or orientation of the environment relative to the X-ray source and variations in the position and / or orientation of the mobile X-ray sensor relative to the X-ray source are determined within the same reference frame associated with the X-ray source, simplifying and speeding up processing.

[0013] In one embodiment, the drive unit is configured to control the actuatable scissor arm and / or at least one rotatable actuatable joint.

[0014] In one embodiment, the drive unit is configured to lock the actuatable scissor arm and / or at least one rotatable actuatable joint in position, thus facilitating assembly and disassembly of the x-ray source and improving storage. Thus, a practitioner can switch the robotic arm into a locked configuration, which is easily achieved for the robotic arm and other moving components of the intraoral x-ray system. The robotic arm is then fixed regardless of the position of the x-ray sensor.

[0015] In one embodiment, the position sensor includes a first position sensor for determining variations in the position and / or orientation of the environment relative to the X-ray source and a second position sensor for determining variations in the position and / or orientation of the mobile X-ray sensor relative to the X-ray source, each of the first and second position sensors including at least one of a gyroscope, an accelerometer, and a localizer for determining the position of a predetermined member.

[0016] In one embodiment, the localizer includes a radio receiver and a computing unit for determining the location of at least one radio emitter.

[0017] In one embodiment, each of the rotatable actuatable joints allows rotation about one, two, or three axes.

[0018] In one embodiment, the drive unit is configured to control the movement of the X-ray source relative to the X-ray sensor according to a predetermined path.

[0019] In one embodiment, the x-ray source is removable from the second end of the robotic arm.

[0020] In one embodiment, the X-ray source is controlled and powered via a connector that includes a first part belonging to the robot arm and a second part belonging to the X-ray source, the second part of the connector allowing an external power supply module to connect to the X-ray source to power the X-ray source.

[0021] In one embodiment, the x-ray source includes a display.

[0022] In one embodiment, the system further includes an X-ray sensor.

[0023] In one embodiment, the system further includes at least one wireless emitter carried by the x-ray sensor.

[0024] In one embodiment, the localizer includes at least two cameras and a computing unit configured to locate a spatial arrangement of visual markers, where the visual markers are located on the X-ray sensor and within the field of view of the cameras.

[0025] In one embodiment, the drive unit is configured to actuate the robotic arm to control the position and / or orientation of the X-ray source relative to the X-ray sensor during one of a pre-acquisition approach phase, an acquisition phase, or a storage to further acquisition phase.

[0026] In one embodiment, the system includes an obstacle detector, and the drive unit is configured to stop the movement of the X-ray source upon detection of an obstacle in the trajectory of the X-ray source.

[0027] According to another particular aspect of the present disclosure, there is provided a method for controlling the above-described X-ray system, the method comprising: acquiring variations in position and / or orientation of an environment in which the X-ray source is located relative to the X-ray source, and variations in position and / or orientation of an X-ray sensor relative to the X-ray source; determining the movement of the X-ray source in real time to compensate for the resulting variations in position and / or orientation; and actuating the robotic arm to move the X-ray source as a function of the determined movement.

[0028] The method according to the present invention provides simplified installation, operation, and maintenance of intraoral x-ray systems.

[0029] According to certain embodiments, determining the movement of the X-ray source in real time includes determining a compensatory movement of the X-ray source in real time to compensate for variations in the obtained position and / or orientation of the X-ray source and / or the X-ray sensor, and obtaining a position reached along a predetermined path followed by the X-ray source relative to the X-ray sensor, the determined movement of the X-ray source resulting from a combination of the compensatory movement and the obtained position. At least a portion of the method according to the present invention may be implemented on a computer. Accordingly, the present invention may take the form of an entirely hardware embodiment or an embodiment combining software and hardware aspects, all of which may be generally referred to herein as a "circuit," "module," or "system." Furthermore, portions of the present invention may take the form of a computer program product, which may be embodied in any tangible medium of expression having computer-usable program code embodied therein.

[0030] Portions of the present invention may be implemented in software, and therefore portions of the present invention may be embodied as computer-readable code for provision to a programmable apparatus on any suitable carrier medium. Tangible carrier media may include storage media, such as floppy disks, CD-ROMs, hard disk drives, magnetic tape devices, or solid-state memory devices. Transient carrier media may include electric, electronic, optical, acoustic, magnetic, or electromagnetic signals, such as microwave or RF signals. [Brief explanation of the drawings]

[0031] Embodiments of the present invention will now be described, by way of example only, with reference to the following drawings, in which: [Figure 1] 1 illustrates a first example of an intraoral x-ray system in a folded state in which some embodiments of the present invention may be implemented. [Figure 2] FIG. 2 shows the intraoral x-ray system of FIG. 1 in an unfolded state. [Figure 3] FIG. 1 illustrates a second example of an intraoral x-ray system in which some embodiments of the present invention may be implemented. [Figure 4]FIG. 4 is a schematic block diagram of a portion of an intraoral x-ray system such as that shown in FIGS. 1 and 2 or 3 that allows for controlling the position and / or orientation of the x-ray source so that it remains substantially stationary relative to the x-ray sensor, according to some embodiments of the present invention. [Figure 5] 1 is a flowchart illustrating example steps in a process for controlling the position and / or orientation of an X-ray source according to some embodiments of the present invention. [Figure 6] FIG. 1 illustrates a schematic diagram of a processing device configured to implement at least one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0032] According to some embodiments of the present invention, the intraoral x-ray system includes a position sensor to determine a relative position and / or orientation of an x-ray source of the intraoral x-ray system with respect to the x-ray sensor and to determine a displacement of the x-ray source of the intraoral x-ray system. Additionally, the x-ray system includes a robotic arm controlled at least in part by a drive unit as a function of an output of the position sensor. Further according to some embodiments of the present invention, the x-ray source is attached to the robotic arm such that the position and / or orientation of the x-ray source remains substantially stationary with respect to the x-ray sensor.

[0033] FIG. 1 illustrates a first example of an intraoral x-ray system in a folded state in which some embodiments of the present invention may be implemented.

[0034] According to this example, an X-ray system, referenced 100, is mounted to a wall by a wall framework 105 that may include some of the X-ray system's electronics, such as a control timer unit and an X-ray exposure button (not shown). An X-ray source, referenced 110, is attached to the wall framework 105 via a robotic arm that includes several movable members, such as an optional extension arm, referenced 115, an actuatable scissor arm, generally referenced 120, including members 120-1 and 120-2, and an optional adapter 125. According to the illustrated example, the extension arm 115 is movable in a horizontal plane about a vertical axis extending from the wall framework 105. For example, the extension arm 115 may be connected to the wall framework 105 via a rotatable and operable linkage member. Further according to this example, the scissor arm 120 is movable about a vertical axis extending from the extension arm 115 at an end opposite the end attached to the wall framework 105. Again, the scissor arms 120 may be connected to the extension arms 115 via a rotatable and operable linkage member. Additionally, the ends of the scissor arms 120 may be moved horizontally relative to one another to move them closer together or apart. Further according to this example, the x-ray source 110 is attached to the opposite ends of the scissor arms with the aid of an adapter 125, which allows rotational movement about a vertical axis extending from the ends of the scissor arms, and about a horizontal axis.

[0035] Of course, other configurations are possible.

[0036] According to some embodiments, the movement of each or some of the components of the intraoral x-ray system 100 is motorized, so that the position and orientation of the x-ray source 110 can be controlled by a processing unit such as a computer. Illustratively, the actuators used to move these components may include one or more stepper motors and one or more hydraulic cylinders.

[0037] Figure 2 shows the intraoral x-ray system of Figure 1 in a deployed state. As can be seen, such a deployed state allows the x-ray source 110 to be positioned in front of an x-ray sensor, e.g., x-ray sensor 200, which is placed in the mouth of a patient 205.

[0038] FIG. 3 illustrates a second example of an intraoral x-ray system in which some embodiments of the present invention may be implemented. According to this example, the intraoral x-ray system 100' is mobile and includes a mobile base to which an actuatable scissor arm 120' is attached. According to the illustrated example, the scissor arm 120' is movable about a vertical axis extending from the mobile base 300. The scissor arm 120' may be connected to the mobile base 300 via a rotatable and operable linkage member. The ends of the scissor arm 120', as well as the ends of the scissor arm 120', are horizontally movable relative to each other to move them closer or farther apart, and the x-ray source 110' is attached to the opposite end of the scissor arm with the aid of an adapter 125', which allows rotational movement along the vertical axis extending from the end of the scissor arm and along a horizontal axis.

[0039] Again, other configurations are possible.

[0040] Similarly, the movement of each or some of the components of the intraoral x-ray system 100' may be motorized so that the position and orientation of the x-ray source 110' may be controlled by a processing unit such as a computer. Again, the actuators used to move these components may include one or more stepper motors and one or more hydraulic cylinders.

[0041] The X-ray source 110 or 110′ may include a conventional thermionic X-ray tube source or a cold cathode X-ray source, such as one containing carbon nanotubes to reduce its weight and simplify the design of the robot arm. The X-ray source may be controlled and powered via a connector including a first portion belonging to the robot arm and a second portion belonging to the X-ray source; if the X-ray source is to be attachable / detachable to / from the robot arm, the second portion of the connector may support the attachment of a power module, such as one containing a battery or supercapacitor. Such a power module may be included in a handle, to which it may be attached after the X-ray source is detached from the robot arm. Optionally, the X-ray source may include a display suitable for displaying exposure parameters and / or the remaining power in the power module.

[0042] According to certain embodiments of the present invention, the robotic arm can be manipulated and moved during X-ray computed tomography to move the X-ray source along a desired path, i.e., a desired trajectory and orientation relative to the X-ray sensor.

[0043] According to certain embodiments of the present invention, the robotic arm may be manipulated prior to exposing the X-ray sensor to place the X-ray source in a desired position relative to the X-ray sensor. Similarly, the robotic arm may be manipulated after exposing the X-ray sensor (or at any time) to place the X-ray source in a storage position.

[0044] Furthermore, according to certain embodiments of the present invention, the drive unit is configured to lock the actuatable scissor arm and / or the at least one rotatable actuatable joint in a predetermined position to allow the X-ray source to be removed from the robotic arm. Such a position to allow the X-ray source to be removed from the robotic arm may be the same position as the storage position or may be a different position.

[0045] According to further specific embodiments, the X-ray source and / or the robotic arm include an obstacle detector, for example an optical proximity detector, to avoid the X-ray source colliding with an object when the X-ray source is moved.

[0046] FIG. 4 is a schematic block diagram of a portion of an intraoral x-ray system such as that shown in FIGS. 1 and 2 or 3 that allows for controlling the position and / or orientation of the x-ray source in accordance with some embodiments of the present invention so that it remains substantially stationary relative to the x-ray sensor.

[0047] For clarity, reference will be made only to Figures 1 and 2. However, it should be understood that the description of Figure 4 also applies to the X-ray system of Figure 3 and any similar X-ray system.

[0048] As shown, the X-ray source 110 is attached to the adapter 125 via a rotatable and actuable linkage member that allows the X-ray source 110 to rotate about a horizontal axis. The adapter 125 is in turn attached to the scissor arm member 120-2 via a rotatable and actuable linkage member that allows the adapter to rotate about a vertical axis. The robotic arm may include other actuable members, such as rotatable actuable joints.

[0049] According to the illustrated example, the X-ray source 110 includes (or carries) a first position sensor (or first portion of a position sensor), referenced 400, that determines the relative position and / or orientation of the X-ray sensor 200 with respect to the X-ray source 110. Thus, by determining changes in the position and / or orientation of the X-ray sensor 200 with respect to the X-ray source 110, the robotic arm, which in the illustrated example includes the scissor arm 120 and the adapter 125, can be controlled to modify the position and / or orientation of the X-ray source 110 with respect to the X-ray sensor 200 so that the X-ray source 110 remains substantially stationary with respect to the X-ray sensor 200.

[0050] For illustrative purposes, the first position sensor may include one or more wireless receivers, such as wireless receiver 400, to locate one or more wireless emitters associated with the X-ray sensor, such as wireless emitters 405-1 and 405-2 attached to X-ray sensor 200. By measuring wireless signals emitted by the wireless emitters, a processing unit associated with the wireless receivers can determine the relative positions of the wireless emitters and, therefore, the relative positions of the X-ray sensors associated with those wireless emitters. Examples of such first position sensors are disclosed in U.S. Patent Application Publication No. 2009 / 0060145 and WO 2012 / 166262.

[0051] Other types of position sensors may be used, such as position trackers used in virtual reality systems. For illustrative purposes, such a position tracker may be an optical position tracking system that includes an arrangement of fixed visual markers associated with two video cameras positioned on the X-ray source. In this embodiment, the fixed visual markers are attached to the X-ray sensor and are positioned within the field of view of each of the two video cameras when the X-ray sensor is positioned in the patient's mouth. Knowing the spatial configuration of the visual markers and the spatial configuration of the two cameras allows the position and orientation of the X-ray sensor to be determined. As an alternative to these visual markers, tags such as QR codes containing rotationally invariant patterns may be used. Additionally, instead of measuring position and / or orientation, it is possible to measure movement.

[0052] Further according to the illustrated example, the X-ray source 110 further includes (or carries) a second position sensor (or second portion of a position sensor) referenced 410 to determine the displacement of the X-ray source relative to a frame of reference associated with the environment in which the X-ray system is located (e.g., a frame of reference associated with the walls of the room in which the X-ray source is located). According to some specific embodiments, to simplify further calculations (i.e., to avoid changes in the frame of reference), the X-ray source is considered to be fixed and the environment in which the X-ray source is located is considered to be movable. In such cases, the second position sensor provides the displacement of the environment relative to the X-ray source.

[0053] Therefore, by determining the displacement of the X-ray source relative to a reference frame associated with the environment in which the X-ray system is placed, or the movement of the environment relative to the X-ray source 110, in the illustrated example, it is possible to control the robotic arm, which includes the scissor arm 120 and the adapter 125, to correct the position and / or orientation of the X-ray source 110 relative to the environment so that the X-ray source 110 remains approximately stationary relative to the environment, i.e., to detect drift in the position of the X-ray source and automatically compensate for the drift in real time.

[0054] For illustrative purposes, the second position sensor may include one or more accelerometers and / or one or more gyroscopes, for example, accelerometers and gyroscopes embedded in an integrated circuit such as those provided in many smartphones. Other types of position sensors may also be used. Additionally, instead of measuring movement, it is possible to measure position and / or orientation.

[0055] Combining the compensatory motion determined by the output of the first position sensor and applied to the X-ray source 110 with the compensatory motion determined by the output of the second position sensor and applied to the X-ray source 110 allows for an improvement in the quality of the image obtained from the data emitted by the X-ray sensor. To facilitate combining these compensatory motions, it is preferable to use the same reference frame (e.g., reference frame 415) to determine the relative motion of the X-ray sensor with respect to the X-ray source and to determine the relative motion of the environment with respect to the X-ray source.

[0056] Combining the outputs of the first and second position sensors (which may be collectively referred to as one "position sensor") to control the robot arm, i.e., to determine the control commands to send to the actuators of the robot arm to compensate for drift of the X-ray source and movement of the X-ray sensors, may be performed in a processing unit, for example, drive unit 420 embedded within the X-ray source. According to certain embodiments, drive unit 420 includes a processing unit used to determine the position of one or more wireless emitters as described above.

[0057] According to another embodiment, the drive unit is external to the X-ray source. In such a case, the data issued by the first and second position sensors and the control commands sent to the actuators of the robot arm can be transmitted according to standard wireless protocols (e.g., using Bluetooth or WiFi protocols, Bluetooth and WiFi are trademarks) or by wire.

[0058] 5 is a flow chart illustrating example steps of a process for controlling the position and / or orientation of an X-ray source, according to some embodiments of the present invention, which may be performed by the drive unit described above.

[0059] As shown, the first optional step relates to obtaining the trajectory followed by the X-ray source (step 500), for example in the case of computed tomography where the X-ray source needs to move according to a predetermined path relative to the X-ray sensor. Such a step may be part of an initialization step.

[0060] Next, a movement or displacement of the environment in which the X-ray source is located relative to the X-ray source is obtained according to a predetermined reference frame associated with the X-ray source (step 505). Since step 505 is performed several times (usually periodically), the obtained movement or displacement preferably corresponds to the displacement of the environment relative to the X-ray source between two successive executions of this step.

[0061] In parallel, or one after the other, the position and / or orientation of the X-ray sensor relative to the X-ray source is obtained according to a predetermined reference frame associated with the X-ray source (step 510). This position and / or orientation is compared with a previous position and / or orientation to determine a displacement (step 515). Again, since steps 505 and 510 are performed several times (typically periodically), the determined displacement preferably corresponds to the displacement of the X-ray sensor relative to the X-ray source between two successive executions of these steps.

[0062] Alternatively, the displacement of the X-ray sensor relative to the X-ray source may be obtained directly from the sensor.

[0063] Next, a compensatory motion of the X-ray source is determined (step 520). According to certain embodiments, this compensatory motion is determined from the sum of the compensatory motion obtained from the first position sensor and the compensatory motion obtained from the second position sensor, which may be equal to the negative of this sum.

[0064] If the X-ray source needs to be moved relative to the X-ray sensor, for example in the case of computed tomography, the displacement of the X-ray source is determined (step 525), based on the obtained trajectory and timing information.

[0065] Control commands are then determined for controlling the actuators of the robot arm, e.g., the actuators of the actuatable scissor arm and the actuators of one or more rotatable actuatable joints, such that the X-ray source is moved according to the determined compensation motion and, if applicable, according to the determined displacement along the resulting trajectory (step 530).Once determined, the control commands are sent to the actuators to actually move the X-ray source (step 535).

[0066] As shown, the process is repeated until no compensation for x-ray source displacement is required, for example, until a desired image of one or more teeth is obtained.

[0067] Advantageously, the intraoral x-ray system of the present invention allows for easier wall installation in a practitioner's office because the movable components of the intraoral x-ray system can be moved to compensate for imperfections in the wall's flatness or if the wall is not sufficiently perpendicular to the floor. Furthermore, due at least in part to its monitoring and compensation capabilities, the intraoral x-ray system can compensate for drift in the position of the x-ray source before and during x-ray imaging, thereby avoiding the need to take additional x-ray images and unnecessarily expose the patient to excessive x-ray doses. The intraoral x-ray system can also automatically compensate for patient movement before and during x-ray imaging, as described herein. Furthermore, because the x-ray source can be precisely moved along a predetermined trajectory under the control of the data / signal processing unit, the intraoral x-ray system can be used to perform computed tomosynthesis examinations of patients. Furthermore, the x-ray source and robotic arm can be designed so that the x-ray source is attachable / detachable to the robotic arm and the rest of the intraoral x-ray system, preventing a violent and unstable reaction when the x-ray source is disconnected and removed from the robotic arm. Instead, the data / signal processing unit detects the change in weight at the second end of the robotic arm due to removal of the x-ray source and manipulates the robotic arm and other moving components of the intraoral x-ray system to automatically compensate for the change in weight in a safe and predictable manner.

[0068] Fig. 6 shows a schematic diagram of a processing device 600 configured to perform at least some steps of some embodiments of the method according to the invention, such as the steps described with reference to Fig. 5. The processing device 600 may be a device such as a microcomputer, a workstation, or a lightweight handheld device. The device 600 includes a communication bus 605, which is connected to: a central processing unit 610, denoted as CPU, such as a microprocessor; a read-only memory 615, denoted ROM, for storing a computer program for implementing the present invention; a random access memory 620, denoted RAM, for storing the executable code of some steps of some embodiments of the method according to the invention, as well as registers adapted to record variables and parameters necessary to carry out these steps; and an input / output interface 625 connected to sensors for obtaining position and / or orientation information relative to the X-ray sensor and to actuators of the robot arm.

[0069] Optionally, the device 600 also includes the following components: data storage means 630, such as a hard disk, for storing computer programs for implementing some steps of some embodiments of the method according to the invention and data used or generated during the implementation of these steps; a network interface (x35) for receiving or transmitting data over a communications network; a screen (not displayed) for displaying data and / or serving as a graphical interface to the user, allowing the user to interact with the X-ray system by means of a keyboard or other pointing means;

[0070] The communication bus provides communication and interoperability between the various components included in or connected to the device 600. The representation of the bus is not limiting, and in particular the central processing unit is operable to communicate instructions to any component of the device 600 directly or by way of another component of the device 600.

[0071] The executable code may be stored either in the read-only memory 615, on the hard disk 630 or on a removable digital medium, such as for example a memory card (not shown). According to a variant, the executable code of the program is received by a communications network through the network interface 635 and stored in one of the storage means of the device 600, for example on the hard disk 630, before execution.

[0072] The central processing unit 610 is adapted to control and direct the execution of instructions or parts of software code of one or more programs according to the invention, which instructions are stored in one of the aforementioned storage means. On power-up, the program or programs stored in a non-volatile memory, for example the hard disk 630 or the read-only memory 615, are transferred to the random access memory 620, which then contains registers for storing the executable code of the program or programs, as well as variables and parameters necessary to implement the invention.

[0073] In this embodiment, the device is a programmable device that uses software to implement the invention, however, the invention may alternatively be implemented in hardware (e.g., in the form of an application specific integrated circuit, or ASIC).

[0074] Although the present invention has been described above with reference to particular embodiments, the invention is not limited to those particular embodiments, and modifications within the scope of the invention will be apparent to those skilled in the art.

[0075] Many further modifications and variations will occur to those skilled in the art upon reference to the above exemplary embodiments, which are provided by way of example only and are not intended to limit the scope of the invention, which is determined solely by the appended claims. In particular, different features of different embodiments may be interchanged where appropriate.

[0076] In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. The mere fact that different features are recited in mutually different dependent claims does not indicate that a combination of these features cannot be used to advantage.

Claims

1. an x-ray source located within the environment; a robotic arm including an actuatable scissor arm having a first end configured to be attached to a mounting and a second end attached to the x-ray source, at least one of the first and second ends including a rotatable actuatable joint; a position sensor for determining variations in position and / or orientation of the environment relative to the X-ray source and variations in position and / or orientation of a mobile X-ray sensor relative to the X-ray source; a drive unit for actuating the robot arm as a function of the determined variations in position and / or orientation to control the position and / or orientation of the X-ray source relative to a predetermined position and / or orientation of the X-ray source. Intraoral X-ray system.

2. 2. The system of claim 1, wherein the variations in position and / or orientation of the environment relative to the X-ray source and the variations in position and / or orientation of the mobile X-ray sensor relative to the X-ray source are determined within the same reference frame associated with the X-ray source.

3. The system of claim 1 or claim 2, wherein the drive unit is configured to control the actuatable scissor arm and / or at least one of the rotatable actuatable joints.

4. The system of claim 3 , wherein the drive unit is configured to lock the actuatable scissor arm and / or at least one of the rotatable actuatable joints in position.

5. 5. The system of claim 1, wherein the position sensors include a first position sensor for determining variations in position and / or orientation of the environment relative to the X-ray source, and a second position sensor for determining variations in position and / or orientation of a mobile X-ray sensor relative to the X-ray source, each of the first and second position sensors including at least one of a gyroscope, an accelerometer, and a localizer for identifying a position of a predetermined member.

6. At least one of the first and second position sensors includes the localizer; The system of claim 5 , wherein the localizer includes a radio receiver and a computing unit for determining the location of at least one radio emitter.

7. The system of any one of claims 1 to 6, wherein each of the rotatable actuatable joints allows rotation about one, two, or three axes.

8. The system according to any one of claims 1 to 7, wherein the drive unit is configured to control the movement of the X-ray source relative to the X-ray sensor according to a predetermined path.

9. The system of any one of claims 1 to 8, wherein the X-ray source is detachable from the second end of the robotic arm.

10. 10. The system of claim 9, wherein the X-ray source is controlled and powered via a connector including a first portion belonging to the robot arm and a second portion belonging to the X-ray source, the second portion of the connector enabling an external power supply module to connect to the X-ray source to power the X-ray source.

11. 11. The system of claim 9 or claim 10, wherein the X-ray source includes a display.

12. The system of any one of claims 1 to 11, further comprising the X-ray sensor.

13. 13. The system of claim 12 when dependent on claim 6, further comprising at least one wireless emitter carried by the X-ray sensor.

14. At least one of the first and second position sensors includes the localizer; 13. The system of claim 12 when dependent on claim 5, wherein the localizer includes at least two cameras and a computing unit configured to locate a spatial arrangement of visual markers, wherein the visual markers are positioned on the X-ray sensor and within the field of view of the cameras.

15. 15. The system of any one of claims 1 to 14, wherein the drive unit is configured to actuate the robotic arm to control the position and / or orientation of the X-ray source relative to the X-ray sensor during one of a pre-acquisition approach phase, an acquisition phase, or a storage to further acquisition phase.

16. 16. The system of claim 15, wherein the system comprises an obstacle detector, and the drive unit is configured to stop movement of the X-ray source upon detection of an obstacle in a trajectory of the X-ray source.

17. acquiring variations in position and / or orientation of the environment in which the X-ray source is located relative to the X-ray source, and variations in position and / or orientation of the X-ray sensor relative to the X-ray source; determining the motion of the X-ray source in real time to compensate for variations in the obtained position and / or orientation; and actuating the robotic arm to move the X-ray source as a function of the determined movement. A method for controlling an X-ray system according to any one of claims 1 to 16.

18. 18. The method of claim 17, wherein determining the movement of the X-ray source in real time comprises determining a compensatory movement of the X-ray source in real time to compensate for variations in the obtained position and / or orientation of the X-ray source and / or the X-ray sensor, and obtaining a position reached along a predetermined path followed by the X-ray source relative to the X-ray sensor, wherein the determined movement of the X-ray source results from a combination of the compensatory movement and the obtained position.

19. A computer program for a programmable device, comprising a series of instructions for carrying out each of the steps of the method according to claim 17 or 18, when loaded into and executed by said programmable device.

20. A non-transitory computer-readable storage medium storing computer program instructions for performing each of the steps of the method of claim 17 or claim 18.

Images