An automated X-ray device and a shooting method for an automated X-ray device

Abstract

The present invention provides an automated X-ray device and a shooting method for the automated X-ray device. The automated X-ray device includes: a C-arm machine, including a C-shaped arm and an X-ray source and a detector installed at both ends of the C-shaped arm; a guiding member for aligning the object to be detected; a guiding member fixing bracket for supporting and fixing the guiding member; an imaging member for obtaining the coordinate information of the guiding member; a control system for controlling the straight line where the X-ray source and the detector are located to be collinear with the guiding member according to the coordinate information of the guiding member, so that the X-ray source is aligned with the object to be detected. The shooting method of the automated X-ray device includes: aligning the guiding member with the object to be detected; the imaging member taking a picture of the guiding member to obtain the coordinate information of the guiding member; controlling the straight line where the X-ray source and the detector are located to be collinear with the guiding member according to the coordinate information of the guiding member, so that the X-ray source is aligned with the object to be detected. The present invention improves the shooting efficiency and shooting accuracy of the object to be detected.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an automated X-ray device and a shooting method for the automated X-ray device. Background Art

[0002] When examining human bones, an X-ray device is needed. By irradiating the corresponding part of the human body with the X-ray device, corresponding X-ray pictures are obtained to display the corresponding human bones. The C-arm X-ray machine is an X-ray imaging device used in interventional radiology and orthopedic surgeries, which has advantages such as convenient operation and high imaging accuracy. However, the existing C-arm X-ray machines in the prior art cannot automatically align the part to be irradiated, and manual operation is required, and the angle of the C-arm needs to be adjusted multiple times, reducing the use efficiency.

[0003] In addition, when performing X-ray shooting clinically, satisfactory images are often not obtained at one time. For difficult or special positions, an average of five or six times or more are taken, and for normal positions, an average of about 2 times are generally required to obtain satisfactory X-ray photos. However, in the case of multiple shootings, the radiation will increase, which will damage the health of patients and also increase the workload of doctors. Summary of the Invention

[0004] The present application provides an automated X-ray device, which can automatically align the object to be detected, improving the shooting efficiency and accuracy for the object to be detected.

[0005] The present application provides an automated X-ray device, comprising:

[0006] A C-arm machine, comprising a C-arm and an X-ray source and a detector installed at both ends of the C-arm;

[0007] A guiding member, which is used to align the object to be detected;

[0008] A guiding member fixing frame, which is used to support and fix the guiding member;

[0009] An imaging member, which is used to obtain the position information of the guiding member;

[0010] A control system, which is used to control the straight line where the X-ray source and the detector are located to be collinear with the guiding member according to the position information of the guiding member, so that the X-ray source is aligned with the object to be detected.

[0011] Wherein, the guiding member has a first end and a second end which are oppositely arranged along the axial direction. When the straight line where the X-ray source and the detector are located is collinear with the guiding member, the first end is close to the X-ray source and the second end is close to the detector;

[0012] The guiding member is provided with an adjusting portion, and the adjusting portion can slide along the axial direction of the guiding member to adjust a first distance L1 between the adjusting portion and the first end and a second distance L2 between the adjusting portion and the second end, so that the control system can adjust a distance L3 between the X-ray source and the object to be detected according to the first distance L1 and the second distance L2;

[0013] The guiding member fixing bracket includes a spherical structure and a C-shaped bracket. The spherical structure is used to be connected with the guiding member through a plurality of universal rods. The spherical structure is fixed at one end of the C-shaped bracket, and the C-shaped bracket is used to support and fix the guiding member.

[0014] Wherein, the first end is provided with an identifying portion, and the identifying portion is divided into a first area and a second area with different colors. The dividing line between the first area and the second area is perpendicular to the axis of the guiding member.

[0015] Wherein, the identifying portion is arranged in a spherical shape; and both the first area and the second area are hemispherical.

[0016] Wherein, the second end is provided with a pointing portion, and the pointing portion is provided with a tip. The tip of the pointing portion is used to abut against the object to be detected.

[0017] Wherein, the automated X-ray device further includes a light emitting member, the light emitting member is located at one end of the X-ray source, and the light of the light emitting member is collinear with the straight line where the X-ray source and the detector are located.

[0018] The beneficial effects of the present application are as follows:

[0019] The automated X-ray device provided by the present application aligns with the object to be detected through the guiding member, has a simple structure and convenient operation; then the imaging member acquires the position information of the guiding member and transmits it to the control system, and the control system moves the C-shaped arm according to the position information of the guiding member, so that the straight line where the X-ray source and the detector are located is collinear with the guiding member, and further enables the X-ray source to align with the object to be detected, improves the automation degree of the C-arm machine, enables the C-arm machine to automatically align with the object to be detected, and improves the shooting efficiency and shooting accuracy of the C-arm machine.

[0020] On the other hand, the present application also provides a shooting method for an automated X-ray device, including:

[0021] The automated X-ray device includes a C-arm machine, a guiding member and an imaging member. The C-arm machine includes a C-shaped arm and an X-ray source and a detector installed at both ends of the C-shaped arm; the shooting method includes:

[0022] S1. Align the guiding member with the object to be detected;

[0023] S2. The imaging component takes a picture of the guiding component to obtain the position information of the guiding component;

[0024] S3. According to the position information of the guiding component, control the straight line where the X-ray source and the detector are located to be collinear with the guiding component, so that the X-ray source is aligned with the object to be detected.

[0025] Wherein, the guiding component is provided with an adjusting part. The guiding component has a first end and a second end which are oppositely arranged along the axial direction. When the straight line where the X-ray source and the detector are located is collinear with the guiding component, the first end is close to the X-ray source and the second end is close to the detector. The adjusting part can slide relative to the guiding component;

[0026] After step S3, the photographing method further includes:

[0027] S4. Slide the adjusting part to adjust the first distance L1 between the adjusting part and the first end and the second distance L2 between the adjusting part and the second end;

[0028] S5: Adjust the distance L3 between the X-ray source and the object to be detected according to the first distance L1 and the second distance L2.

[0029] Wherein, the guiding component is further provided with an identifying part. The identifying part is divided into a first area and a second area with different colors. The dividing line between the first area and the second area is perpendicular to the axis of the guiding component. Step S2 specifically includes:

[0030] S21. According to the image of the guiding component taken by the imaging component, compare the sizes of the first area and the second area to determine the actual position of the guiding component and obtain the position information of the guiding component.

[0031] Wherein, the automated X-ray device further includes a light-emitting component. The light-emitting component is located at one end of the X-ray source, and the light of the light-emitting component is collinear with the straight line where the X-ray source and the detector are located; after step S5, the photographing method further includes:

[0032] S61. Turn on the light-emitting component and check whether the object to be detected is completely within the light spot coverage range of the light-emitting component;

[0033] S62. If so, start the C-arm machine to take a picture;

[0034] S63. If not, adjust the angle of the C-arm until the object to be detected is completely within the light spot coverage range, and assist in sliding the adjusting part according to the light spot size to adjust the X-ray imaging range.

[0035] The beneficial effects of the present application are as follows:

[0036] The shooting method of the automated X-ray device provided by this application, when using the C-arm machine to shoot the object to be detected, first align the guiding member with the object to be detected, then start the imaging member to take a picture of the guiding member to obtain the position information of the guiding member in the actual space, and then control the straight line where the X-ray source and the detector are located to be collinear with the guiding member according to the position information of the guiding member, so that the X-ray source is aligned with the object to be detected. This method can make the C-arm machine automatically align with the object to be detected, improving the shooting efficiency and accuracy of the C-arm machine.

[0037] It should be understood that the above general description and the following detailed description are only exemplary and do not limit this application. Description of the Drawings

[0038] Figure 1 Schematic structural diagram of the automated X-ray device provided by this application in a specific embodiment;

[0039] Figure 2 Schematic structural diagram of the guiding member of the automated X-ray device provided by this application in a specific embodiment;

[0040] Figure 3 Schematic structural diagram of the guiding member fixing frame of the automated X-ray device provided by this application in a specific embodiment;

[0041] Figure 4 Schematic structural diagram of the straight line where the X-ray source and the detector are located being collinear with the guiding member of the automated X-ray device provided by this application in a specific embodiment;

[0042] Figure 5 Schematic structural diagram of the imaging member confirming the coordinate information of the guiding member of the automated X-ray device provided by this application in a specific embodiment;

[0043] Figure 6 Schematic principle diagram of the imaging member taking a picture of the guiding member of the automated X-ray device provided by this application in a specific embodiment;

[0044] Figure 7 Step diagram of the shooting method of the automated X-ray device provided by this application;

[0045] Figure 8 Three-dimensional coordinate schematic diagram in an embodiment of this application;

[0046] Figure 9 Two-dimensional coordinate schematic diagram in an embodiment of this application;

[0047] Among them, 100 - automated X-ray device; 200 - placement platform; 1 - C-arm machine; 11 - C-shaped arm; 12 - X-ray source; 13 - detector; 2 - guiding member; 21 - first end; 211 - identification part; 2111 - first area; 2112 - second area; 22 - second end; 221 - pointing part; 23 - adjusting part; 3 - imaging member; 31 - CCD; 4 - lighting member; 5 - base; 51 - moving wheel, 6 - connecting rod; 7 - guiding member fixing bracket, 701 - spherical structure, 702 - C-shaped bracket. Detailed implementation manners

[0048] To better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0049] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0050] As Figure 1 shown, the embodiment of the present application provides an automated X-ray device 100. First, the object to be detected is placed on the placement platform 200, and then the X-ray device emits X-rays and passes through the object to be detected. The X-rays passing through the object to be detected are received by the detector and form an X-ray perspective view. Medical staff can diagnose the patient's condition based on the X-ray perspective view, or relevant scientific researchers can conduct biological research on the object to be detected based on the X-ray perspective view, etc. The present application does not limit the specific application method of the automated X-ray device 100, and can be selected according to actual needs. The placement platform 200 described in the present invention can be a hospital bed, an operating table, or other platforms for taking X-ray images of patients.

[0051] In a specific embodiment, as Figure 1 shown, the automated X-ray device 100 includes: a C-arm machine 1, a guiding member 2, a guiding member fixing bracket 7, an imaging member 3, and a control system; the C-arm machine 1 includes a C-shaped arm 11 and an X-ray source 12 and a detector 13 installed at both ends of the C-shaped arm 11; the guiding member 2 is used to align with the object to be detected; the guiding member fixing bracket 7 is used to support and fix the guiding member 2; the imaging member 3 is used to obtain the position information of the guiding member 2. In the present invention, the position information can be coordinate information; the control system is used to control the straight line where the X-ray source 12 and the detector 13 are located to be collinear with the guiding member 2 according to the coordinate information of the guiding member 2, so that the X-ray source 12 is aligned with the object to be detected. In addition, during use, if it is necessary to prevent the guiding member from interfering with the movement of the C-arm machine, the guiding member can be moved away or removed after taking the image.

[0052] In some embodiments, the automated X-ray device of the present invention further includes an anti-collision system. The anti-collision system includes distance sensors, an emergency braking device, and pressure sensors for penetrating the surgical drape, which are arranged around the automated X-ray device. The anti-collision system is located at the front end of the detector 13, on one side of the sensing surface of the anti-collision system, to ensure that the automated X-ray device will not brake emergently at a relatively low pressure.

[0053] As shown in the Figure 3 accompanying drawings, the guide member fixing bracket 7 includes a spherical structure 701 and a C-shaped bracket 702. The spherical structure 701 is used to connect to the guide member 2 through several universal rods. The spherical structure 701 is fixed at one end of the C-shaped bracket 702, and the C-shaped bracket 702 is used to support and fix the guide member 2. To stabilize the guide member 2, screw holes are provided on the C-shaped bracket 402, and the C-shaped bracket 402 is fastened to the placement platform 200 through screws.

[0054] In this embodiment, when the automated X-ray device 100 operates, the X-ray source 12 emits X-rays, which pass through the object to be detected and are received by the detector 13 to generate an X-ray perspective view. When using the C-arm machine 1 to photograph the object to be detected, the guide member 2 is aligned with the object to be detected, and the direction of the guide member 2 represents the direction in which the C-arm machine 1 photographs the object to be detected. After the guide member 2 is aligned with the object to be detected, at this time, the imaging member 3 takes a photo of the guide member 2 to obtain the coordinate information of the guide member 2 in the actual space. The imaging member 3 is communicatively connected to the control system and transmits the coordinate information of the guide member 2 to the control system. The control system determines the straight line where the guide member 2 is located according to the coordinate information of the guide member 2, and then moves the C-arm 11 so that the straight line where the X-ray source 12 and the detector 13 are located is collinear with the guide member 2, so that the X-ray source 12 is aligned with the object to be detected.

[0055] In this embodiment, the automated X-ray device 100 aligns the object to be detected through the guide member 2, with a simple structure and convenient operation. Then, the imaging member 3 obtains the coordinate information of the guide member 2 and transmits it to the control system. The control system moves the C-arm 11 according to the coordinate information of the guide member 2, so that the straight line where the X-ray source 12 and the detector 13 are located is collinear with the guide member 2, thereby aligning the X-ray source 12 with the object to be detected, improving the automation degree of the C-arm machine 1, enabling the C-arm machine 1 to automatically align with the object to be detected, and improving the shooting efficiency and shooting accuracy of the C-arm machine 1.

[0056] In this embodiment, the object to be detected can be a part of the human body such as the hand or leg, or a specific part of other objects to be detected. The specific form of the object to be detected in this embodiment is not limited and can be selected according to actual needs.

[0057] In this embodiment, the imaging component 3 can be provided with a single-chip microcomputer and implement image processing through the Opencv software to obtain the coordinate information of the guiding component 2. In other embodiments, the imaging component 3 can also be provided with a lidar scanner and cooperate with corresponding software to perform image processing, so as to obtain the coordinate information of the guiding component 2. This embodiment does not limit the specific type of the imaging component 3, and it can be selected according to actual needs. The process of the specific imaging component 3 obtaining the coordinate information of the guiding component 2 in the actual space can be determined according to the specific type of the imaging component 3, and this embodiment does not limit it.

[0058] Specifically, as Figure 1 shown, the C-arm machine 1 in this embodiment further includes a base 5. The C-shaped arm 11 is connected to the base 5 through a connecting rod 6. The C-shaped arm 11 can rotate around the axis of the connecting rod 6, and the C-shaped arm 11 can rotate along the circumferential direction of the C shape.

[0059] More specifically, moving wheels 51 are provided at the bottom of the base 5 so that the base 5 can move on the ground. The moving wheels 51 are specifically set as McCallum wheels so that the base 5 can move omnidirectionally in a narrow space. In addition, the moving wheels 51 can also be omnidirectional wheels, and no specific limitation is made here.

[0060] Specifically, the control system in this embodiment includes a voice control unit. The operator can issue a voice command to the voice control unit to control the C-arm machine 1 to align with the object to be detected, which is convenient for operation and saves manpower.

[0061] Furthermore, as Figures 2 - 4 shown, the guiding component 2 has a first end 21 and a second end 22 arranged oppositely along the axial direction. When the straight line where the X-ray source 12 and the detector 13 are located is collinear with the guiding component 2, the first end 21 is close to the X-ray source 12, and the second end 22 is close to the detector 13; the guiding component 2 is provided with an adjusting part 23, and the adjusting part 23 can slide along the axial direction of the guiding component 2 to adjust the first distance L1 between the adjusting part 23 and the first end 21 and the second distance L2 between the adjusting part 23 and the second end 22, so that the control system can adjust the distance L3 between the X-ray source 12 and the object to be detected according to the first distance L1 and the second distance L2.

[0062] In this embodiment, as Figure 4As shown, when the straight line where the X-ray source 12 and the detector 13 are located is collinear with the guide 2, the first end 21 is close to the X-ray source 12, and the second end 22 is close to the detector 13, providing guidance for the C-arm 11 to align with the object to be detected; the guide 2 is provided with an adjustment part 23, and the adjustment part 23 can slide along the axial direction of the guide 2 to adjust the first distance L1 between the adjustment part 23 and the first end 21 and the second distance L2 between the adjustment part 23 and the second end 22, so that the control system can adjust the distance L3 between the X-ray source 12 and the object to be detected according to the first distance L1 and the second distance L2, and further adjust the size of the X-ray perspective view captured by the C-arm machine 1, so that the X-ray perspective view obtained by the C-arm machine 1 can meet the different needs of users, and the C-arm machine 1 can perform complete shooting on objects to be detected with different sizes.

[0063] Specifically, as Figure 4 shown, after an X-ray image needs to be taken, it can be adjusted based on the previous image. When using it for the first time, the size of the X-ray perspective view can be adjusted through the adjustment part 23. When determining the relative positions of the adjustment part 23 with the first end 21 and the second end 22, at this time, align the guide 2 with the object to be detected, and then move the C-arm 11 so that the guide 2 is collinear with the straight line where the X-ray source 12 and the detector 13 are located. Let the distance between the X-ray source 12 and the object to be detected be L3, the distance between the detector 13 and the object to be detected be L4, the first distance between the adjustment part 23 and the first end 21 be L1, and the second distance between the adjustment part 23 and the second end 22 be L2; since the control system can adjust the distance L3 between the X-ray source 12 and the object to be detected according to the first distance L1 and the second distance L2, the equation can be listed as: L1 / L2 = L3 / L4. Since L3 and L4 can be measured, and the overall length of the guide 2 is known, that is, the specific value of L1 + L2 is known, then the specific values of L1 and L2 can be obtained from the above formula. At this time, the adjustment part 23 is in the initial position, and the X-ray perspective view obtained by the C-arm machine 1 at this time is the above-mentioned reference image; for example, when photographing a human leg, the photographed range in the reference image is small. At this time, slide the adjustment part 23 to adjust the photographed range. It is necessary to slide the adjustment part 23 from the initial position towards the direction close to the first end 21. At this time, L1 decreases and L2 increases. Since L1 / L2 = L3 / L4, that is, the corresponding L3 decreases and L4 increases, so that the distance between the X-ray source 12 and the object to be detected increases, and further enables the C-arm machine 1 to completely capture the X-ray perspective view of the human leg.

[0064] Therefore, when the adjusting part 23 in this embodiment slides towards the first end 21, the X-ray source 12 moves away from the object to be detected; when the adjusting part 23 slides away from the first end 21, the X-ray source 12 moves towards the object to be detected. In other embodiments, it can also be set that when the adjusting part 23 slides towards the first end 21, the X-ray source 12 moves towards the object to be detected; when the adjusting part 23 slides away from the first end 21, the X-ray source 12 moves away from the object to be detected.

[0065] More specifically, scale lines can be set in the area where the adjusting part 23 slides on the guiding part 2, that is, when the adjusting part 23 slides a certain scale value, it corresponds to the X-ray source 12 approaching or moving away from the object to be detected by a certain distance, so that the operator can easily adjust the specific sliding distance of the adjusting part 23 according to the size of the object to be detected.

[0066] Furthermore, as Figure 2 shown, an identification part 211 is provided at the first end 21. The identification part 211 is divided into a first area 2111 and a second area 2112 with different colors. The boundary line between the first area 2111 and the second area 2112 is perpendicular to the axis of the guiding part 2.

[0067] Based on the present invention, a spatial position memory function can also be implemented in the control system. For example, after the initial X-ray image is taken, the photographing position, including the movement trajectory of the C-arm machine 1, etc., is saved in the control system. In subsequent shootings, if the same X-ray shooting requirements are encountered, the guiding part 2 is not placed, and the stored movement trajectory is directly executed by the C-arm machine 1, thereby completing the X-ray shooting.

[0068] Such as Figure 5As shown, when the imaging member 3 takes a picture of the guiding member 2 (the direction of the thick arrow in the figure is the light incident direction), when the guiding member 2 is in position I and position II (position I and position II are symmetrical to each other), the imaging pictures in the CCD 31 of the imaging member 3 are both as shown in position III. At this time, the imaging member 3 cannot determine the actual position of the guiding member 2, so the complete coordinate information of the guiding member 2 cannot be obtained. Based on this, in this embodiment, the first end 21 is provided with an identification portion 211. The identification portion 211 is divided into a first area 2111 and a second area 2112 with different colors. The dividing line between the first area 2111 and the second area 2112 is perpendicular to the axis of the guiding member 2. When the imaging member 3 takes a picture of the guiding member 2, although the imaging pictures in the CCD 31 of the imaging member 3 are both as shown in position III, because the first area 2111 and the second area 2112 have different colors, and the dividing line between the first area 2111 and the second area 2112 is perpendicular to the axis of the guiding member 2, the imaging member 3 can identify whether the guiding member 2 is in state I and state II according to the sizes of the first area 2111 and the second area 2112. Assume that the first area 2111 is close to the first end 21 and the second area 2112 is far from the first end 21. If the area of the first area 2111 in the CCD 31 imaging picture is larger than the area of the second area 2112, it is determined that the guiding member 2 is actually in position I; if the area of the first area 2111 in the CCD 31 imaging picture is smaller than the area of the second area 2112, it is determined that the guiding member 2 is actually in position II. In the present invention, other methods can also be used to identify these two states, which will not be elaborated here one by one.

[0069] Therefore, in this embodiment, by providing the identification portion 211 at the first end 21, the identification portion 211 is divided into a first area 2111 and a second area 2112 with different colors, and the dividing line between the first area 2111 and the second area 2112 is perpendicular to the axis of the guiding member 2. That is, according to the imaging picture of the guiding member 2 in the CCD 31 of the imaging member 3, by comparing the areas of the first area 2111 and the second area 2112, the actual position of the guiding member 2 can be judged. The structure is simple, and the imaging member 3 itself does not need to add other hardware for image processing, reducing costs.

[0070] Furthermore, the identification portion 211 is provided in a spherical shape; and both the first area 2111 and the second area 2112 are hemispherical.

[0071] In this embodiment, the identification portion 211 is provided in a spherical shape, which is convenient for the imaging member 3 to confirm the coordinates of the identification portion 211. Specifically, as Figure 6As shown (the direction of the thin arrow in the figure is the light incident direction), taking the pinhole imaging model as an example to equivalently illustrate the camera imaging model, since the recognition part 211 is spherical, the image formed by it in the CCD 31 of the imaging component 3 is circular. Given the actual diameter of the recognition part 211, the diameter of the recognition part 211 in the image formed by the CCD 31 of the imaging component 3, the image distance and the object distance, according to the similarity of triangles, the object distance can be calculated, and then the actual coordinates of the recognition part 211 can be calculated, which is convenient and fast. In this embodiment, by setting the recognition part 211 to be spherical and measuring the radius of the spherical shape and the radius of the image formed by it in the imaging component 3, the object distance between the imaging component 3 and the recognition part 211 can be calculated, making the structure of the recognition part 211 simple and facilitating the imaging component 3 to obtain the coordinate information of the guiding part 2.

[0072] Furthermore, as Figure 2 shown, to facilitate the guiding part 2 to align with the object to be detected, a pointing part 221 is provided at the second end 22, and the pointing part 221 is provided with a tip, and the tip of the pointing part 221 is used to abut against the object to be detected.

[0073] In this embodiment, a pointing part 221 is provided at the second end 22, and the pointing part 221 is provided with a tip. The operator can abut the tip of the pointing part 221 against the object to be detected so that the guiding part 2 aligns with the object to be detected. Aligning with the object to be detected as mentioned in the present invention can also be understood as aligning with the position to be detected, which has a simple structure and is easy to operate. By abutting the tip of the pointing part 221 against the object to be detected, the guiding part 2 can accurately align with the object to be detected, and further the C-arm machine 1 can accurately capture the X-ray perspective view of the object to be detected.

[0074] Furthermore, as Figure 1 shown, the automated X-ray device 100 further includes a light-emitting part 4. The light-emitting part 4 is located at one end of the X-ray source 12, and the light of the light-emitting part 4 is collinear with the straight line where the X-ray source 12 and the detector 13 are located. The light coverage range of the light-emitting part 4 is the same as the range through which the X-rays that can be received by the detector 13 pass. The switch of the light-emitting part 4 can be set in the guiding part 2, for example: it can be located at the spherical top of the guiding part 2.

[0075] In this embodiment, the light-emitting part 4 is located at one end of the X-ray source 12, and the light of the light-emitting part 4 is collinear with the straight line where the X-ray source 12 and the detector 13 are located, so that the light spot formed by the light-emitting part 4 on the object to be detected can simulate the irradiation range when the X-ray source 12 irradiates the object to be detected, facilitating checking whether the X-ray source 12 is aligned with the object to be detected, that is, checking whether the C-arm machine 1 can completely photograph the object to be detected. The light spot formed by the light-emitting part 4 is used to correct the adjustment part 23 to adjust the X-ray image shooting range. The light-emitting part 4 in this embodiment can be a ring laser. In other embodiments, the light-emitting part 4 can be other devices capable of emitting light. The specific type of the light-emitting part 4 is not specifically limited in this embodiment.

[0076] As Figure 7 shown, an embodiment of the present application further provides a shooting method for an automated X-ray device 100, characterized in that the automated X-ray device 100 includes a C-arm machine 1, a guide member 2, and an imaging member 3. The C-arm machine 1 includes a C-shaped arm 11, an X-ray source 12, and a detector 13 installed at both ends of the C-shaped arm 11. The shooting method includes:

[0077] S1. Align the guide member 2 with the object to be detected; before aligning the guide member 2 with the object to be detected, the C-shaped bracket 402 needs to be fixed on the placement platform 200 first. To stabilize the guide member 2, screw holes can also be provided on the C-shaped bracket 402, and the C-shaped bracket 402 is fastened to the placement platform 200 by screws; when the C-arm machine 1 needs to be used, connect the spherical structure 402 and the guide member 2 through several universal rods. Because it is necessary to ensure a sterile drape during the operation, the C-shaped bracket 402 must be placed on the placement platform 200 before the operation or before taking the X-ray, and then disinfected and covered with a drape. When the C-arm machine 1 needs to be used, connect the guide member 2.

[0078] S2. The imaging member 3 takes a picture of the guide member 2 to obtain the coordinate information of the guide member 2;

[0079] S3. According to the coordinate information of the guide member 2, control the straight line where the X-ray source 12 and the detector 13 are located to be collinear with the guide member 2, so that the X-ray source 12 is aligned with the object to be detected.

[0080] In this embodiment, when using the C-arm machine 1 to take a picture of the object to be detected, first align the guide member 2 with the object to be detected, then start the imaging member 3 to take a picture of the guide member 2 to obtain the coordinate information of the guide member 2 in the actual space, and then control the straight line where the X-ray source 12 and the detector 13 are located to be collinear with the guide member 2 according to the coordinate information of the guide member 2, so that the X-ray source 12 is aligned with the object to be detected. This method can make the C-arm machine 1 automatically align with the object to be detected, improving the shooting efficiency and shooting accuracy of the C-arm machine 1.

[0081] Specifically, the automated X-ray device 100 further includes a control system. The control system is communicatively connected to the imaging member 3, so that the coordinate information of the guide member 2 can be transmitted to the control system. The control system determines the straight line where the guide member 2 is located according to the coordinate information of the guide member 2, and then moves the C-shaped arm 11 so that the straight line where the X-ray source 12 and the detector 13 are located is collinear with the guide member 2, so that the X-ray source 12 is aligned with the object to be detected.

[0082] Further, the guide member 2 is provided with an adjusting portion 23. The guide member 2 has a first end 21 and a second end 22 arranged oppositely along the axial direction. When the straight line where the X-ray source 12 and the detector 13 are located is collinear with the guide member 2, the first end 21 is close to the X-ray source 12, and the second end 22 is close to the detector 13. The adjusting portion 23 can slide relative to the guide member 2;

[0083] After step S3, the imaging method further includes:

[0084] S4. Slide the adjusting portion 23 to adjust the first distance L1 between the adjusting portion 23 and the first end 21 and the second distance L2 between the adjusting portion 23 and the second end 22;

[0085] S5: Adjust the distance L3 between the X-ray source 12 and the object to be detected according to the first distance L1 and the second distance L2.

[0086] In this embodiment, by sliding the adjusting portion 23, the first distance L1 between the adjusting portion 23 and the first end 21 and the second distance L2 between the adjusting portion 23 and the second end 22 are adjusted. Then, according to the first distance L1 and the second distance L2, the distance L3 between the X-ray source 12 and the object to be detected is adjusted. That is, the sliding adjusting portion 23 can adjust the distance L3 between the X-ray source 12 and the object to be detected, so that the size of the X-ray perspective view captured by the C-arm machine 1 meets the usage requirements, which is convenient and fast.

[0087] Further, the guide member 2 is further provided with an identifying portion 211. The identifying portion 211 is divided into a first area 2111 and a second area 2112 with different colors. The dividing line between the first area 2111 and the second area 2112 is perpendicular to the axis of the guide member 2. Step S2 specifically includes:

[0088] S21. According to the image of the guide member 2 captured by the imaging member 3, compare the sizes of the first area 2111 and the second area 2112 to determine the actual position of the guide member 2 and obtain the coordinate information of the guide member 2.

[0089] Specifically, as Figure 5 shown, when the imaging member 3 takes a picture of the guide member 2 head-on (the direction of the thick arrow in the figure is the light incident direction), assuming that the first area 2111 is close to the first end 21 and the second area 2112 is far from the first end 21, if the area of the first area 2111 in the CCD 31 imaging picture is larger than the area of the second area 2112, it is determined that the guide member 2 is actually in position I; if the area of the first area 2111 in the CCD 31 imaging picture is smaller than the area of the second area 2112, it is determined that the guide member 2 is actually in position II.

[0090] In addition, in the present invention, the actual position of the guide member 2 can also be determined by a binocular vision camera system composed of two cameras, and the coordinate information of the guide member 2 can be obtained. At the same time, methods such as laser ranging and ultrasonic ranging can also be implemented, which will not be elaborated here one by one.

[0091] Align the guide member 2 with the object to be detected, then start the imaging member 3 to take a picture of the guide member 2, and calculate the actual distance d between the midpoint of the two end points of the C-arm machine 1 and the tip of the guide member 2 according to the taken photo. The tip of the guide member 2 is the end pointing to the object to be detected. That is, according to the principle of pinhole imaging (a conventional camera cannot directly use this principle and needs to be used after processes such as distortion correction), combined with the size of the guide member 2 in the photo, the actual size of the guide member 2, and the focal length of the imaging member 3, calculate the distance d. The size of the guide member 2 can be substituted into the calculation with the overall length of the guide member 2, the spherical radius of the recognition part 211, etc. Taking the spherical radius of the recognition part 211 as an example, its calculation formula is:

[0092]

[0093] where f is the focal length of the imaging member 3, R is the spherical radius of the recognition part 211 in reality (hereinafter referred to as the spherical radius of the guide rod in reality), and r is the spherical radius of the guide rod in the photo; according to formula (1), calculate the actual distance d between the midpoint of the two end points of the C-arm machine 1 and the tip of the guide member 2.

[0094] The calculation process of the coordinate information of the guide member 2 in the actual space is as follows:

[0095] Establish coordinate systems in the photo and the actual three-dimensional space respectively. Let the two end points of the guide member 2 be P and Q. Among them, point P corresponds to the tip of the guide member 2, and point Q corresponds to the outer circumferential point of the recognition part 211. As shown in the appendix Figure 8 As shown, in the actual three-dimensional space, taking the imaging plane of the imaging member 3 as the XY plane, the Y-axis is perpendicular to the ground, the X-axis is horizontal, and the Z-axis is perpendicular to the imaging plane; in the XY plane, set the actual coordinates of the two end points of the guide member 2 as P(X1, Y1, Z1), Q(X2, Y2, Z2), where point P is the center of the sphere and point Q is the tip. As shown in the appendix Figure 9 As shown, in the photo, that is, the projection position in the imaging member, any point in the plane can be set as the origin, the X'-axis is parallel to the horizontal plane, and the Y'-axis is perpendicular to the horizontal plane, forming the X'Y' plane. The two-dimensional coordinates of the two end points of the guide member 2 are P(X1', Y1'), Q(X2', Y2'), then there are:

[0096]

[0097]

[0098]

[0099]

[0100] d 2 = X1 2 + Y1 2 + Z1 2 (6)

[0101] That is, according to formulas (1), (2), (3), and (6), the actual coordinates P(X1, Y1, Z1) of the guide member 2 are calculated and obtained. At this time, there are two values for the Z1 coordinate of the obtained P point. In the present invention, the Z1 value takes a positive value.

[0102] The actual length L of the guide member 2 is known, and its calculation formula is:

[0103] L 2 = (X1 - X2) 2 + (Y1 - Y2) 2 + (Z1 - Z2) 2 (7)

[0104] As shown in the Figure 6 attachment, the length L2 of the guide member 2 in the photo = actual length L * scaling factor * COSα, where α is the angle between the straight line where the guide member is located and the imaging plane. Here, α can face either the side being photographed or the opposite side. The positive or negative of α is determined according to the amount of black and white of the recognition unit 211, and then the equation of the straight line where the guide member is located can be obtained. Z1 and Z2 can be calculated based on the angle α. Z1 has been calculated and obtained, and Z2 = ±L2 * sinα + d. Combining with the two-point form straight line equation:

[0105] (x - X1) / (X2 - X1) = (y - Y1) / (Y2 - Y1) = (z - Z1) / (Z2 - Z1)

[0106] Finally, the actual coordinates Q(X2, Y2, Z2) of the guide member 2 are calculated and obtained.

[0107] The guide member 2 is further provided with a recognition unit 211. The recognition unit 211 is divided into a first area 2111 and a second area 2112 with different colors. The boundary line between the first area 2111 and the second area 2112 is perpendicular to the axis of the guide member 2. Step S2 specifically includes:

[0108] S21. According to the image of the guide member 2 captured by the imaging member 3, compare the sizes of the first area 2111 and the second area 2112 to determine the actual position of the guide member 2 and obtain the coordinate information of the guide member 2.

[0109] Specifically, as Figure 5As shown, when the imaging member 3 takes a picture of the guiding member 2 (the direction of the thick arrow in the figure is the direction of light incidence), assuming that the first area 2111 is close to the first end 21 and the second area 2112 is far from the first end 21, if the area of the first area 2111 in the CCD 31 imaging picture is larger than the area of the second area 2112, it is determined that the guiding member 2 is actually in position I; if the area of the first area 2111 in the CCD 31 imaging picture is smaller than the area of the second area 2112, it is determined that the guiding member 2 is actually in position II.

[0110] If the black part is seen larger than the white part in the photo, If the white part is seen larger than the black part in the photo, If the black part is seen equal to the white part in the photo, Z1 = Z2.

[0111] According to formulas (1) to (7), the actual coordinates P(X1, Y1, Z1) and Q(X2, Y2, Z2) of the two endpoints of the guiding member 2 are calculated.

[0112] In the space rectangular coordinate system, let the coordinates of the two endpoints of the C-arm machine 1 be W(A1, B1, C1) and O(A2, B2, C2) respectively. Since the midpoint of the two endpoints of the C-arm machine 1 is used as the origin, W and O are symmetric about the origin.

[0113] The actual length S between the two endpoints of the C-arm machine 1 is known, and its calculation formula is:

[0114] S 2 =(A1 - A2) 2 +(B1 - B2) 2 +(Cl - C2) 2 (8)

[0115] The following calculates the coordinates of the two endpoints of the C-arm machine 1:

[0116] As shown in the attachment Figure 4 The guiding member 2 is provided with an adjusting portion 23, and the point corresponding to the adjusting portion 23 is set as M. Let the length of MQ be L1, the length of MP be L2, L1 and L2 are known quantities and can be adjusted by sliding the adjusting portion 23, the length of WP is L3, and the length of PO is L4. L3 and L4 are unknown quantities.

[0117] Since after the C-arm machine 1 is aligned with the guiding member 2, the two endpoints W and O of the C-arm machine 1 and the two endpoints P and Q of the guiding member 2 are collinear, and the coordinates of points P and Q are known, the straight line equation can be obtained according to the coordinates of points P and Q:

[0118]

[0119] Since the two end points W, O of the C-arm 1 and the two end points P, Q of the guide member 2 are collinear, substituting the two end points W, O of the C-arm 1 gives:

[0120]

[0121]

[0122] The adjusting part 23 can adjust the imaging size of the X-ray film taken by the C-arm 1, that is, the sliding adjustment of the adjusting part 23 is scaled up proportionally to the C-arm 1, and its calculation formula is:

[0123]

[0124] L3 2 =(A1 - X1) 2 +(B1 - Y1) 2 +(C1 - Z1) 2 (13)

[0125] L4 2 =(A2 - X1) 2 +(B2 - Y1) 2 +(C2 - Z1) 2 (14)

[0126] According to formula (8), formula (10), formula (11) to formula (14), the coordinates of the two end points W(A1, B1, C1), O(A2, B2, C2) of the C-arm 1 are obtained.

[0127] In this embodiment, an example of calculating the coordinates of the two end points of the C-arm 1 is given. It should be noted that there are other methods in the prior art, which will not be elaborated here.

[0128] Further, the automated X-ray device 100 further includes a light-emitting member 4. The light-emitting member 4 is located at one end of the X-ray source 12, and the light of the light-emitting member 4 is collinear with the straight line where the X-ray source 12 and the detector 13 are located; after step S5, the photographing method further includes:

[0129] S61. Turn on the light-emitting member 4 and check whether the object to be detected is completely within the light spot coverage range of the light-emitting member 4;

[0130] S62. If so, start the C-arm 1 to take a picture;

[0131] S63. If not, adjust the angle of the C-arm 11 until the object to be detected is completely within the coverage of the light spot, and assist the sliding adjustment part 23 according to the size of the light spot to adjust the X-ray imaging range, that is, the light spot is used to assist the doctor in confirming the shooting range. In theory, as long as the position of the guiding member 2 is appropriate, the object to be detected must be within this light spot. The light spot is not used to debug the accuracy, but to assist the doctor in adjusting the adjustment part 23. That is, the doctor can see how large a range and can slide the adjustment part 23 according to the size of the light spot to ensure that all the parts to be viewed are included in it.

[0132] In this embodiment, after the straight line where the X-ray source 12 and the detector 13 are located is collinear with the guiding member 2 and the distance between the X-ray source 12 and the object to be detected is adjusted, turn on the light-emitting member 4. The light spot formed by the light-emitting member 4 on the object to be detected can simulate the irradiation range when the X-ray source 12 irradiates the object to be detected. The operator can check whether the object to be detected is completely within the coverage of the light spot of the light-emitting member 4. If so, it proves that the X-ray source 12 has been aligned with the object to be detected and the object to be detected can be completely photographed. At this time, start the C-arm machine 1 to take pictures. If not, it proves that the X-ray source 12 is not completely aligned with the object to be detected and the X-ray perspective view of the object to be detected cannot be completely obtained. At this time, the operator makes a fine adjustment to the angle of the C-arm 11 until the object to be detected is completely within the coverage of the light spot. At this time, start the C-arm machine 1 to take pictures. When the operator makes a fine adjustment to the angle of the C-arm 11, it can be to finely adjust the guiding member, or manually rotate the C-arm 11, or change it to voice control the rotation of the C-arm 11.

[0133] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A shooting method for an automated X-ray device, characterized in that the automated X-ray device includes a C-arm machine (1), a guiding member (2) and an imaging member (3). The C-arm machine (1) includes a C-shaped arm (11), an X-ray source (12) and a detector (13) installed at both ends of the C-shaped arm (11); the shooting method includes: S1. Align the guiding member (2) with the object to be detected; S2. The imaging member (3) takes a picture of the guiding member (2) to obtain the position information of the guiding member (2); S3. According to the position information of the guiding member (2), control the straight line where the X-ray source (12) and the detector (13) are located to be collinear with the guiding member (2), so that the X-ray source (12) is aligned with the object to be detected; The guiding member (2) is further provided with an identification portion (211). The identification portion (211) is divided into a first area (2111) and a second area (2112) with different colors. The dividing line between the first area (2111) and the second area (2112) is perpendicular to the axis of the guiding member (2). Step S2 specifically includes: S21. According to the image of the guiding member (2) taken by the imaging member (3), compare the sizes of the first area (2111) and the second area (2112) to determine the actual position of the guiding member (2) and obtain the position information of the guiding member (2). The calculation formula includes: Where f is the focal length of the imaging member, R is the sphere radius of the identification portion in reality, r is the sphere radius of the identification portion in the photo, and d is the actual distance between the midpoint of the two ends of the C-arm machine and the tip of the guiding member; taking the imaging plane of the imaging member as the XY plane, the Y-axis is perpendicular to the ground, the X-axis is horizontal, and the Z-axis is perpendicular to the imaging plane; in the XY plane, assume the actual coordinates of the two ends of the guiding member are P(X1, Y1, Z1), Q(X2, Y2, Z2), where point P is the center of the sphere and point Q is the tip. In the photo, that is, the projection position in the imaging member, assume any point in the plane is the origin, the X'-axis is parallel to the horizontal plane, and the Y'-axis is perpendicular to the horizontal plane, forming the X'Y' plane. The two-dimensional coordinates of the two ends of the guiding member are P'(X1', Y1'), Q'(X2', Y2'), and L is the actual length of the guiding member; the length L' of the guiding member in the photo = actual length L * scaling factor * COSα, where α is the angle between the straight line where the guiding member is located and the imaging plane; calculate the actual coordinates P(X1, Y1, Z1), Q(X2, Y2, Z2) of the two ends of the guiding member according to the above formula; The guiding member (2) is provided with an adjusting portion (23). The guiding member (2) has a first end (21) and a second end (22) arranged oppositely along the axial direction. When the straight line where the X-ray source (12) and the detector (13) are located is collinear with the guiding member (2), the first end (21) is close to the X-ray source (12), and the second end (22) is close to the detector (13). The adjusting portion (23) can slide relative to the guiding member (2); After step S3, the shooting method further includes: S4. Slide the adjusting part (23) to adjust the first distance L1 between the adjusting part (23) and the first end (21) and the second distance L2 between the adjusting part (23) and the second end (22). S5: Adjust the distance L3 between the X-ray source (12) and the object to be detected according to the first distance L1 and the second distance L2.

2. The shooting method of an automated X-ray device according to claim 1, characterized in that, The automated X-ray device further includes a light-emitting part (4). The light-emitting part (4) is located at one end of the X-ray source (12), and the light of the light-emitting part (4) is collinear with the straight line where the X-ray source (12) and the detector (13) are located. After step S5, the photographing method further includes: S61. Turn on the light-emitting part (4) and check whether the object to be detected is completely within the light spot coverage range of the light-emitting part (4). S62. If so, start the C-arm machine (1) to take a photo. S63. If not, adjust the angle of the C-arm (11) until the object to be detected is completely within the light spot coverage range, and assist in sliding the adjusting part (23) according to the light spot size to adjust the X-ray imaging range.

3. An automated X-ray device for implementing the shooting method of an automated X-ray device as described in any one of claims 1-2, characterized in that, The automated X-ray device includes: A C-arm machine (1), including a C-arm (11) and an X-ray source (12) and a detector (13) installed at both ends of the C-arm (11); A guiding part (2) for aligning with the object to be detected; A guiding part fixing bracket (7) for supporting and fixing the guiding part (2); A photographing part (3) for obtaining the position information of the guiding part (2); A control system for controlling the straight line where the X-ray source (12) and the detector (13) are located to be collinear with the guiding part (2) according to the position information of the guiding part (2), so that the X-ray source (12) is aligned with the object to be detected.

4. The automated X-ray device according to claim 3, characterized in that, The guiding part (2) has a first end (21) and a second end (22) arranged oppositely along the axial direction. When the straight line where the X-ray source (12) and the detector (13) are located is collinear with the guiding part (2), the first end (21) is close to the X-ray source (12), and the second end (22) is close to the detector (13). The guiding part (2) is provided with an adjusting part (23). The adjusting part (23) can slide along the axial direction of the guiding part (2) to adjust the first distance L1 between the adjusting part (23) and the first end (21) and the second distance L2 between the adjusting part (23) and the second end (22), so that the control system can adjust the distance L3 between the X-ray source (12) and the object to be detected according to the first distance L1 and the second distance L2. The guiding part fixing bracket (7) includes a spherical structure (701) and a C-shaped bracket (702). The spherical structure (701) is used to connect with the guiding part (2) through several universal rods. The spherical structure (701) is fixed at one end of the C-shaped bracket (702), and the C-shaped bracket (702) is used to support and fix the guiding part (2).

5. The automated X-ray device according to claim 4, characterized in that, The first end (21) is provided with an identification part (211), the identification part (211) is divided into a first area (2111) and a second area (2112) with different colors, and the boundary line between the first area (2111) and the second area (2112) is perpendicular to the axis of the guide member (2).

6. The automated X-ray device according to claim 5, characterized in that, The identification part (211) is arranged in a spherical shape; and both the first area (2111) and the second area (2112) are hemispherical.

7. The automated X-ray device according to claim 4, characterized in that, The second end (22) is provided with a pointing part (221), the pointing part (221) is provided with a tip, and the tip of the pointing part (221) is used to abut against the object to be detected.

8. The automated X-ray device according to any one of claims 3-7, characterized in that, The automated X-ray device further includes a light-emitting member (4), the light-emitting member (4) is located at one end of the X-ray source (12), and the light of the light-emitting member (4) is collinear with the straight line where the X-ray source (12) and the detector (13) are located.

Images