Autonomous linear scanning x-ray system for spinal surgery guidance

Abstract

A compact, portable, linear scanning X-ray system includes physically separate X-ray sources and X-ray detectors that are respectively translatable along different respective scanning trajectories. The scan trace may be a linear scan trace, which may be a parallel linear scan trace. The X-ray source and the X-ray detector may move independently. The controller aligns the X-ray source with the X-ray detector and synchronously moves the X-ray source and the X-ray detector to obtain an image of the object. Artificial intelligence algorithms may be used to provide automatic alignment and / or movement of the X-ray source and the X-ray detector, which may be based on positioning sensors located on the X-ray source, the X-ray detector, or both.

Description

Background Art

[0001] Surgery at the wrong level of the spine is a relatively common error. Surgery performed at the wrong vertebral level does not solve the patient's problem and may cause a variety of additional problems, some of which are medical and others financial and psychological. A high percentage of wrong-level surgeries also result in lawsuits.

[0002] In order to correctly identify the surgical layers, it is necessary to enable the surgeon to clearly identify structures in the surgical field that are related to the anatomical layers seen during preoperative imaging. Most spinal surgeons have developed a plan for safely marking these layers before intraoperative imaging. However, there may be significant difficulties with intraoperative imaging. The surgical sheet may cover the anatomical landmarks, resulting in problems with centering, angulation, and rotation of the X-ray tube. Attempts to use fluoroscopy to compensate for these problems have encountered problems due to the small field of view and low image quality. There are large differences in tissue thickness, so there are large differences in X-ray attenuation in different parts of the spine. X-ray scattering from thick body parts (e.g., shoulders, pelvis) greatly reduces the already subtle image contrast of the spine, making it impossible to count the spinal layers with confidence in some cases.

[0003] Currently, conventional mobile X-ray and / or C-arm fluoroscopic systems are commonly used to perform intraoperative imaging. Sometimes, special equipment (e.g., O-arm, CT) is used. These imaging systems are not optimized for intraoperative use, and the image quality is often poor for spinal surgery. There are also ongoing technical problems that may make the identification of vertebral levels challenging for conventional imaging systems. For example, scattering remains a disadvantage that affects image quality. Summary of the invention

[0004] The present invention provides an X-ray imaging system, comprising: an X-ray source, which is housed in an X-ray source housing and configured to translate along a first trajectory; and an X-ray detector, which is housed in an X-ray detector housing and configured to translate along a second trajectory different from the first trajectory. The X-ray detector housing is physically separated from the X-ray source housing. The X-ray imaging system also includes a controller that communicates with the X-ray source and the X-ray detector. The controller is configured to: align the X-ray source with the X-ray detector; and synchronously move the X-ray source along the first trajectory and move the X-ray detector along the second trajectory.

[0005] In other aspects, the present invention provides an X-ray imaging system, comprising: an X-ray source module; an X-ray detector module; and a processor that communicates with the X-ray source module and the X-ray detector module. The X-ray source module includes a first shell, an X-ray source accommodated in the first shell, and a first wheeled base connected to the first shell. The X-ray detector module includes a second shell, an X-ray detector accommodated in the second shell, and a second wheeled base connected to the second shell. The processor is configured to automatically align the X-ray source module with the X-ray detector module by controlling the first wheeled base and the second wheeled base to move the X-ray source module and the X-ray detector module to an initial scanning position. The processor is also configured to control the first wheeled base and the second wheeled base to synchronously move the X-ray source module along a first trajectory and move the X-ray detector module along a second trajectory different from the first trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 A block diagram of an example linear scanning X-ray imaging system according to some embodiments described herein is shown.

[0007] Figure 2A An example linear scanning X-ray imaging system with physically separated X-ray source and detector modules according to some embodiments described herein is shown.

[0008] Figure 2B An example linear scanning X-ray imaging system with physically separated X-ray source and detector modules according to some further embodiments described herein is shown.

[0009] Figure 3 An example linear scanning X-ray imaging system with physically coupled X-ray source and detector modules according to some embodiments described herein is shown.

[0010] Figure 4 is a flow chart illustrating the steps of an example method for imaging a patient using the X-ray imaging system described in the present invention. DETAILED DESCRIPTION

[0011] A portable linear scanning X-ray system is described herein. In some cases, a "slit scanning" X-ray imaging system for intraoperative use (e.g., for spinal surgery guidance) is provided. Generally, the X-ray imaging system described in the present invention is compact and includes independently movable X-ray source and X-ray detector modules. Advantageously, the X-ray source and X-ray detector modules can move synchronously with each other and move autonomously or semi-autonomously. In some configurations, there is no physical connection between the X-ray source module and the X-ray detector module (e.g., there is no wired connection between the two modules).

[0012] In some aspects, the two modules can automatically identify a patient or other imaging object, align with each other, and move autonomously in synchronization to generate an image of the patient or other imaging object. As a non-limiting example, automatic object recognition can be implemented using artificial intelligence ("AI") algorithms and / or models (e.g., machine learning algorithms and / or models).

[0013] The systems and methods described in the present invention improve upon previous slit scanning techniques to overcome the problem of poor X-ray image quality for intraoperative guidance. As an advantage over existing operating room image guidance solutions, the disclosed system significantly improves image quality, greatly reduces scattered radiation (which is the primary cause of poor image quality of typical radiography or fluoroscopy systems), and has the absence of parallax and the ability to utilize current modulation. Photon scattering is the primary cause of image degradation. An advantage of the system disclosed in the present invention is that scattering in an operating room environment is limited by acquiring a full field of view image by moving a narrow linear detector across the object. The narrow detector reduces the possibility of contamination due to scattered photons. With this configuration, no grid is required in the scanning system, resulting in a significant reduction in patient dose (e.g., a 3-5x reduction).

[0014] Advantageously, the disclosed system can be used as a tool to provide confirmation of alignment and angulation of the entire spine before a surgical procedure begins (e.g., while the patient is in the operating room and just before the surgical procedure begins), during the procedure, or after the procedure (e.g., while the patient is still in the operating room). Currently, there are no clinically available tools to provide this information. The disclosed system can provide visual confirmation of the surgical site (e.g., the correct spinal level) using external surgical landmarks (typically surgical forceps) just before the surgical procedure begins. In this way, the disclosed system can address the existing need for a tool that can provide confirmation to the surgeon of the correct surgical level. In addition, oftentimes, post-operative defects are not discovered until a follow-up visit by the surgeon. In this way, the disclosed system allows for reduced costs and risks to the patient by avoiding prolonged and / or repeated surgical procedures, and also reduces the possibility of malpractice claims.

[0015] As another advantage, the disclosed system has a compact footprint and therefore has the flexibility to be used in an operating room environment. By using two separate and compact moving components for the X-ray tube and the detector, the footprint of the disclosed imaging system is much smaller than that required for a dedicated computed tomography ("CT") scanner. In general, the disclosed system can have a footprint that is smaller than a portable X-ray or C-arm fluoroscopy system.

[0016] As yet another advantage, the disclosed system has a low cost profile, including lower equipment and / or operating costs that are more comparable to mobile X-ray than CT scanning. For example, the equipment and / or operating costs of the disclosed system may be on the order of ten percent of the cost required for a dedicated CT scanner.

[0017] One aspect of the present invention is to provide a compact and robust X-ray imaging system with a minimal footprint, much lower cost, and better image quality for spinal surgery guidance. Intended users may include specialists practicing in orthopedic surgery, neurosurgery, radiology, and eventually other surgical specialists. Given its excellent image quality, compact design, and low cost, the proposed system may become a standard of care device in every operating room, in addition to the general X-ray / orthopedic clinic or even on a mobile ambulance.

[0018] Reference now Figure 1 , illustrates an example of an X-ray imaging system 100 according to some embodiments described in the present invention. The system includes at least one X-ray source 104. The X-ray source 104 projects an X-ray beam 106, which may be a fan beam or a cone beam of X-rays, toward an X-ray detector 108. The X-ray detector 108 typically includes a plurality of X-ray detector elements 110.

[0019] Advantageously, the X-ray detector 108 may include a narrow linear detector, such as a narrow array of X-ray detector elements 110. As a non-limiting example, the X-ray detector 108 may be a linear detector array having a single row of X-ray detector elements 110. In other examples, the X-ray detector 108 may be an array of X-ray detector elements 110 having 2-10 rows, more than 10 rows, etc. A technical advantage is that having a narrow X-ray detector 108 reduces signal contamination due to scattered photons.

[0020] In some embodiments, the X-ray detector 108 may be a highly sensitive and fast linear array detector. As a non-limiting example, the X-ray detector 108 may be a solid-state linear array detector, such as an indirect detector based on a gadolinium oxysulfide ("GOS") scintillator. In an example configuration, the X-ray detector 108 may be an indirect detector based on a GOS scintillator, consisting of a linear array of 640 pixels with a pixel size of 0.8 mm x 0.7 mm, and providing an effective coverage of 51.2 cm.

[0021] The X-ray detector elements 110 collectively sense projected X-rays 106 that pass through a subject 112 (e.g., a medical patient or object under examination) positioned in the X-ray imaging system 100. Each X-ray detector element 110 generates an electrical signal that may be indicative of the intensity of the impinging X-ray beam, and therefore, the attenuation of the beam as it passes through the subject 112. In some configurations, each X-ray detector 110 is capable of counting the number of X-ray photons that impinge on the detector 110.

[0022] Typically, the X-ray source 104 and the X-ray detector 108 are movable. As will be described in more detail below, the X-ray source 104 and the X-ray detector 108 are coupled to one or more motion modules 170 that move the X-ray source 104 and the X-ray detector 108. The X-ray source 104 and the X-ray detector 108 can be moved by the one or more motion modules 170 synchronously or independently of each other.

[0023] In some embodiments, the X-ray source 104 and the X-ray detector 108 are physically separated from each other. In these cases, the X-ray source 104 and the X-ray detector 108 may be coupled to separate motion modules 170, respectively. In other embodiments, the X-ray source 104 and the X-ray detector 108 may be physically coupled so that each is independently movable, whether synchronously or otherwise. In these cases, the X-ray source 104 and the X-ray detector 108 may be coupled together to a single motion module 170, or may be coupled to separate motion modules 170, respectively.

[0024] As will be described in more detail below, the motion module 170 may include a wheeled base module that can roll or otherwise translate along a surface (e.g., a floor of an operating room). The wheeled base module may be manually driven or otherwise controlled by a user, or may be autonomously or semi-autonomously controlled to move along the first trajectory and the second trajectory (e.g., via instructions received from the control system 130). Additionally or alternatively, one or more motion modules 170 may include a linear track (e.g., a floor or ceiling mounted track to which the X-ray source 104 and the X-ray detector 108 are movably coupled), a track (e.g., a floor or ceiling mounted track to which the X-ray source 104 and the X-ray detector 108 are movably coupled), a non-motorized wheeled platform, or other such configurations for moving the X-ray source 104 and the X-ray detector 108 along the first trajectory and the second trajectory.

[0025] In some cases, the imaging system 100 includes an operator workstation 116, which typically includes a display 118; one or more input devices 120, such as a keyboard and a mouse; and a computer processor 122. The computer processor 122 may include a commercially available programmable machine running a commercially available operating system. The operator workstation 116 provides an operator interface that enables scan control parameters to be input into the imaging system 100.

[0026] The operator workstation 116 may communicate with a data storage server 124 and an image reconstruction system 126. By way of example, the operator workstation 116, the data storage server 124, and the image reconstruction system 126 may be connected via a communication system 128, which may include any suitable network connection, whether wired, wireless, or a combination of both. As an example, the communication system 128 may include a proprietary or dedicated network, as well as an open network (e.g., the Internet).

[0027] The operator workstation 116 is also in communication with a control system 130 that controls the operation of the imaging system 100. In some cases, the control system 130 may be implemented as part of the operator workstation 116. The control system 130 generally includes an X-ray controller 132, a table controller 134, a detector controller 136, and a data acquisition system ("DAS") 138. The X-ray controller 132 provides power and timing signals to the X-ray source 104 and may control the movement of the X-ray source 104 along a first trajectory. The detector controller 136 controls the movement of the X-ray detector 108 along a second trajectory. The X-ray controller 132 and the detector controller 136 may also control the alignment and synchronized movement of the X-ray source 104 and the X-ray detector 108 with each other.

[0028] In some cases, the central controller can control the operation of both the X-ray source 104 and the X-ray detector 108. As described above, in some cases, an AI algorithm or model (e.g., a machine learning algorithm or model (e.g., which can implement computer vision, etc.)) can be used to facilitate the alignment and movement of the X-ray source 104 and the X-ray detector 108. The table controller 134 controls the table 140 to position the subject 112.

[0029] The DAS 138 samples the data from the detector elements 110 and converts the data into digital signals for subsequent processing. For example, the digitized X-ray data is transmitted from the DAS 138 to the data storage server 124. The image reconstruction system 126 then retrieves the X-ray data from the data storage server 124 and reconstructs the image therefrom. The image reconstruction system 126 may include a commercially available computer processor, or may be a highly parallel computer architecture, such as a system including multi-core processors and massively parallel high-density computing devices. Optionally, image reconstruction may also be performed on the processor 122 in the operator workstation 116. The reconstructed image may then be transmitted back to the data storage server 124 for storage, or transmitted back to the operator workstation 116 for display to an operator or clinician.

[0030] The imaging system 100 may also include one or more networked workstations 142. By way of example, the networked workstation 142 may include a display 144; one or more input devices 146, such as a keyboard and a mouse; and a processor 148. The networked workstation 142 may be located in the same facility as the operator workstation 116, or in a different facility, such as a different healthcare institution or clinic.

[0031] A networked workstation 142 (whether in the same facility as the operator workstation 116 or in a different facility) may obtain remote access to the data storage server 124 and / or the image reconstruction system 126 via the communication system 128. Thus, a plurality of networked workstations 142 may access the data storage server 124 and / or the image reconstruction system 126. In this manner, x-ray data, reconstructed images, or other data may be exchanged between the data storage server 124, the image reconstruction system 126, and the networked workstation 142 such that the data or images may be processed remotely by the networked workstation 142. The data may be exchanged in any suitable format, such as according to the Transmission Control Protocol ("TCP"), the Internet Protocol ("IP"), or other known or suitable protocol.

[0032] As described above, in some configurations, the X-ray source 104 and the X-ray detector 108 are physically separated from each other such that the movement of each of the X-ray source 104 and the X-ray detector 108 can be independently controlled. Figure 2A An example of such a configuration is illustrated in .

[0033] The imaging system 200 includes a movable X-ray source module 240 and a movable X-ray detector module 280 that is physically separated from the X-ray source module 240. The X-ray source module 240 includes a housing 242 that houses or otherwise supports the X-ray source 104, and the X-ray detector module 280 includes a housing 282 that houses or otherwise supports the X-ray detector 108. In the illustrated embodiment, the X-ray source module 240 is coupled to a first motion module 270a, and the X-ray detector module 280 is coupled to a second motion module 270b.

[0034] As described above, the first motion module 270a is movable so as to move the X-ray source module 240 along the first trajectory 244, and thus move the X-ray source 104. Similarly, the second motion module 270b is movable so as to move the X-ray detector module 280 along the second trajectory 284, and thus move the X-ray detector 108. In the illustrated embodiment, the first motion module 270a and the second motion module 270b are wheeled base modules. In other embodiments (e.g., Figure 2B In the illustrated embodiment, the first motion module 270a and the second motion module 270b can be implemented as a track and / or a track, and the X-ray source module 240 and the X-ray detector module 280 can move along the track and / or the track.

[0035] During a scan to acquire X-ray projection data, the X-ray source module 240, and therefore the X-ray source 104, moves along a first trajectory 244, and the X-ray detector module, and therefore the X-ray detector 108, moves along a second trajectory 284 that is different from the first trajectory. The first trajectory 244 and the second trajectory 284 may both be linear trajectories. The first trajectory 244 and the second trajectory 284 may be parallel to each other. In some embodiments, the first trajectory 244 and the second trajectory 284 may be oriented along the same direction, so that both the X-ray source module 240 and the X-ray detector module 280 move along the same direction (e.g., longitudinally) during the scan, although along different trajectories (e.g., the first trajectory 244 on one side of the subject 112 and the second trajectory 284 on the other side of the subject 112). In other embodiments, the first trajectory 244 and the second trajectory 284 may be oriented along different directions (e.g., the first direction and the second direction, respectively), so that the X-ray source module 240 and the X-ray detector module 280 move along different directions during the scan. For example, in some configurations, the X-ray source module 240 and the X-ray detector module 280 can rotate or partially rotate around a portion of the subject 112 so that the X-ray source 104 and the X-ray detector 108 move in different directions around the subject 112.

[0036] Advantageously, the X-ray source module 240 and the X-ray detector module 280 can be controlled and / or operated autonomously. For example, the X-ray source module 240 and the X-ray detector module 280 can have onboard controllers or processors that control independent and autonomous operation of the X-ray source module 240 and the X-ray detector module 280, respectively. In this way, the X-ray source module 240 and the X-ray detector module 280 can be viewed as autonomous robotic imaging system components that can automatically align with each other, automatically detect a subject to be imaged (and their position relative to the subject), and move along a first trajectory and a second trajectory while scanning the subject to acquire X-ray projection data, from which an image of the subject can be reconstructed.

[0037] Although physically separated in the sense that the X-ray source module 240 and the X-ray detector module 280 can move independently of each other, in some embodiments, the X-ray source module 240 and the X-ray detector module 280 can be in wired communication with each other, such that there is a wire or other physical electrical connection between the X-ray source module 240 and the X-ray detector module 280. For example, the X-ray source module 240 and the X-ray detector module 280 can be in electrical communication with each other via one or more wires connecting the X-ray source module 240 and the X-ray detector module 280. In these cases, the synchronized movement of the X-ray source module 240 and the X-ray detector module 280 (and therefore, the synchronized movement of the X-ray source 104 and the X-ray detector 108) can be controlled based on an electrical signal (e.g., a clock signal, a trigger signal, etc.) shared between the X-ray source module 240 and the X-ray detector module 280. Thus, in these configurations, synchronized movement of the X-ray source module 240 and the X-ray detector module 280 may be provided by communication between the X-ray source module 240 and the X-ray detector module 280, rather than by a physical connection between the X-ray source module 240 and the X-ray detector module 280 that transfers movement from one component to another.

[0038] Additionally or alternatively, the X-ray source module 240 and the X-ray detector module 280 can communicate with each other wirelessly. In these cases, the X-ray source module 240 and the X-ray detector module 280 can communicate with each other wirelessly to provide synchronized motion. For example, electrical signals (e.g., clock signals, trigger signals, etc.) wirelessly shared between the X-ray source module 240 and the X-ray detector module 280 can be used to provide and maintain synchronized motion of the X-ray source module 240 and the X-ray detector module 280.

[0039] The X-ray source module 240 includes a source position sensor 246, and similarly, the X-ray detector module 280 includes a detector position sensor 286. The source position sensor 246 may be coupled to the housing 242 of the X-ray source module 240 (e.g., disposed in, mounted to, or otherwise coupled to the housing 242), and similarly, the detector position sensor 286 may be coupled to the housing 282 of the X-ray detector module 280 (e.g., disposed in, mounted to, or otherwise coupled to the housing 282). The positioning sensors may record or otherwise measure the position of the source and / or detector modules, thereby allowing alignment of the X-ray source module 240 relative to the X-ray detector module 280. Additionally, the position data recorded by the positioning sensors 246, 286 or otherwise measured using the positioning sensors may be used to synchronize the movement of the X-ray source module 240 and the X-ray detector module 280 (e.g., by tracking the positions of the source and detector modules, proper alignment of the modules may be maintained as the modules move along a first trajectory and a second trajectory).

[0040] The source and detector location sensors 246, 286 may be active location sensors, passive location sensors, or a combination thereof. As an example, an active location sensor includes a location sensor that sends a signal for determining the location of a transmitting sensor, a receiving sensor, or both. An active location sensor may include an RF transmitter, such as a transmitter, that may be used to transmit a signal to a receiving sensor, or both. A sensor that transmits via a cellular or other proprietary protocol; an ultrasonic transceiver; an inertial sensor; etc. As an example, a passive positioning sensor includes a positioning sensor that is detected and tracked by an external system to determine the location of the sensor. For example, a passive positioning sensor may include an optical marker that can be detected and tracked by an optical imaging system (e.g., an optical camera system used by a surgical navigation system).

[0041] As another example, a camera may be coupled to the X-ray source module 240 and / or the X-ray detector module 280, which may be used to optically detect the passive positioning sensors 286 on the X-ray detector module 280 and / or the X-ray source module 246, respectively. In this way, optical alignment of the X-ray source module 240 and the X-ray detector module 280 may be provided by optically tracking the passive positioning sensors 246, 286 as the X-ray source module 240 and the X-ray detector module 280 are moved.

[0042] In yet other embodiments, a camera coupled to the X-ray source module 240 and / or the X-ray detector module 280 may record images that are processed using AI (e.g., by computer vision algorithms or other machine learning algorithms) to track their positions and maintain synchronized motion. Additionally or alternatively, such a camera may also be capable of detecting and identifying the subject 112 and may be analyzed to determine initial position data for aligning the X-ray source module 240 and the X-ray detector module 280 with each other and with the subject 112.

[0043] Additional cameras or other sensors (e.g., LIDAR sensors) may also be used to monitor the surroundings while the X-ray source module 240 and the X-ray detector module 280 are moving to provide object avoidance. If an obstacle (e.g., a person, surgical equipment, a patient table, etc.) is detected, the X-ray source module 240 and the X-ray detector module 280 may be stopped to avoid collision with the obstacle. When an obstacle is detected, the X-ray source 104 may also be automatically shut down as a safety measure.

[0044] In some cases, the X-ray source module 240 and the X-ray detector module 280 can transmit the position data acquired by the positioning sensors 246, 286 to one or more controllers, such as the control system 130, the X-ray controller 132, and / or the detector controller 136. Additionally or alternatively, the X-ray source module 240 and the X-ray detector module 280 can communicate directly with each other. In these cases, the X-ray source module 240 and the X-ray detector module 280 can share the position data between each other so as to move synchronously along the first trajectory and the second trajectory.

[0045] The position data may be transmitted via a wired connection, a wireless connection, or both. In some embodiments, the X-ray source module 240 and the X-ray detector module 280 may be configured to communicate with each other using a wireless communication interface. The wireless communication device uses other protocols (e.g., cellular protocols, proprietary protocols, etc.) through different types of wireless networks. For example, a wireless communication device may be configured to communicate via The communication is performed via a wide area network or a local area network such as the Internet, or via a piconet (eg using infrared or NFC communication).

[0046] In addition to sharing position data measured by the positioning sensor, the X-ray source module 240 and the X-ray detector module 280 can maintain synchronized movement with each other based on X-rays transmitted by the X-ray source 104 and received by the X-ray detector 108 .

[0047] As described above, in some configurations, the X-ray source and detector modules are physically coupled to each other. Figure 3 An example of such a configuration is illustrated in .

[0048] The imaging system 300 includes a movable X-ray source module 340 and a movable X-ray detector module 380 physically coupled to the X-ray source module 340. The X-ray source module 340 includes a housing 342 that houses or otherwise supports the X-ray source 104, while the X-ray detector module 380 includes a housing 382 that houses or otherwise supports the X-ray detector 108.

[0049] In the illustrated embodiment, a support member 390 couples the X-ray source module 340 to the X-ray detector module 380. The support member 390 may include, for example, lateral supports coupled to both the source module housing 342 and the detector module housing 382. In this way, the X-ray source module 340 and the X-ray detector module 380 are physically coupled together such that moving one will cause the other to move synchronously.

[0050] The support member 390 is coupled to one or more motion modules 370. As a non-limiting example, the motion module 370 may include a track or rails in the ceiling of the operating room, to which the support member 390 may be coupled, for example, by vertical couplings or the like. In other embodiments, the support member 390 may be coupled to a C-arm, an articulated arm, or other such support, which may be coupled to the motion module 370, which includes a track and / or rails on the ceiling and / or floor of the operating room. In yet other examples, the support member 390 may be coupled to a wheeled base module, for example by vertically extending supports at each end of the support member 390.

[0051] During a scan to acquire X-ray projection data, the X-ray source module 340 and therefore the X-ray source 104 moves along a first trajectory 344, and the X-ray detector module and therefore the X-ray detector 108 moves along a second trajectory 384 that is different from the first trajectory. The first trajectory 344 and the second trajectory 384 can both be linear trajectories. The first trajectory 344 and the second trajectory 384 can be parallel to each other. In some embodiments, the first trajectory 344 and the second trajectory 384 can be oriented along the same direction, so that both the X-ray source module 340 and the X-ray detector module 380 move along the same direction (e.g., longitudinally) during the scan, although along different trajectories (e.g., the first trajectory 344 on one side of the subject 112 and the second trajectory 384 on the other side of the subject 112). In other embodiments, the first trajectory 344 and the second trajectory 384 can be oriented along different directions (e.g., the first direction and the second direction, respectively), so that the X-ray source module 340 and the X-ray detector module 380 move along different directions during the scan. For example, in some configurations, the X-ray source module 340 and the X-ray detector module 380 can rotate or partially rotate around a portion of the subject 112 so that the X-ray source 104 and the X-ray detector 108 move in different directions around the subject 112.

[0052] In some configurations, the X-ray source module 340 and the X-ray detector module 380 can be rotated around the subject 112 to provide different viewing angles when scanning the subject 112. As an example, the X-ray source module 340 and the detector module 380 can be rotated around the longitudinal axis to provide different viewing angles in the axial plane. In other examples, the X-ray source module 340 and the detector module 380 can be rotated into different imaging planes, such as the sagittal plane, the coronal plane, or the oblique plane, which can be useful for locating different anatomical targets.

[0053] The X-ray source module 340 and the X-ray detector module 380 can communicate with each other by wire, wirelessly, or both. For example, the X-ray source module 340 and the X-ray detector module 380 can communicate with each other wirelessly to provide synchronized movement or otherwise share position data with each other.

[0054] The X-ray source module 340 may include a source position sensor 346, and similarly, the X-ray detector module 380 may include a detector position sensor 386. The source position sensor 346 may be coupled to (e.g., disposed in, mounted to, or otherwise coupled to) the housing 342 of the X-ray source module 340, and similarly, the detector position sensor 386 may be coupled to (e.g., disposed in, mounted to, or otherwise coupled to) the housing 382 of the X-ray detector module 380. The positioning sensors may record or otherwise measure the position of the source and / or detector modules, thereby allowing alignment of the X-ray source module 340 relative to the X-ray detector module 380 and the subject 112. Additionally, the position data recorded by or otherwise measured using the positioning sensors 346, 386 may be used to synchronize the movement of the X-ray source module 340 and the X-ray detector module 380.

[0055] The source and detector positioning sensors 346, 386 may be active positioning sensors, passive positioning sensors, or a combination thereof. As another example, a camera may be coupled to the X-ray source module 340, the X-ray detector module 380, and / or the support member 390, and it may be used to optically detect the passive positioning sensors, the subject 112, or both. In this way, optical alignment of the X-ray source and detector modules 340, 380 with the subject may be provided by optically tracking the passive positioning sensors or by object detection of the subject 112 (e.g., by analyzing images using computer vision algorithms or other machine learning algorithms).

[0056] In yet other embodiments, a camera coupled to the X-ray source module 340, the X-ray detector module 380, and / or the support member 390 can record images processed using AI (e.g., by a computer vision algorithm or other machine learning algorithm) to track their positions and maintain synchronized motion. Additionally or alternatively, such a camera is also capable of detecting and identifying the subject 112, and can be analyzed to determine initial position data for aligning the X-ray source module 340 and the X-ray detector module 380 with each other and with the subject 112. Additional cameras or other sensors (e.g., LIDAR sensors) can also be used to monitor the surrounding environment when the X-ray source module 340 and the X-ray detector module 380 move to provide object avoidance. If an obstacle is detected, the X-ray source module 340 and the X-ray detector module 380 can be stopped to avoid collision with the obstacle. When an obstacle is detected, the X-ray source 104 can also be automatically shut down as a safety measure.

[0057] Reference now Figure 4, a flow chart is illustrated to illustrate the steps of an example method for using the imaging system described in the present invention to identify the correct alignment or positioning of an anatomical target during a surgical procedure. For example, the imaging system can be used during spinal surgery to identify the correct vertebral level for the surgical procedure.

[0058] The method includes initiating an X-ray source and detector scanning position, as indicated at step 402. The X-ray source and detector modules may be moved to their initial positions manually, semi-autonomously, or autonomously.

[0059] In some cases, the X-ray source and / or detector module may include a camera for recording images of the subject and / or the relative imaging system module. By analyzing these images (e.g., using computer vision algorithms), the source and detector modules can automatically determine their positions relative to each other and the subject, determine their initial positions relative to the subject, and then move themselves to these initial positions. As a non-limiting example, the X-ray source module may include a camera that records images of a scene containing the subject and the X-ray source detector module. Computer vision algorithms (e.g., object detection algorithms, image segmentation algorithms) can be used to process these images to detect the subject and the X-ray detector module, and determine their positions relative to the X-ray source module. Based on these position data, the initial scanning position can be determined.

[0060] In other cases, positioning sensors on the X-ray source module and / or the X-ray detector module can be used to determine the initial scanning positions and move the X-ray source and detector modules to these initial scanning positions. As described above, the positioning sensors can be active sensors (e.g., RF transmitters and / or receivers, ultrasonic transmitters and / or receivers), passive sensors (e.g., optical fiducial markers), or a combination thereof.

[0061] Then, while imaging the subject, the X-ray source and the X-ray detector module are moved from their initial scanning positions along the first trajectory and the second trajectory, respectively, as indicated in step 404. As described above, the X-ray source and the detector module move synchronously. Thus, X-ray projection data is acquired from the subject as the X-ray source and the detector translate along the first trajectory and the second trajectory. As a non-limiting example, the first trajectory and the second trajectory may be parallel to the longitudinal axis, so that the X-ray projection data represents an axial image through the subject.

[0062] In some embodiments, as the X-ray source and detector modules are moved (whether manually, semi-autonomously, or autonomously), position data are recorded and transmitted between the X-ray source and detector modules. Such position data are processed (e.g., by a central controller, by a dedicated controller or processor on the X-ray source module and / or the detector module) to determine the relative positions of the X-ray source and detector modules, which can be used to control the movement of the modules and also maintain synchronization between the modules.

[0063] As indicated at step 406, one or more images are reconstructed from the X-ray projection data acquired by the X-ray detector. In some implementations, the one or more images may be reconstructed in real time while the subject is being imaged during the imaging scan. In other implementations, the one or more images may be reconstructed after the imaging scan is completed and the X-ray projection data has been fully acquired from the subject.

[0064] One or more reconstructed images may be analyzed to assess the accuracy of the procedure, thereby confirming the location and / or alignment of an anatomical target (e.g., a specific spinal layer), etc., as indicated in step 408. As a non-limiting example, one or more images may be analyzed by a computer system to generate quantitative parameters that measure the alignment and / or relative angles of the spine or other anatomical structures. The quantitative parameters may be used to assess the accuracy of a spinal surgical procedure or other orthopedic surgical procedure. If the quantitative parameters indicate that the spine or other anatomical structure is not properly aligned after the surgical procedure, the surgeon may make adjustments while the patient is still in the operating room. Advantageously, this allows real-time feedback of the surgical procedure accuracy while the patient is still in the operating room, thereby allowing identification and intraoperative corrections to be made, thereby reducing the need for multiple procedures.

[0065] In some implementations, additional scans of the subject may be desired. For example, multiple scans may be performed during a surgical procedure to track progress during the procedure and to confirm consistency of the subject's anatomy with the surgical plan. Additionally or alternatively, when analysis of one or more images acquired from the subject indicates that the alignment of the spine or other anatomical structure requires correction, additional scans may be performed after intraoperative corrections are made to confirm accurate alignment of the spine or other anatomical structure.

[0066] When additional scans are desired, as indicated at decision block 410, the X-ray source and X-ray detector may be repositioned to the initial scan position (or a new initial scan position), as indicated at step 412. Additional X-ray data may then be acquired by rescanning the subject, from which one or more additional images may be reconstructed and optionally analyzed. Otherwise, as indicated at step 414, one or more reconstructed images may be displayed to a user and / or stored for later use or processing.

[0067] The invention has been described in one or more preferred embodiments, and it should be understood that many equivalents, alternatives, variations and modifications, besides those explicitly stated, are possible and within the scope of the invention.

Claims

1. An X-ray imaging system, include: An X-ray source housed in an X-ray source housing and configured to translate along a first trajectory; an X-ray detector housed in an X-ray detector housing configured to translate along a second trajectory different from the first trajectory, wherein the X-ray detector housing is physically separated from the X-ray source housing; and a controller in communication with the X-ray source and the X-ray detector, wherein the controller is configured to: aligning the X-ray source with the X-ray detector; and The X-ray source is moved along the first trajectory and the X-ray detector is moved along the second trajectory synchronously.

2. The X-ray imaging system according to claim 1, in, The first trajectory and the second trajectory are both linear scanning trajectories.

3. The X-ray imaging system according to claim 2, in, The first trajectory is parallel to the second trajectory.

4. The X-ray imaging system according to claim 1, in, The controller is configured to align the X-ray source with the X-ray detector using an artificial intelligence algorithm implemented by the controller.

5. The X-ray imaging system according to claim 4, in, The artificial intelligence algorithms include machine learning algorithms.

6. The X-ray imaging system according to claim 5, in, The machine learning algorithm implements a computer vision algorithm.

7. The X-ray imaging system according to claim 1, in, The X-ray source is movably coupled to a first track defining the first trajectory such that the X-ray source translates along the first trajectory when the X-ray source translates along the first track.

8. The X-ray imaging system according to claim 7, in, The X-ray detector is movably coupled to a second track defining the second trajectory such that the X-ray source translates along the second trajectory when the X-ray source translates along the second track.

9. The X-ray imaging system according to claim 7 or 8, in, The first rail is a floor mounting rail.

10. The X-ray imaging system according to claim 8 or 9, in, The second rail is a floor mounting rail.

11. The X-ray imaging system according to claim 1, in, The X-ray source is coupled to a movable base module that is configured to translate along a surface.

12. The X-ray imaging system according to claim 1, in, The X-ray detector is coupled to a movable base module that is configured to translate along a surface.

13. The X-ray imaging system according to claim 11 or 12, in, The base module includes a wheeled base module configured to roll along the surface.

14. The X-ray imaging system according to claim 1, in, At least one of the X-ray source or the X-ray detector includes at least one positioning sensor configured to generate positioning data, wherein the controller is configured to receive the positioning data from the at least one positioning sensor and align the X-ray source with the X-ray detector based on the positioning data.

15. The X-ray imaging system according to claim 14, in, Each of the X-ray source and the X-ray detector includes at least one positioning sensor.

16. The X-ray imaging system according to claim 14, in, The at least one positioning sensor includes at least one of an optical positioning sensor, a radio frequency (RF) based positioning sensor, or an inertial positioning sensor.

17. The X-ray imaging system according to claim 1, in, The X-ray detector comprises a linear detector array.

18. The X-ray imaging system according to claim 1, in, The controller is housed within one of the X-ray source housing or the X-ray detector housing.

19. The X-ray imaging system according to claim 1, in, The controller is configured to: receiving X-ray projection data acquired by the X-ray detector; reconstructing an image from the X-ray projection data; as well as The images are analyzed to determine quantitative parameters measuring the alignment and relative angles of the subject's spine depicted in the images.

20. An X-ray imaging system, include: X-ray source module, including: a first shell; An X-ray source is contained in the first housing; and a first wheeled base coupled to the first housing; X-ray detector module, including: a second shell; An X-ray detector housed in the second housing; and a second wheeled base coupled to the second housing; a processor in communication with the X-ray source and the X-ray detector, wherein the processor is configured to: automatically aligning the X-ray source module with the X-ray detector module by controlling the first wheeled base and the second wheeled base to move the X-ray source module and the X-ray detector module to an initial scanning position; and The first wheeled base and the second wheeled base are controlled to synchronously move the X-ray source module along a first trajectory and move the X-ray detector module along a second trajectory different from the first trajectory.

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