Method and system for guiding user to perform medical imaging

Abstract

An imaging system for generating an x-ray image of a subject. The imaging system includes an imaging gantry having an x-ray emitter for emitting x-rays that have passed through the subject and an x-ray detector for detecting the x-rays that have passed through the subject. The imaging gantry is movable relative to the subject. The imaging system also includes a control system configured to provide a rapid, simple, and efficient workflow of the imaging system to a user of the imaging system to guide the user to complete a series of explicitly defined steps to set up the imaging system.

Description

Technical Field

[0001] The present disclosure relates to methods and systems for guiding a user in performing medical imaging. Background Art

[0002] This section provides background information related to the present disclosure which is not necessarily prior art.

[0003] The imaging system acquires image data of a subject. The image data may be used to generate an image. The image may be displayed for viewing by a user and / or further analyzed and / or enhanced for various purposes. The image may show a selected portion of the subject.

[0004] An imaging system that acquires image data of a subject may acquire multiple projections of image data of the subject. Multiple projections may be acquired at multiple locations of the imaging system relative to the subject. For example, the system may include an arm or projector that moves spatially relative to the subject to acquire multiple locations of image projections relative to the subject. Although current imaging systems can be used for their intended purposes, there is still room for improvement. The present disclosure advantageously provides improved methods and systems for guiding a user to perform medical imaging using any suitable imaging system. Summary of the invention

[0005] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

[0006] The present disclosure provides an imaging system for generating image data of a subject. The imaging system includes a radiation emitter for emitting radiation passing through a subject, a radiation detector for detecting rays from the radiation emitter that have passed through the subject, and an imaging assembly including the radiation emitter and the radiation detector. The imaging assembly is configured to move the radiation emitter and the radiation detector relative to the subject. The control system of the imaging system is configured to: before imaging the subject, identify the position of the radiation emitter and the radiation detector relative to the subject; and before imaging the subject, when either of the radiation emitter and the radiation detector is not at a predetermined starting angle relative to the subject, notify the user of the imaging system. Before imaging the subject, when either of the radiation emitter and the radiation detector is not at a predetermined starting angle relative to the subject, the control system is configured to generate instructions for adjusting the imaging assembly to the user through a user interface, so that both the radiation emitter and the radiation detector are at a predetermined starting angle relative to the subject before imaging the subject. The control system is also configured to limit the operation of the radiation emitter until both the radiation emitter and the radiation detector are at their predetermined starting angles relative to the subject.

[0007] The present disclosure also provides an imaging system for generating an x-ray image of a subject. The imaging system includes an imaging gantry having an x-ray emitter for emitting x-rays that pass through the subject and an x-ray detector for detecting x-rays that have passed through the subject. The imaging gantry is movable relative to the subject. The imaging system also includes a control system configured to: identify the position of the imaging gantry before imaging the subject, including the gantry swing angle and the gantry tilt angle of the imaging gantry; before imaging the subject, when the gantry swing angle and the gantry tilt angle are at an angle other than 0°, notify the user of the imaging system; before imaging the subject, when at least one of the gantry swing angle and the gantry tilt angle is not at 0°, generate an instruction for adjusting the imaging gantry to the user through a user interface so that the gantry swing angle and the gantry tilt angle are at 0°; and limit the operation of the x-ray emitter until the gantry swing angle and the gantry tilt angle are at 0°.

[0008] The present disclosure also provides a method for setting up an imaging system for generating an x-ray image of a subject. The imaging system includes a control module and an imaging gantry, the imaging gantry having an x-ray emitter for emitting x-rays passing through the subject and an x-ray detector for detecting x-rays that have passed through the subject. The imaging gantry is movable relative to the subject. The method is performed by the control module and includes the following: identifying the position of the imaging gantry before imaging the subject, including the gantry swing angle and the gantry tilt angle of the imaging gantry; before imaging the subject, when the gantry swing angle and the gantry tilt angle are at an angle other than 0°, notifying a user of the imaging system; before imaging the subject, when at least one of the gantry swing angle and the gantry tilt angle is not at 0°, generating an instruction for adjusting the imaging gantry to the user through a user interface so that the gantry swing angle and the gantry tilt angle are at 0°; and limiting the operation of the x-ray emitter until the gantry swing angle and the gantry tilt angle are at 0°.

[0009] Further areas of applicability will become apparent from the description provided herein.The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0011] Figure 1 is an environmental view of an exemplary imaging system;

[0012] Figure 2 Shows Figure 1 Additional details of an exemplary imaging system of;

[0013] Figure 3 Is used for Figure 1 A flowchart of an exemplary method of performing medical imaging with an imaging system of the invention or any other suitable imaging system;

[0014] Figure 4 is a flow chart of another exemplary method for performing medical imaging according to the present disclosure;

[0015] Figure 5A , Figure 5B , Figure 5C and Figure 5D A flowchart illustrating an additional method for performing medical imaging according to the present disclosure is shown; and

[0016] Fig. 6A , Figure 6B , Figure 6C A flow chart of another method for performing medical imaging according to the present disclosure is shown.

[0017] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. DETAILED DESCRIPTION

[0018] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0019] refer to Figure 1 , a schematic diagram of an operating room 20 is shown. A user 24, such as a surgeon, can perform surgery on a subject, such as a patient 28. The subject can be placed on a support, such as a table 32 for selected portions of the surgery. The table 32 generally does not interfere with the image data acquisition performed using the imaging system 36. While performing the surgery, the user 12 can use the imaging system 36 to acquire image data of the patient 28 to allow the selected system to generate or create images to assist in performing the surgery. Images generated using the image data, such as models (such as two-dimensional (2D) images or three-dimensional (3D) images), long views, single projection views, etc., can be generated using the image data and displayed as images 40 on a display device 44. The display device 44 can be part of and / or connected to a processor system 48, which includes an input device 52 (e.g., a keyboard) and a processor 56, which can include one or more processors or microprocessors in conjunction with the processing system 48, and a non-transitory and / or transient memory 58 of a selected type. A connection 62 may be provided between processor 56 and display device 44 for data communication to allow display device 44 to be driven to display or illustrate image 40. Processor 56 may be any suitable type of processor, such as a general purpose processor that executes instructions included in a program or a special purpose processor such as an application specific integrated circuit.

[0020] The imaging system 36 may include a 3D imaging system sold by Medtronic Navigation, Inc. having a place of business in Louisville, CO, USA. Imaging System. An imaging system 36 may be used during selected procedures and may include Imaging system, or other suitable imaging systems, such as those described in the following references, all of which are incorporated herein by reference: U.S. Patent No. 10,881,371; U.S. Patent No. 9,411,057; U.S. Patent No. 9,807,860; U.S. Patent No. 8,238,631; and U.S. Patent Application No. 17 / 205,940 filed in 2021.

[0021] When for example including When imaging the system, the imaging system 36 may include a mobile cart 60 that includes a controller and / or control system 64. The control system 64 may include a processor and / or processor system 66 (similar to the processor 56) and a memory 68 (e.g., a non-transitory memory). The memory 68 may include various instructions that are executed by the processor 66 to control the imaging system 36 (including various parts of the imaging system 36).

[0022] The imaging system 36 may include additional additional parts, such as an imaging gantry 70 in which an active unit (also referred to as an assembly) 74 and a detector unit (also referred to as an assembly) 78 are positioned. The gantry 70 is movably connected to the mobile cart 60. The gantry 70 may be O-shaped or annular, wherein the gantry 70 is substantially annular and includes walls that form a volume in which the source unit 74 and the detector 78 can move. The mobile cart 60 may also be mobile and may be moved from one operating room to another operating room and / or another room. The gantry 70 may be movable relative to the cart 60, as further discussed herein. This allows the imaging system 36 to be mobile and movable relative to the subject 28, thereby allowing it to be used in multiple locations and in multiple surgeries without requiring capital expenditure or space dedicated to a fixed imaging system. Although the imaging system 36 is described as including a gantry, the imaging system 36 may include any other suitable components for the source unit 74 and the detector 78, such as, for example, a c-arm.

[0023] Processor 66 may be a general purpose processor or a special purpose processor. Memory system 68 may be a non-transitory memory, such as a rotating disk or a solid-state non-volatile memory. In various embodiments, the memory system may contain instructions to be executed by processor 66 to perform functions and determine results, as discussed herein.

[0024] In various embodiments, the imaging system 36 may include an imaging system that acquires images and / or image data by using emitted x-rays and detecting the interaction and / or attenuation of the x-rays with the subject 28. Thus, x-ray imaging may be one imaging modality. It should be appreciated that other imaging modalities are also possible and may be used.

[0025] Thus, the imaging system 36 including the source unit 74 may be an x-ray emitter that may emit x-rays that pass through the patient 28 to be detected by the detector 78. As will be appreciated by those skilled in the art, the x-rays emitted by the source 74 may be emitted in a cone 90 along a selected primary vector 94 and detected by the detector 78, such as Figure 2 The source 74 and detector 78 may also be collectively referred to as a source / detector unit 98 , particularly where the source 74 is generally diametrically opposed (eg, 180 degrees apart) to the detector 78 within the gantry 70 .

[0026] The imaging system 36 may be moved, in whole or in part, relative to the subject 28. For example, the source 74 and the detector 78 may be moved 360° around the patient 28. Movement of the source / detector unit 98 within the gantry 70 may allow the source 74 to remain approximately 180° relative to the detector 78 (e.g., with a fixed internal gantry or rotor or movement system). Thus, the detector 78 may be referred to as moving around the subject 28 (e.g., in a circle or spiral), and it should be understood that the source 74 remains relative to the subject unless otherwise disclosed.

[0027] Furthermore, the gantry 70 can be moved equidistantly about the axis 102 generally in the direction of the arrow 100 relative to the subject 28 (also referred to as "swinging"), such as by the cart 60, as shown. Figure 1 The gantry 34 may also be tilted relative to the long axis 106 of the patient 28 as indicated by arrow 110. When tilted, the plane of the gantry 70 may be tilted or form a non-orthogonal angle with the axis 106 of the subject 28.

[0028] The gantry 70 can also be moved longitudinally relative to the subject 28 and / or the cart 60 in the direction of arrow 114 along line 106 (which is the z-axis). Furthermore, the cart 60 can be moved to move the gantry 70. Furthermore, the gantry 70 can be moved up and down relative to the cart 30 and / or the subject 28 generally in the direction of arrow 118, generally transverse to the axis 106 and parallel to the axis 102.

[0029] Imaging system 36 may be moved in whole or in part to allow for positioning of source / detector unit (SDU) 98 relative to subject 28. Imaging device 36 may be precisely controlled to move SDU 98 relative to subject 28 to produce accurate image data of subject 28. Imaging device 36 may be connected to processor 56 via connection 120, which may include a wired or wireless connection or physical medium transfer from imaging system 36 to processor 56. Thus, image data collected using imaging system 36 may be transferred to processing system 56 for navigation, display, reconstruction, etc.

[0030] As discussed herein, source 74 may include one or more x-ray sources for imaging subject 28. In various embodiments, source 74 may include a single source that may be powered by more than one electrical power source to generate and / or emit x-rays having different energy characteristics. Additionally, more than one x-ray source may be a source 74 that may be powered to emit x-rays having different energy characteristics at selected times.

[0031] According to various embodiments, imaging system 36 may be used with non-navigation or navigation procedures. In a navigation procedure, a localizer and / or digitizer, including either or both of optical localizer 130 and / or electromagnetic localizer 138, may be used to generate a field and / or receive and / or transmit signals within a navigation domain relative to subject 28. The navigation space or navigation domain relative to subject 28 may be registered with image 40. As understood in the art, correlation allows registration of the navigation space defined within the navigation domain and the image space defined by image 40. A patient tracker or dynamic reference frame 140 may be connected to subject 28 to allow dynamic registration and maintain registration of subject 28 with image 40.

[0032] The patient tracking device or dynamic registration device 140 and the instrument 144 can then be tracked relative to the subject 28 to allow for a navigation procedure. The instrument 144 can include a tracking device, such as an optical tracking device 148 and / or an electromagnetic tracking device 152, to allow the instrument 144 to be tracked using either or both of the optical locator 130 or the electromagnetic locator 138. The navigation / detection interface device 158 can communicate (e.g., wired or wirelessly) with the instrument 144 (e.g., via a communication line 156), with the electromagnetic locator 138 (e.g., via a communication line 162), and / or with the optical locator 130 (e.g., via a communication line 166). The interface 158 can also communicate with the processor 56 via the communication line 168 and can transmit information (e.g., signals) about various items connected to the interface 158. It should be understood that any communication link can be wired, wireless, physical medium transmission or movement, or any other appropriate communication. However, a suitable communication system may be equipped with corresponding positioners to allow instrument 144 to be tracked relative to subject 28, thereby allowing the tracked position of instrument 144 relative to image 40 to be illustrated for performing the procedure.

[0033] Those skilled in the art will appreciate that device 144 may be any suitable device, such as a ventricular or vascular stent, a spinal implant, a neural stent or stimulator, an ablation device, etc. Device 144 may be an interventional device, or may include or be an implantable device. Tracking device 144 allows the position (including x, y, z position and orientation) of device 144 relative to subject 28 to be viewed using registration image 40 without directly viewing device 144 within subject 28.

[0034] In addition, the imaging system 36, such as the gantry 70, may include an optical tracking device 174 and / or an electromagnetic tracking device 178 for tracking with the corresponding optical locator 130 and / or electromagnetic locator 138. Thus, the imaging device 36 can be tracked relative to the subject 28, and the instrument 144 can also be tracked to allow initial, automatic, or continued registration of the subject 28 relative to the image 40. The registration and navigation procedures are discussed in the above-incorporated U.S. Patent No. 8,238,631, which is incorporated herein by reference. After registering and tracking the instrument 144, the icon 180 can be displayed relative to the image 40, including overlaying on the image.

[0035] Continue to refer Figure 2According to various embodiments, the source 74 may include a single x-ray tube assembly 190 that may be connected to a switch 194 that may interconnect a first power source 198 via a connection or power line 200. As described above, x-rays may be emitted from the x-ray tube 190 generally in a cone 90 toward the detector 78 and generally in a direction from the x-ray tube 190 as indicated by an arrow, beam arrow, beam, or vector 94. As will be appreciated by those skilled in the art, the switch 194 may switch the tube 190 on or off to emit x-rays having selected characteristics. The vector 94 may be a center vector or ray within the x-ray cone 90. The x-ray beam may be emitted as a cone 90 or other suitable geometry. The vector 94 may include a selected line or axis associated with further interaction of the beam, such as with a filter member, as further discussed herein.

[0036] Subject 28 may be positioned within x-ray cone 94 to allow acquisition of image data of subject 28 based on emission of x-rays in the direction of vector 94 toward detector 78 .

[0037] The x-ray tube 190 may be used to generate two-dimensional (2D) x-ray projections of the subject 28, including a selected portion of the subject 28 or any region, zone, or volume of interest, based on x-rays impinging on or being detected on a 2D or flat panel detector, such as the detector 78. The 2D x-ray projections may be reconstructed as discussed herein to produce and / or display a three-dimensional (3D) volumetric model of the subject 28, the selected portion of the subject 28, or any region, zone, or volume of interest. As discussed herein, the 2D x-ray projections may be image data acquired using the imaging system 36, and the 3D volumetric model may be generated or modeled from the image data.

[0038] For reconstructing or forming a 3D volume image, suitable algebraic techniques include expectation maximization (EM), ordered subset EM (OS-EM), simultaneous algebraic reconstruction techniques (SART), and total variation minimization (TVM), as generally understood by those skilled in the art. The application of performing 3D volume reconstruction based on 2D projections allows for efficient and complete volume reconstruction. In general, the algebraic technique may include an iterative process to perform reconstruction of the subject 28 for display as an image 40. For example, pure or theoretical image data projections, such as those generated based on or from an atlas or stylized model of a "theoretical" patient, can be repeatedly altered until the theoretical projection image matches the acquired 2D projection image data of the subject 28. The stylized model can then be appropriately changed to a 3D volume reconstruction model of the acquired 2D projection image data of the selected subject 28, and can be used for surgical treatments, such as navigation, diagnosis, or planning. The theoretical model can be associated with the theoretical image data to construct the theoretical model. In this way, the model or image data 40 can be constructed based on the image data of the subject 28 acquired using the imaging device 36.

[0039] Continue to refer Figure 2 , the source 74 can include various elements or features that can be moved relative to the x-ray tube 190. In various embodiments, for example, the collimator 220 can be positioned relative to the x-ray tube 190 to help form the cone 90 relative to the subject 28. The collimator 220 can include various features, such as movable components that can help position one or more filters within the cone 90 of x-rays before reaching the subject 28. In addition, as further discussed herein, various filters can be used to shape the x-ray beam before reaching the subject 28, such as shaping the cone 90 into a selected shape. In various embodiments, as discussed herein, the x-rays can be formed into a thin fan or plane to reach and pass through the subject 28 and be detected by the detector 78. Therefore, the source 74 including the collimator 220 can include a filter assembly 224. The filter assembly 224 can include one or more parts that allow the filter to be moved relative to the x-ray tube 190 to shape and / or position the x-rays before reaching the subject 28.

[0040] refer to Figure 3 , an exemplary method for operating any suitable imaging system, such as imaging system 36, is shown at reference numeral 510. Method 510 is performed by imaging system 36 in any suitable manner. For example, part or all of method 510 may be performed by processor 56 of processor system 48 according to code stored in memory 58, which is configured to perform method 510; and / or part or all of method 510 may be performed by processor 66 of control system 64 according to code stored in memory 68.

[0041] The method 510 starts at block 512 and proceeds to block 514. At block 514, any suitable user or system input invoking a particular activity to be performed is entered into the imaging system 36, such as through the input device 52 and / or the control system 64. If the imaging system 36 detects an error condition at block 516, the processor system 48 and / or the control system 64 operates to attempt to clear the error by providing instructions to the user to overcome the error condition. Once the error condition is overcome and the error is cleared, the method returns to block 514. If the error cannot be cleared, the method 510 aborts the activity and the method 510 terminates at block 518.

[0042] If at box 514, the imaging system 36 identifies an operational constraint that would prevent the activity from being performed, the processor system 48 and / or the control system 64 will provide instructions to the user at box 520 to clear the constraint. Exemplary constraints include, but are not limited to, the following: Tilt / Yaw! = 0°; Navigation not connected; Navigation incompatible; Minimum scan length not reached; Maximum scan length exceeded; X-ray tube temperature will exceed acceptable limits; O-arm tracker visibility; Patient reference tracker visibility; Prepare for acquisition; Gantry motion along a restricted axis. The constraint may be automatically cleared by the processor system 48, or the constraint remains at box 520 until the user performs an operation to clear the constraint or aborts the operation 510. If the constraint is cleared, the method 510 returns to box 514, where the processor system 48 and / or the control system 64 performs the activity. If the constraint is not cleared, the method 510 aborts the activity, and the method terminates at box 518. The constraint may be automatically cleared by the processor system 48, or the constraint remains at box 520 until the user performs an operation to clear the constraint or aborts the operation 510. When there are no errors or constraints that prevent the activity from being performed, the processor system 48 and / or the control system 64 performs the activity at 514. After the activity is completed, the method 510 ends at block 518.

[0043] Figure 4 Another method 610 according to the present disclosure is shown. The method 610 is performed by the imaging system 36 in any suitable manner. For example, part or all of the method 610 may be performed by the processor 56 of the processor system 48 according to code stored in the memory 58, which is configured to perform the method 610; and / or part or all of the method 610 may be performed by the processor 66 of the control system 64 according to code stored in the memory 68.

[0044] The method 610 begins at block 612 and proceeds to block 614. At block 614, any suitable user or system input is entered into the imaging system 36, such as through the input device 52 and / or the control system 64, to call for any suitable steps to be performed. Exemplary workflow steps are set forth herein in the description of methods 710 and 810. From block 614, the method 610 proceeds to block 616, where the system 48 and / or the control system 64 determines whether the workflow step is satisfied. If the workflow step is not satisfied, the method 610 proceeds to block 618.

[0045] At box 618, the processor system 48 and / or control system 64 determines whether the imaging system 36 can automatically resolve the workflow step. If the imaging system 36 cannot resolve the workflow step, the method 610 proceeds to box 620. At box 620, the processor system 48 and / or control system 64 instructs the user how to resolve the workflow step to satisfy the workflow step. The method 610 returns to box 616 from box 620. If at box 618, the processor system 48 and / or control system 64 determines that the imaging system 36 can automatically resolve the workflow step, the processor system 48 or control system 64 resolves the directional workflow step of box 614, and the method 610 proceeds to box 622. The workflow step can be automatically resolved by, for example, a tube temperature constraint, whereby the system 36 monitors the tube temperature, and when the temperature is within tolerance, the system 36 automatically clears the error. The workflow step can also be automatically resolved by rigid and dynamic tracker verification, whereby the system 36 automatically verifies the tracker visibility and camera motion when communicating with a compatible navigation system. Furthermore, workflow steps may be automatically addressed by moving the rotor to correct the starting position and turning on the collimator to prepare the system 36 for acquisition.

[0046] When the processor system 48 and / or control system 64 determines at block 616 that the workflow step has been satisfied, the method 610 also proceeds from block 616 to block 622. If at block 622 the processor system 48 and / or control system 64 identifies that additional directional workflow steps have been input to the processor system 48 or control system 64, the method returns to block 614. If at block 622 the processor system 48 and / or control system 64 determines that no additional directional workflow steps have been input, the method 610 ends at block 624.

[0047] Figure 5A , Figure 5B , Figure 5C and Figure 5DAnother method according to the present disclosure is shown at reference numeral 710. Method 710 is generally used to generate a three-dimensional long scan of a subject using imaging system 36 or any other suitable imaging system. Method 710 is performed by imaging system 36 in any suitable manner. For example, part or all of method 710 can be performed by processor 56 of processor system 48 according to code stored in memory 58, which is configured to perform method 710; and / or part or all of method 710 can be performed by processor 66 of control system 64 according to code stored in memory 68.

[0048] The method 710 begins at box 712. From box 712, the method 710 proceeds to box 714, where the imaging system 36 is placed in the long scan mode. At box 714, the imaging system 36 may be placed in the long scan mode in any suitable manner, such as in response to input from a user into the processor system 48 and / or the control system 64.

[0049] Method 710 proceeds from box 714 to box 716. At box 716, the imaging system 36 determines whether the gantry tilt angle and the gantry swing angle are correct. More specifically, in many applications, the gantry tilt angle and the gantry swing angle of the imaging gantry 70 must be 0° in order to correctly stitch the volumes together. Stitching is further described in U.S. patent application No. 17 / 205,940, entitled "Imaging System," which was filed on March 18, 2021 and assigned to Medtronic Navigation, Inc. of Louisville, Co. The entirety of U.S. Patent No. 17 / 205,940 is incorporated herein by reference. If one or both of the gantry tilt angle and the gantry swing angle are not 0°, method 710 proceeds to box 718. At box 718, the imaging system 36 provides instructions to the user for resetting the gantry tilt angle and / or the gantry swing angle of the imaging gantry 70 to 0°. In some applications, pressing and holding the "M" button of the imaging system 36 will reset the gantry tilt angle and the gantry swing angle to 0°. Alternatively, at block 718, the method 710 can be configured to provide the user with an option to abort the workflow if the gantry tilt angle and / or the gantry swing angle cannot be set to 0°. After the gantry tilt angle and the gantry swing angle are reset to 0°, the method 710 proceeds from block 716 to block 720.

[0050] At box 720, the system 710 determines whether the imaging system 36 is connected to the surgical navigation system. More specifically, the processor system 48 and / or the control system 64 determines whether the imaging system 36 is connected to a DICOM-compatible StealthStation or MazorX system (both provided by Medtronic, Inc.) by way of a hardwired connection, and selects the navigation system within the MVS application. If it is determined at box 720 that the imaging system 36 is not connected to the navigation system, then at box 722, the imaging system 36 provides instructions to the user for connecting the imaging system 36 to the navigation system or for alternatively aborting the workflow. Once the imaging system 36 is connected to a suitable navigation system, such as by connecting to an IGS server, the method 710 proceeds from box 720 to box 724.

[0051] At box 724, method 710 determines whether the connected navigation system is compatible with imaging system 36. Compatible navigation systems include, but are not limited to, surgical navigation systems configured to communicate via the proprietary NAVCOM protocol (e.g., supporting protocol version 3.0.0 or 4.0.0). Exemplary navigation systems configured for communication via the proprietary NAVCOM protocol include, but are not limited to, the StealthStation S8 and MazorX platforms. If, at box 724, imaging system 36 determines that the connected navigation system is not a compatible system, method 710 proceeds to box 726. At box 726, control system 64 displays instructions to the user for resolving the problem of connecting to an incompatible navigation system server, or alternatively aborting the scanning operation. Once imaging system 36 is connected to a compatible IGS server, method 710 proceeds from Figure 5A Frame 724 advances to frame 730.

[0052] At box 730, the imaging system 36 receives a starting position input from the user device. At box 732, the user can optionally obtain a positioning photo. More specifically, at boxes 730 and 732, the user manually specifies the starting position by moving the imaging gantry 70 along the Z axis and storing the starting position in the memory 68 of the control system 64 (such as at the memory preset number 1). The user can take one or more 2D fluoroscopic positioning images to ensure that they are in the correct position. Once the starting position is specified, the message 710 advances from box 730 to box 734.

[0053] At block 734, the imaging system 36 determines the positions of the rigid and dynamic trackers, and the cache is valid for the memory preset (such as memory preset number 1) that stored the starting position at block 730. The imaging system 36 is configured to automatically verify line-of-sight visibility between the camera of the connected navigation system and the rigid dynamic trackers (such as the patient reference tracker and the O-arm tracker). From block 734, the method 710 proceeds to block 736.

[0054] At box 736, the imaging system 36 checks whether the current Z-axis position of the imaging gantry 70 will produce a long scan that meets the minimum length of clinical value. If the imaging gantry 70 cannot achieve such minimum length at the current Z-axis position, the method proceeds from box 736 to box 738. At box 738, the imaging system 36 provides instructions to the user, such as for moving the imaging gantry 70 along the Z-axis to increase the scan length, through the control system 64. From box 738, the method returns to box 736, where the position of the Z-axis is checked again to determine whether the position will result in a long scan of the minimum length of clinical value. Once the minimum scan length is reached, the method 710 proceeds from box 736 to box 740.

[0055] At box 740, the imaging system 36 checks whether the current Z-axis position will not result in a longer scan than can be safely or technically satisfied with the navigation accuracy. If it is determined at box 740 that the position of the Z-axis will result in a scan that exceeds the maximum length, the method 710 proceeds to box 742. At box 742, the imaging system 36 displays instructions to the user, such as through the control system 64, for moving the imaging gantry 70 along the Z-axis to reduce the scan length. Based on the instructions, the user can then input instructions to the control system 64 for moving the imaging gantry 70 to a position along the Z-axis that will result in a long scan that does not exceed the maximum length. Once the imaging gantry 70 is in a position sufficient to generate a long scan that does not exceed the maximum length, the method 710 proceeds from box 740 to box 744.

[0056] At box 744, the imaging system 36 receives an end position input from the user via the control system 64. More specifically, the user manually specifies the end position by moving the imaging gantry 70 along the Z axis, and the end position is stored in the memory 68, such as at memory preset 2. During this process, the user may take one or more 2D fluoroscopic scout images (see box 746) to ensure that the imaging gantry 70 is in the correct position. The method 710 proceeds from box 744 to Figure 5C Frame 750.

[0057] At box 750, the imaging system 36 verifies line-of-sight visibility between the connected navigation system camera and the rigid dynamic tracker (patient reference tracker, O-arm tracker). A valid cache for memory preset number 2 is also determined at box 750. From box 750, the method proceeds to box 766.

[0058] At block 766, the imaging system 36 determines whether the rigid and dynamic trackers are obstructed. If there is an obstruction, at block 768, the imaging system 36 instructs the user 24 to change the position of the optical positioner 130 until the tracker is not obstructed. Once the system 36 determines that the rigid and dynamic trackers are not obstructed, the method proceeds to block 752.

[0059] At box 752, the imaging system 36 determines whether position verification is required. More specifically, if the tracker is not visible in the stored presets, the user is asked by the control system 64 to verify the camera position at two stored preset positions (memory preset one and memory preset two). The current position is automatically verified by the control system 64 or instructions to adjust the camera are displayed to the user. The control system 64 then provides instructions to the user for verifying additional stored positions. If position verification is required at box 752, the method 710 proceeds to box 754. At box 754, the control system 64 is configured to receive input from the user to verify the position of the camera. Specifically, based on the current position, the control system 64 instructs the user to verify the other position by instructing the user to press the corresponding memory preset (1 or 2), and the imaging system 36 automatically verifies the line of sight visibility of the tracker. The method 710 then proceeds from box 754 to box 752. The method 710 proceeds from box 752 to box 770.

[0060] At block 770, the imaging system 36 determines whether acquisition preparation is required. If acquisition preparation is required, the method 710 proceeds to block 772. At block 772, the method 710 waits until acquisition preparation is complete. Once acquisition preparation is complete, the method 710 proceeds from block 770 to block 756.

[0061] At box 756, the control system 64 is configured to determine whether the heat generated by the X-ray tube of the imaging system 36 is expected to exceed a predetermined temperature. X-ray generation generates heat within the X-ray tube of the imaging system 36. The processor 66 of the control system 64 is configured to predict how much heat will be generated and prevent the acquisition of X-ray images if the heat generated is predicted to exceed a predetermined thermal limit (beyond which the X-ray tube may be damaged). If at box 756, the control system 64 determines that the heat generated will be too much, the method 710 proceeds from box 756 to box 758. At box 758, the control system 64 is configured to instruct the user to wait for the system to cool before requesting additional images. The control system 64 is also configured to alternatively provide the user with scan parameter options that may reduce the X-ray dose and wait time. In addition, the control system 64 is configured to provide the user with the option of aborting the current scan workflow and modifying the X-ray parameters to perform a scan that is predicted to generate less heat. Once the X-ray tube heat that is predicted to be generated is at or below a threshold that is predetermined to be safe, the method 710 proceeds from block 756 to block 760 .

[0062] At box 760, the control system 64 is configured to receive imaging parameters input from the user. More specifically, at box 760, the imaging system 36 is ready for X-ray acquisition. The user can modify certain acquisition parameters that may affect the expected X-ray tube temperature, or choose to abort the scan. If the user chooses to abort the scan and inputs an abort command to the control system 64, the method 710 proceeds from box 760 to box 764, where the method 710 ends and stops the imaging process. If the user decides to continue scanning at box 760, the method 710 proceeds to box 762. At box 762, the user activates X-ray acquisition using any suitable manual switch or foot switch of the control system 64 to acquire a 3D long scan image. X-ray acquisition typically includes three scans - an upper scan, a lower scan, and an intermediate scan. With respect to the intermediate scan, the system 20 includes a collimator that blocks portions of the subject that have been irradiated by X-rays, so that portions of the anatomical structure are not scanned twice.

[0063] The present disclosure is not limited to 3D long scans. Fig. 6A , Figure 6B and Figure 6C, the present disclosure also includes a method 810 for acquiring a 2D long scan. The method 810 is generally used to generate a two-dimensional long scan of a subject using the imaging system 36 or any other suitable imaging system. The method 810 is performed by the imaging system 36 in any suitable manner. For example, part or all of the method 810 can be performed by the processor 56 of the processor system 48 according to code stored in the memory 58, which is configured to perform the method 810; and / or part or all of the method 810 can be performed by the processor 66 of the control system 64 according to code stored in the memory 68.

[0064] The method 810 starts at box 812, and at box 814, the user selects long scan from the control system 64 to place the imaging system 36 in long scan mode. Starting from box 814, the method 810 is before box 816. At box 816, the control system 64 checks whether the imaging system 36 is ready for 2D fluoroscopic acquisition. If the imaging system 36 is not ready (e.g., the gantry angle is incorrect), the method 810 proceeds from box 816 to box 818. At box 818, the control system 64 checks whether the gantry angle of the imaging gantry 70 is correct. Box 818 is the same or substantially similar to box 716. Therefore, the description of box 716 also applies to box 818. If the gantry angle is incorrect at box 818, the method 810 proceeds to box 820. At box 820, the control system 64 receives input from the user for positioning the imaging gantry 70 at the correct angle of 0° for the gantry tilt angle and the gantry swing angle. Box 820 is similar to box 718. Therefore, the description of block 718 also applies to block 820. Once the gantry angle is correctly set, the method 810 proceeds from block 818 to block 822. The method 810 may also proceed directly from block 816 to block 822.

[0065] At block 822, control system 64 receives a starting position input from a user. Block 822 is similar to block 730, and thus the description of block 730 also applies to block 822. At block 824, similar to block 732, method 810 includes obtaining a situating photograph of the subject. Method 810 proceeds from block 822 to Figure 6B At block 832, the control system 64 determines whether the imaging gantry 70 is set at a position along the Z axis sufficient to obtain a long scan of a usable length. If not, the method 810 proceeds to block 834, where the control system 64 generates instructions to the user for moving the imaging gantry 70 along the Z axis to obtain a long scan of sufficient length, and the control system 64 is configured to receive input from the user to move the imaging gantry 70 to obtain a long scan of sufficient length. Blocks 832 and 834 are similar to blocks 736 and 738 of the method 710, and therefore the description of blocks 736 and 738 also applies to blocks 832 and 834.

[0066] From box 832, the method 810 proceeds to box 836. At box 836, the control system 64 is configured to determine whether the placement of the imaging gantry 70 along the Z axis is sufficient to obtain a long scan that does not exceed a maximum length. If the position of the imaging gantry 70 will result in exceeding the maximum length, the method 10 proceeds to box 838. At box 838, the control system 64 is configured to provide instructions to the user for moving the imaging gantry 70 along the Z axis to a position that will result in a long scan that does not exceed a predetermined length. Also at box 838, the control system 64 is configured to receive input from the user for repositioning the imaging gantry 70. Boxes 836 and 838 are similar to boxes 740 and 742 of the method 710, and therefore the description of boxes 740 and 742 also applies to boxes 836 and 838.

[0067] From block 836, method 810 proceeds to block 840. Blocks 840 and 842 of method 810 are substantially similar to blocks 744 and 746 of method 710. Therefore, the description of blocks 744 and 746 also applies to blocks 840 and 842.

[0068] From box 840, the method 810 proceeds to box 844. At box 844, the control system 64 sets the end position of the long scan to preset 2. From box 844, the method 810 proceeds to box 852. At box 852, the method 810 determines whether the x-ray tube heat is expected to exceed a predetermined temperature. If so, the method 810 proceeds to box 758. At box 758, the method 810 waits until the system cools or the scan type is changed. Once the x-ray tube heat is not expected to exceed the predetermined temperature, the method 810 proceeds from box 756 to box 760.

[0069] At box 846, the control system 64 is configured to receive imaging parameter input from the user. Box 846 is similar to box 760 of method 710, and therefore the description of box 760 also applies to box 846. At box 846, the user can choose to abort the scan. If the user decides to abort the scan, the method 810 proceeds to box 850, where the method 810 ends. If the user continues the scan at box 846, the method 810 proceeds to box 848, where a 2D long scan is acquired. After the 2D long scan is completed, the method 810 ends at box 850.

[0070] Thus, the present disclosure advantageously provides a number of advantages. For example, setting up an imaging system including an O-arm imaging gantry can traditionally require additional time, which is very valuable in an operating room setting. Although most X-ray scanner systems are configured to conform to typical radiology scanners, it can still be tedious for radiology technicians to remember the unique properties of each scanner system to meet typical needs during surgical procedures. In addition, operating room time is very expensive, and delays in surgical cases due to setup can delay subsequent cases and reduce the overall efficiency of the radiology department. The present disclosure solves these problems by providing a control system 64 with a fast, simple, and efficient workflow for users of the imaging system 36 to guide the user through a series of well-defined steps to set up the imaging system 36 or any other suitable compatible imaging system. For example, for three-dimensional long scan imaging, the radiologic technician can easily use the control system 64 and methods 510, 610, 710, and 810 to set up the imaging system 36 for a three-dimensional long scan without any prior knowledge of the imaging system 36, because the imaging system 36 (via methods 510, 610, 710, and 810) advantageously informs the user of any corrections that need to be made before acquiring the three-dimensional long scan image. Those skilled in the art will appreciate that the present disclosure is equally applicable to two-dimensional long scan imaging as well as any other suitable imaging.

[0071] For the purpose of illustration and description, the foregoing description of the embodiments has been provided. The foregoing description is not intended to be exhaustive or to limit the present disclosure. The individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable and may also be used in selected embodiments, where applicable, even if not specifically shown or described. The same element or feature may vary in a variety of ways. Such variations should not be considered as departing from the present disclosure, and all such modifications are intended to be included within the scope of the present disclosure.

[0072] Exemplary embodiments are provided so that the present disclosure will be thorough and will fully convey the scope of the present disclosure to those skilled in the art. Many specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of the embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that the exemplary embodiments may be embodied in many different forms, and should not be construed as limiting the scope of the present disclosure. In some exemplary embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

[0073] The terms used herein are only for the purpose of describing specific examples and are not intended to be restrictive. As used herein, the singular forms "one", "an", and "said" are intended to also include plural forms, unless the context clearly indicates otherwise. The terms "including" and "having" are inclusive, and therefore specify the presence of the features, integers, steps, operations, elements and / or parts described, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or their groups. The method steps, processes and operations described herein should not be interpreted as requiring their execution in the specific order discussed or shown, unless clearly determined as an execution order. It should also be understood that additional or alternative steps can be adopted.

[0074] When an element or layer is referred to as being "on," "engaged to," or "connected to," or "coupled to" another element or layer, it may be directly on, directly engaged to, connected to, or coupled to, or there may be intervening elements or layers. Conversely, when an element is referred to as being "directly on," "directly engaged to," "directly connected to," or "directly coupled to," another element or layer, there may be no intervening elements or layers. Other words used to describe the relationship between elements (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.) should be interpreted in a similar manner. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0075] Although the term first, second, third etc. can be used in the text to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or part from another region, layer or part. Unless the context clearly indicates, the terms used herein such as "first", "second" and other numerical terms do not imply order or sequence. Therefore, without departing from the teaching of exemplary embodiments, the first element, component, region, layer or part discussed below can be referred to as the second element, component, region, layer or part.

[0076] Spatially relative terms such as "inside", "outside", "below", "below", "lower", "above", "upper", etc. may be used herein for ease of description to describe the relationship between one element or feature shown in the figure and another element or feature. Spatially relative terms may also be intended to cover different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, the elements described as being "below" or "below" other elements or features will then be oriented to be "above" other elements or features. Therefore, the example term "below" may cover both the above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

Claims

1. An imaging system for generating image data of a subject, the imaging system comprising: a radiation transmitter for transmitting radiation through the subject; a radiation detector for detecting radiation from the radiation emitter that has passed through the subject; an imaging assembly including the radiation emitter and the radiation detector, the imaging assembly being configured to move the radiation emitter and the radiation detector relative to the subject; and A control system, the control system being configured to: prior to imaging the subject, identifying a position of the radiation emitter and the radiation detector relative to the subject; prior to imaging the subject, notifying a user of the imaging system when either the radiation emitter and the radiation detector is not at a predetermined starting angle relative to the subject; Before imaging the subject, when any one of the radiation emitter and the radiation detector is not at the predetermined starting angle relative to the subject, generating, through a user interface, an instruction for adjusting the imaging assembly to the user so that both the radiation emitter and the radiation detector are at the predetermined starting angle relative to the subject before imaging the subject; as well as Operation of the radiation emitter is limited until both the radiation emitter and the radiation detector are at the predetermined starting angle relative to the subject. 2 . The imaging system of claim 1 , wherein the radiation emitter is configured to emit x-rays and the radiation detector is configured to detect x-rays.

3. The imaging system of claim 1 , wherein the imaging assembly comprises an O-shaped arm that houses the radiation emitter and the radiation detector.

4. The imaging system of claim 1, wherein the imaging assembly comprises a C-arm housing the radiation emitter and the radiation detector.

5. The imaging system of claim 1, wherein the image data is configured to generate a three-dimensional image of the subject.

6. The imaging system of claim 1, wherein the image data is configured to generate a two-dimensional image of the subject.

7. The imaging system of claim 1, wherein the predetermined starting angle of the radiation emitter is 0° relative to a longitudinal axis of the subject and 0° relative to a transverse axis extending perpendicular to the longitudinal axis of the subject.

8. The imaging system of claim 1, wherein the predetermined starting angle of the radiation detector is 0° relative to a longitudinal axis of the subject and 0° relative to a transverse axis extending perpendicular to the longitudinal axis of the subject.

9. The imaging system of claim 1 , wherein the control system is further configured to: detecting whether a surgical navigation system is connected to the imaging system, and providing instructions for connecting the surgical navigation system to the user when no surgical navigation system is connected to the imaging system; and It is detected whether the surgical navigation system connected to the imaging system is compatible with the imaging system, and when the connected surgical navigation system is not compatible, instructions for connecting a compatible surgical navigation system are provided to the user.

10. An imaging system for generating an x-ray image of a subject, the imaging system comprising: an imaging gantry comprising an x-ray emitter for emitting x-rays that pass through the subject and an x-ray detector for detecting the x-rays that have passed through the subject, the imaging gantry being movable relative to the subject; and A control system, the control system being configured to: identifying the position of the imaging gantry before imaging the subject, including a gantry swing angle and a gantry tilt angle of the imaging gantry; prior to imaging the subject, notifying a user of the imaging system when the gantry swing angle and the gantry tilt angle are at an angle other than 0°; Before imaging the subject, when at least one of the gantry swing angle and the gantry tilt angle is not at 0°, generating an instruction for adjusting the imaging gantry to the user through a user interface so that the gantry swing angle and the gantry tilt angle are at 0°; as well as Operation of the x-ray emitter is limited until the gantry swing angle and the gantry tilt angle are at 0°.

11. The imaging system of claim 10, wherein the control system is further configured to: detecting whether a surgical navigation system is connected to the imaging system, and providing instructions for connecting the surgical navigation system to the user when no surgical navigation system is connected to the imaging system; and It is detected whether the surgical navigation system connected to the imaging system is compatible with the imaging system, and when the connected surgical navigation system is not compatible, instructions for connecting a compatible surgical navigation system are provided to the user.

12. The imaging system of claim 11, wherein the control system is further configured to determine line-of-sight visibility between a localizer and a subject tracker along a longitudinal axis of the subject at both a starting position and an ending position of the imaging gantry, including providing instructions to the user for moving the imaging gantry to the starting position at which the control system checks the line-of-sight visibility and to the ending position at which the control system checks the line-of-sight visibility; and Wherein when there is no line of sight visibility at either the starting position or the ending position, the control system is configured to provide instructions to the user for positioning at least one of the positioner and the subject tracker to provide line of sight visibility therebetween at both the starting position and the ending position of the imaging gantry.

13. The imaging system of claim 10, wherein the control system is further configured to: Prior to imaging the subject, identifying a starting position of the imaging gantry relative to a longitudinal axis of the subject; determining whether the starting position of the imaging gantry is sufficient to produce an x-ray image of at least a predetermined minimum length; and When the starting position of the imaging gantry is insufficient to produce an x-ray image of at least the predetermined minimum length, instructions are generated to the user for repositioning the imaging gantry so that an x-ray image of at least the predetermined minimum length is obtained from the starting position.

14. The imaging system of claim 10, wherein the control system is further configured to: Prior to imaging the subject, identifying a starting position of the imaging gantry relative to a longitudinal axis of the subject; determining whether the starting position of the imaging gantry will produce an x-ray image greater than a predetermined maximum length; and In the event that the starting position of the imaging gantry will produce an image greater than the predetermined maximum length, instructions are generated to the user to reposition the imaging gantry so that an x-ray image no greater than the predetermined maximum length will be obtained from the starting position.

15. The imaging system of claim 10, wherein the control system is further configured to prompt the user to move the imaging gantry to an end position above the subject in which the x-ray image will end to identify an end point of the x-ray image.

16. The imaging system of claim 15, wherein the control system is configured to prompt the user to take a fluoroscopic scout image at the end position to verify the accuracy of the end position.

17. The imaging system of claim 10, wherein the control system is further configured to determine whether the x-ray image having the parameters requested by the user will cause the x-ray emitter to overheat; and Wherein when the control system determines that the parameters requested by the user will cause overheating of the x-ray emitter, the control system is configured to prevent activation of the x-ray emitter until the user selects x-ray parameters that will not cause overheating.

18. The imaging system of claim 10, wherein the imaging system is configured to generate a three-dimensional long scan image.

19. The imaging system of claim 10, wherein the imaging system is configured to generate a two-dimensional long scan image.

20. A method for setting up an imaging system to generate an x-ray image of a subject, the imaging system comprising a control module and an imaging gantry, the imaging gantry having an x-ray emitter for emitting x-rays that pass through the subject and an x-ray detector for detecting the x-rays that have passed through the subject, the imaging gantry being movable relative to the subject, the method being performed by the control module, the method comprising: identifying the position of the imaging gantry before imaging the subject, including a gantry swing angle and a gantry tilt angle of the imaging gantry; prior to imaging the subject, notifying a user of the imaging system when the gantry swing angle and the gantry tilt angle are at an angle other than 0°; Before imaging the subject, when at least one of the gantry swing angle and the gantry tilt angle is not at 0°, generating an instruction for adjusting the imaging gantry to the user through a user interface so that the gantry swing angle and the gantry tilt angle are at 0°; as well as Operation of the x-ray emitter is limited until the gantry swing angle and the gantry tilt angle are at 0°.

Images