Mobile medical imaging device and operation method of medical imaging device

Abstract

The medical image device of the present disclosure comprises: a probe including a probe control unit for controlling the action of the probe and a first transmit-receive unit provided at a pre-specified position; a source assembly including a second transceiver and a 3D camera on a front surface; and a main control unit for controlling the operation of the medical image device. When the intensity of the signal received by the second transmission / reception unit from the first transmission / reception unit is greater than a predetermined critical signal intensity, the main control unit activates the medical image device and obtains a 3D camera image for at least one of the subject and the probe on the basis of the 3D camera. A radiation irradiation area is displayed in a 3D camera image based on state information of a source component, a detector area is displayed in the 3D camera image, a message for guiding the irradiation area and the detector area to be aligned is output, and when the detector area and the irradiation area coincide, the detector area and the irradiation area coincide with each other. A radiation irradiation preparation signal is transmitted to the first transmission / reception unit by the second transmission / reception unit.

Description

Technical Field

[0001] This disclosure relates to medical imaging apparatus and methods of operating such apparatus. More specifically, this disclosure includes a method for arranging source components and detectors of a medical imaging apparatus to obtain clear X-ray images. Background Technology

[0002] Aligning medical imaging devices and detectors is an important step in obtaining high-quality images and minimizing radiation exposure for patients and healthcare workers. The following steps can be performed to align medical imaging devices and detectors.

[0003] First, the location of the source component can be determined. The source component used to generate the radiation should be located at a fixed distance from the patient's area of ​​interest. While the distance will vary depending on the type of medical imaging equipment and the area being imaged, it is typically about 1 to 2 meters. Then, the alignment of the radiation beam can be achieved. The radiation beam should be aligned perpendicular to the detector and passing through the patient's area of ​​interest. This can be done by adjusting the position of the source component or by using a collimator to form the radiation beam.

[0004] Next, the detector's position can be specified. The detector is positioned opposite the patient, relative to the source component, and aligned with the X-ray beam. Furthermore, to minimize scattered radiation and improve image quality, the detector is configured as close to the patient as possible. Finally, an alignment verification step can be performed. If the source component and detector are in the correct positions, test images can be taken to confirm the alignment. This verifies whether the area of ​​interest is centered in the image and whether the image quality is sufficient for diagnosis.

[0005] In summary, the proper arrangement of mobile medical imaging devices and detectors is crucial for obtaining accurate and high-quality images. Therefore, various devices are being developed to accurately guide these devices. Summary of the Invention

[0006] Problems to be solved by the invention This disclosure discloses a medical imaging device for accurately arranging the source components and detectors of a mobile medical imaging apparatus. However, the technical problem is not limited to the above-described technical problem, and may also include other technical problems.

[0007] Means used to solve problems The medical imaging device disclosed herein includes: a detector, including a detector control unit for controlling the operation of the detector and a first transceiver unit disposed at a pre-designated position; a source component, including a second transceiver unit on its front surface; and a main control unit for controlling the operation of the medical imaging device, wherein the main control unit obtains arrangement information for arranging the detector and the source component.

[0008] The arrangement information of the medical imaging device disclosed herein is based on at least one of the pose information of the detector and the pose information of the source component, and includes information related to at least one of the direction, distance and angle of movement of the source component.

[0009] The medical imaging device disclosed herein outputs a signal indicating that the detector area and the irradiation area are consistent, based on arrangement information and when the detector area and the irradiation area are consistent.

[0010] The detector of the medical imaging device disclosed herein includes a plurality of first transceivers, the source component includes a plurality of second transceivers, and the main control unit obtains the source-to-image distance (SID) from the source component to the detector based on the plurality of distances between the plurality of first transceivers and the plurality of second transceivers that correspond one-to-one.

[0011] The source component of the medical imaging device disclosed herein also includes a 3D camera for acquiring 3D camera images, and the main control unit acquires at least one of the pose information of the source component and the detector based on the 3D camera images.

[0012] The main control unit of the medical imaging device disclosed herein uses a first transceiver unit and a second transceiver unit to obtain front arrangement information, and obtains back arrangement information based on 3D camera images, and determines the final arrangement information based on the front arrangement information and the back arrangement information.

[0013] The medical imaging device disclosed herein obtains first distance information between the first transceiver unit and the second transceiver unit based on the signal between the first transceiver unit and the second transceiver unit, and displays the area of ​​the detector in the 3D camera image based on the first distance information.

[0014] The main control unit of the medical imaging device disclosed herein obtains second distance information from the 3D camera to at least one object being photographed in the area of ​​the 3D camera image display detector, and obtains the source-to-image distance (SID) from the source component to the detector based on the area of ​​the detector and the second distance information.

[0015] The main control unit of the medical imaging device disclosed herein obtains second distance information from a 3D camera to at least one object being photographed, and obtains the source-to-object distance (SOD) from the source component to the object being photographed based on the second distance information.

[0016] The main control unit of the medical imaging device disclosed herein obtains first distance information between the first transceiver unit and the second transceiver unit based on the signal between the first transceiver unit and the second transceiver unit, and obtains the source-to-image distance (SID) from the source component to the detector based on the first distance, and determines the thickness of the subject based on the SOD and SID.

[0017] The main control unit of the medical imaging device disclosed herein obtains body part identification information of the subject, performs three-dimensional or two-dimensional modeling of the subject based on the body part identification information and SOD to obtain a body part model, and places the center of the detector area at the center of the body part model presented in the 3D camera image, and displays the detector area based on SID.

[0018] The 3D camera of the medical imaging device disclosed herein includes at least one of a depth measurement camera, an RGBD (Red, Green, Blue, Depth) camera, or a TOF (Time of Flight) camera.

[0019] Furthermore, the program for implementing the operation method of the medical imaging device as described above can be recorded in a computer-readable recording medium.

[0020] The effects of the invention By providing a mechanism for rapidly arranging the source components and detectors of the medical imaging device disclosed herein, user convenience and the quality of medical images can be improved.

[0021] The effects that can be obtained in this disclosure are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art to which this disclosure pertains from the following description. Attached Figure Description

[0022] Figure 1 A diagram illustrating a mobile medical imaging device according to an embodiment of the present disclosure.

[0023] Figure 2 A diagram illustrating the use of a medical imaging device according to an embodiment of the present disclosure.

[0024] Figure 3 This diagram illustrates the various structures that a medical imaging device according to an embodiment of the present disclosure may include.

[0025] Figure 4 This describes a detector according to an embodiment of the present disclosure.

[0026] Figure 5 A diagram illustrating source components for an embodiment of this disclosure.

[0027] Figure 6 This is a flowchart illustrating the operation of a medical imaging device according to an embodiment of the present disclosure.

[0028] Figure 7 This is a diagram illustrating a medical imaging apparatus according to an embodiment of the present disclosure.

[0029] Figure 8 This is a flowchart illustrating a method for obtaining a detector region from 3D camera images in an embodiment of this disclosure.

[0030] Figure 9 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure.

[0031] Figure 10 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure.

[0032] Figure 11 This can be a diagram illustrating the operation of a medical imaging device according to an embodiment of the present disclosure.

[0033] Figure 12 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure.

[0034] Figure 13 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure.

[0035] Figure 14 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure. Detailed Implementation

[0036] The following references and appendices Figure 1 The disclosed embodiments, described in detail, will make the advantages, features, and methods of achieving these advantages and features of the invention more apparent. However, this disclosure is not limited to the embodiments disclosed below and can be implemented in various different ways; these embodiments are provided to complete the disclosure and to enable those skilled in the art to fully understand the scope of the invention.

[0037] The terminology used in this specification is briefly explained, and the disclosed embodiments are described in detail.

[0038] The terminology used in this specification has been selected as much as possible to take into account both the function in this disclosure and commonly used terms, but this may vary depending on the intent of a person skilled in the art, precedents, or the emergence of new technologies. Furthermore, in certain cases, terms may be arbitrarily chosen by the applicant, in which case their meanings will be described in detail in the description of the corresponding invention. Therefore, the terminology used in this disclosure is not simply the name of a term, but should be defined based on the meaning of the term and in the context of this disclosure.

[0039] In this specification, the expression of singular includes the expression of plural unless explicitly specified in the context. Furthermore, the expression of plural includes the expression of singular unless explicitly specified in the context.

[0040] When it is stated in the full text of the specification that a certain part "includes" a certain structural element, it means that other structural elements are included, but not excluded, unless otherwise stated.

[0041] Furthermore, the term "section" used in this specification refers to a software or hardware structural element that plays a certain role. However, the meaning of "section" is not limited to software or hardware. A "section" can be configured to reside on an addressable storage medium or to play on one or more processors. Thus, as an example, a "section" includes structural elements such as software structural elements, object-oriented software structural elements, hierarchical structural elements, and task structural elements, as well as programs, functions, attributes, processes, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within structural elements and "sections" can be combined into smaller structural elements and "sections," or can be further separated into additional structural elements and "sections."

[0042] According to one embodiment of this disclosure, a "part" may be embodied in a processor and a memory. The term "processor" should be interpreted broadly to include general-purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, etc. In several contexts, "processor" may refer to application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), etc. The term "processor" may refer to, for example, a combination of DSPs and microprocessors, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a DSP core, or any other combination of such structures.

[0043] The term "memory" should be interpreted broadly to include any electronic component capable of storing electronic information. The term memory can refer to various types of processor-readable media, such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic or optical data storage devices, registers, etc. If a processor can read information from memory and / or record information in memory, then memory is considered to be in electronic communication with the processor. Memory integrated into the processor is in electronic communication with the processor.

[0044] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings, enabling those skilled in the art to easily implement the present disclosure. Furthermore, for the purpose of clearly illustrating the present disclosure, parts unrelated to the description have been omitted from the drawings.

[0045] Figure 1 The diagram illustrates a mobile medical imaging device according to an embodiment of this disclosure. Figure 2 This diagram illustrates the use of a medical imaging device according to an embodiment of the present disclosure. Furthermore, Figure 3 This diagram illustrates the various structures that a medical imaging device according to an embodiment of the present disclosure may include.

[0046] Reference Figure 1 The mobile medical imaging device 100 disclosed herein may include wheels for mobility. One embodiment of the medical imaging device may be a device for imaging and / or examining the internal structures of a subject (or object) based on rays including X-rays. For example, the medical imaging device irradiates the human body with X-rays and scans the transmitted X-rays to obtain images of the internal structure of the human body.

[0047] Reference Figures 1 to 3 The medical imaging device 100 may include a source assembly 110, a detector 120, and a body 130. Furthermore, the body 130 of the medical imaging device 100 may include a high-voltage generator (not shown in the figures), a sensor unit 310, a communication unit 320, a memory 330, an output unit 340, an input unit 350, and / or a control unit 300.

[0048] Reference Figure 2The user can move the medical imaging device 100 near the patient bed 220. The user can position the detector 120 behind the subject. Therefore, the radiation emitted from the source component 110 can reach the detector 120 through the subject. The detector 120 can sense the radiation passing through the subject and convert it into an electrical signal. Furthermore, the detector 120 can acquire a radiation image based on the electrical signal.

[0049] Reference Figures 1 to 3 In one embodiment, a high-voltage generator can generate a high voltage for generating X-rays and apply it to an X-ray source included in the source assembly. The high-voltage generator may be included in the body 130, but is not limited thereto, and may also be included in the source assembly 110.

[0050] In one embodiment, the source assembly 110 may include an X-ray source that receives a high voltage generated from a high-voltage generator and generates X-rays. The X-ray source may include an X-ray tube, which may be a bipolar vacuum tube formed by positive and negative electrodes. Furthermore, the source assembly may include a collimator that guides the path of the X-rays irradiated from the X-ray source to adjust the irradiation area of ​​the X-rays.

[0051] One embodiment of the detector detects X-rays that irradiate and pass through an object from a source component. The detector can be a digital detector. The detector can be embodied using at least one of thin-film transistors (TFTs), charge-coupled devices (CCDs), complementary metal-oxide-semiconductors (CMOS), computed radiography (CR), and films. The detector can be included in the medical imaging device 100 or can be a separate device that can be connected to and separated from the medical imaging device 100.

[0052] The medical imaging device 100 may include a control unit 300. In this disclosure, the control unit 300 may mean at least one of the main control unit included in the body 130 and the detector control unit included in the detector. In this disclosure, the control unit included in the body is referred to as the main control unit, and the control unit included in another device is specifically identified as belonging to which device. For example, the detector control unit, as the control unit included in a mobile detector, may be a different control unit from the main control unit 300. The main control unit 300 and the detector control unit are simply included in different devices and may include at least one of a processor and a memory, similarly. At least a portion of the actions performed by the main control unit may be performed by the detector control unit. Furthermore, at least a portion of the actions performed by the detector control unit may be performed by the main control unit. Therefore, in this disclosure, at least one action described as an action of the main control unit can be understood as an action performed by the detector control unit, and at least one action described as an action performed by the detector control unit can be understood as an action performed by the main control unit.

[0053] The main control unit (or control unit) 300 can control the operation of the medical imaging device 100. For example, the medical imaging device 100 may include a wheeled actuator that enables the main body 130 to move, or a main control unit 300 for controlling the operation of the source component 110, etc. The main control unit 300 may include one processor or multiple processors. The main control unit 300 may be included in the main body 130. When the main control unit 300 includes multiple processors, at least some of the multiple processors may be located in positions physically separated from the main body 130. Furthermore, the medical imaging device 100 is not limited to this and can be embodied in various ways.

[0054] According to one embodiment of this disclosure, the main control unit 300 can control the operation of the medical imaging device 100. For example, the medical imaging device 100 may include a plurality of actuators, and the medical imaging device 100 controls the operation of the plurality of actuators, thereby controlling the operation of the medical imaging device 100. For example, the main control unit 300 can control the source component drive unit for moving the source component 110. Furthermore, the main control unit 300 can also control the source component 110 to emit X-rays and cause the detector 120 to receive the X-rays transmitted through the object, thereby obtaining an X-ray image.

[0055] According to one embodiment of this disclosure, the main control unit 300 can generate medical images. For example, the main control unit 300 can scan a detector irradiated with X-rays to generate medical images.

[0056] The medical imaging device 100 may include a sensor unit 310. The sensor unit 310 can utilize at least one sensor to acquire various types of information. The sensor unit 310 may be configured to utilize sensors with measuring mechanisms such as pressure, potential, and optics. For example, the sensor unit 310 may include at least one of a ranging sensor or an encoder. Furthermore, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, etc., but is not limited to these. The sensor unit may also include at least one of a body, a source assembly, a detector, a source assembly arm, and a detector arm.

[0057] Furthermore, the medical imaging device 100 may include a communication unit 320. The communication unit 320 can be a structure for the medical imaging device 100 to communicate with internal modules or external devices via wired or wireless means. External devices may include external servers or user terminals. User terminals may include PCs, smartphones, tablets, or wearable devices. The communication unit 320 may include a wired / wireless communication module for achieving network connectivity. As wireless communication technologies, technologies such as Wireless Local Area Network (WLAN, Wi-Fi), Wireless Broadband (Wibro), World Interoperability for Microwave Access (WiMAX), and High Speed ​​Downlink Packet Access (HSDPA) may be used. As wired communication technologies, technologies such as Digital Subscriber Line (xDSL), Fiber to the Home (FTTH), and Power Line Communication (PLC) may be used. Furthermore, the network connectivity unit may include a short-range communication module to send and receive data with any device / terminal located nearby. For example, as a short-range communication technology, Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra-Wideband (UWB), ZigBee, etc. can be used, but it is not limited to these.

[0058] The medical imaging device 100 may include a memory 330. The main control unit 300 can execute instructions stored in the memory. The memory 330 may be located within the main control unit 300 or external to it. The memory 330 may store various types of information related to the medical imaging device 100. For example, the memory 330 may include information related to the operation method of the source component 110, and may include captured images and user authentication information, but is not limited thereto.

[0059] The memory 330 can be embodied in a non-volatile storage medium that continuously stores arbitrary data. For example, the memory 330 may include not only disks, optical discs, and magneto-optical storage devices, but also flash memory and / or battery-backed storage devices, but is not limited to these. As a primary storage device directly accessed by the processor, such as random access memory (RAM) like dynamic random access memory (DRAM) and static random access memory (SRAM), the memory 330 can be a volatile storage device where stored information can be instantly deleted simply by turning off the power, but is not limited to this. This memory 330 can be operated by the main control unit 300. Furthermore, the main control unit 300 can also execute the instructions included in the memory 330.

[0060] Furthermore, the medical imaging device 100 may also include an operation unit that provides an interface for operating the medical imaging device 100. The operation unit may include an output unit 340 and an input unit 350.

[0061] The output unit 340 can output sound and images that, under the control of the main control unit 300, can display imaging-related information such as X-ray irradiation or confirm the status of the device. The output unit 340 may include a speaker or a display. The output unit 340 can output medical images generated by the main control unit 300. The output unit 340 can output user interface (UI), user information, or object information, etc., information required by the user to operate the medical imaging device 100. Examples of the output unit 340 include speakers, printers, CRT displays, LCD displays, PDP displays, OLED displays, FED displays, LED displays, VFD displays, DLP displays, FPD displays, 3D displays, transparent displays, etc., and various output devices may be included within the scope readily apparent to those skilled in the art.

[0062] The medical imaging device 100 can be connected to the workstation via wired or wireless means. The workstation can also exist in a space physically separate from the medical imaging device 100.

[0063] The workstation may include a storage server. The storage server can store information about medical images, objects, and users (medical personnel). The workstation may include a review device. The review device can receive medical images from the storage server based on user instructions and perform diagnoses on the medical images. The workstation and medical imaging device 100 can transmit, store, process, and output data according to the DICOM (Digital Imaging and Communications in Medicine) standard. Furthermore, the workstation may include a Picture Archiving and Communication System (PACS).

[0064] The workstation may include an output unit, an input unit, and a control unit. The output and input units provide users with an interface for operating the workstation and the medical imaging device 100. The workstation's control unit can control the workstation and the medical imaging device 100.

[0065] The medical imaging device 100 can be controlled by a workstation, or by the main control unit 300 included in the medical imaging device 100. Therefore, a user can control the medical imaging device 100 through a workstation, or through the operating unit and main control unit 300 included in the medical imaging device 100. In other words, a user can remotely control the medical imaging device 100 through a workstation, or directly control the medical imaging device 100.

[0066] The control unit of the workstation and the main control unit 300 of the medical imaging device 100 can be separate, but are not limited to this. The control unit of the workstation and the main control unit 300 of the medical imaging device 100 can be embodied as a unified control unit, or the unified control unit can be included in only one of the workstation and the medical imaging device 100. Hereinafter, the main control unit 300 may mean the control unit of the workstation and / or the control unit of the medical imaging device 100.

[0067] The output and input sections of the workstation and the output and input sections of the medical imaging device 100 can respectively provide users with an interface for operating the medical imaging device 100. The workstation and the medical imaging device 100 may each include an output section and an input section, but are not limited to this. An output section or an input section may be present in only one of the workstation and the medical imaging device 100.

[0068] Hereinafter, input unit 350 means the input unit of the workstation and / or the input unit of the medical imaging device 100, and output unit 340 means the output unit of the workstation and / or the output unit of the medical imaging device 100.

[0069] The input unit 350 can receive instructions from the user for operating the medical imaging device 100 and various information related to X-ray imaging. The main control unit 300 can control or operate the medical imaging device 100 based on the information input to the input unit 350. The input unit 350 may include a joystick, keyboard, mouse, touch screen, camera button, unlock button, voice recognition device, fingerprint recognition device, iris recognition device, and motion recognition device, and may include input devices that are obvious to other ordinary technicians.

[0070] At least one camera can be used to represent the human motion recognition device included in the input unit 350. For example, a 3D camera or depth sensor included in the source component 110 can also be used to represent the human motion recognition device. Based on the human motion recognition device, the main control unit 300 can control the operation of the medical imaging device 100. For the explanation of the human motion recognition device, refer to Figure 14 .

[0071] Figure 14 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure.

[0072] Reference Figure 14 The first gesture 1410 represents a user waving their hand left or right. For example, a user can make the first gesture 1410 by waving their hand left or right within the space where the human motion recognition device recognizes gestures. The main control unit 300 can perform a rearrangement of the source component 110 and the detector 120 based on the signal of the first gesture 1410 recognized by the human motion recognition device. For example, the main control unit 300 can start the process of arranging the source component 110 and the detector 120 from scratch. This process can be combined with, for example, Figure 6 Part of the process shown is the same.

[0073] The second gesture 1420 represents a user raising one finger and moving their hand at least one way, to the left, right, front, or back. For example, a user can make the second gesture 1420 by raising one of their fingers while the human motion recognizer is in the gesture recognition space, moving their hand at least one way, to the left, right, front, or back. The main control unit 300 can control the activity of the source component 110 based on the signal after the human motion recognizer recognizes the second gesture 1420. Furthermore, the main control unit 300 can change the position of at least one of the ray irradiation area 720 and the center 721 of the ray irradiation area 720 presented in the 3D camera image 710 based on the activity of the source component 110. For example, when the user raises one finger and moves their hand to the left, the source component can move to the left relative to the fixed detector 120. And the source component 110 can move to the left such that the center 721 of the ray irradiation area 720 is in the center of the ray irradiation area 720. Figure 7 The 3D camera image 710 moves to the left.

[0074] The third gesture 1430 represents the user raising two fingers and holding them still. For example, a user can make the third gesture 1430 by raising two of their fingers and holding them still within the gesture recognition space of the human motion recognition device. The main control unit 300 can determine that the arrangement has ended based on the signal of the human motion recognition device recognizing the third gesture 1430. Furthermore, the main control unit 300 can fix the source component 110 to be inactive or prepare it to irradiate the radiation based on the end of the arrangement. The main control unit 300 can send a signal to the detector control unit based on the end of the arrangement, so that the detector 120 is ready to receive the radiation.

[0075] The fourth gesture 1440 represents the user raising one finger and rotating their hand clockwise. For example, a user can perform the fourth gesture 1440—raising one finger and rotating their hand clockwise—within the gesture recognition space of the human motion recognizer. The main control unit 300 can increase the output of the source component 110 based on the signal of the fourth gesture 1440 recognized by the human motion recognizer. However, it is not limited to this; the main control unit 300 can also decrease the output of the source component 110 based on the signal of the fourth gesture 1440 recognized by the human motion recognizer.

[0076] The fifth gesture 1450 represents the user raising one finger and rotating their hand counterclockwise. For example, a user can perform the fifth gesture 1450 by raising one finger and rotating their hand counterclockwise within the gesture recognition space of the human motion recognizer. The main control unit 300 can reduce the output of the source component 110 based on the signal of the fifth gesture 1450 recognized by the human motion recognizer. However, it is not limited to this; the main control unit 300 can also increase the output of the source component 110 based on the signal of the fifth gesture 1450 recognized by the human motion recognizer.

[0077] The sixth gesture 1460 represents the user drawing a circle with their fingers and moving their hand to the right. For example, the user can perform the sixth gesture 1460, drawing a circle with their thumb and forefinger and moving their hand to the right, within the gesture recognition space of the human motion recognition device. The main control unit 300 can change the shooting position based on the signal of the sixth gesture 1460 recognized by the human motion recognition device. For example, the main control unit 300 can select an item from a pre-specified shooting position list based on the sixth gesture 1460. However, it is not limited to this; the main control unit 300 can select a pre-specified shooting position corresponding to the sixth gesture 1460 based on the sixth gesture 1460. For example, the pre-specified shooting position can be the chest. The main control unit 300 can obtain pre-specified radiation setting information corresponding to the selected shooting position from the memory for application.

[0078] The seventh gesture 1470 represents the user drawing a circle with their fingers and moving their hand to the left. For example, the user can perform the seventh gesture 1470, drawing a circle with their thumb and forefinger and moving their hand to the left, within the gesture recognition space of the human motion recognition device. The main control unit 300 can change the shooting position based on the signal of the seventh gesture 1470 recognized by the human motion recognition device. For example, the main control unit 300 can select a previous item from a pre-specified shooting position list based on the seventh gesture 1470. However, it is not limited to this; the main control unit 300 can select a pre-specified shooting position corresponding to the seventh gesture 1470 based on the seventh gesture 1470. For example, the pre-specified shooting position can be the abdomen. The main control unit 300 can obtain pre-specified radiation setting information corresponding to the selected shooting position from the memory for application.

[0079] The above, although for Figure 14 The gestures 1410 to 1470 and the actions of the medical imaging device 100 based thereon have been described, but the description is not limited thereto. One of the gestures 1410 to 1470 may correspond to one of a variety of actions of the medical imaging device 100. Furthermore, the gestures that the human motion recognizer can recognize are not limited to those shown in the description. Figure 14 .

[0080] As described above, since the medical imaging device 100 is controlled based on gestures, user convenience is improved. For example, since the user can control the medical imaging device 100 from any position without returning to the main body 130, the user's movement trajectory when taking medical images can be reduced. Furthermore, since there is no need to approach the medical imaging device 100 to input gestures, radiation exposure can be reduced, and user safety can be ensured.

[0081] Re-reference Figure 3The user can input instructions for X-ray irradiation via the input unit 350, which is equipped with a switch for inputting such instructions. The switch can be configured to require at least one press to input the irradiation instruction for X-ray irradiation.

[0082] For example, the configuration could be such that if a user presses a switch, the switch inputs a preheating preparation command to indicate X-ray irradiation, and in this state, if the switch is pressed further, an irradiation command to perform actual X-ray irradiation is input. In this way, if the user operates the switch, the main control unit 300 generates a signal corresponding to the command input via the switch operation, i.e., a preparation signal, and transmits it to a high-voltage generator that generates a high voltage for producing X-rays.

[0083] The high-voltage generator receives a preparation signal from the main control unit 300 to begin preheating. If preheating is complete, it transmits a preparation completion signal to the main control unit 300. Furthermore, for X-ray detection, the detector also needs to prepare for X-ray detection. The main control unit 300 transmits a preparation signal to the detector, allowing the detector to prepare for X-ray detection of the object along with the preheating of the high-voltage generator. If a preparation signal is received, the detector prepares for X-ray detection; if detection preparation is complete, the detector transmits a detection preparation completion signal to the main control unit 300.

[0084] If the preheating of the high voltage generator is completed and the X-ray detection preparation of the detector is completed, the main control unit 300 transmits an irradiation signal to the high voltage generator, the high voltage generator generates a high voltage and applies it to the X-ray source, and the X-ray source irradiates X-rays.

[0085] When transmitting an irradiation signal, the control unit 300 can transmit an audio or light output signal to the output unit 340, and output a specified audio or light signal in the output unit 340 so that the subject can be aware of the X-ray irradiation. Furthermore, in addition to X-ray irradiation, the output unit 340 can output audio or light signals indicating other imaging-related information. The output unit 340 may be included in the operation unit, but is not limited thereto; the output unit 340 or a portion thereof may be located in a location different from that of the operation unit. For example, it may be located on the wall of the imaging room where X-ray imaging of the subject is performed.

[0086] Based on the shooting conditions set by the user, the control unit 300 controls the position of the X-ray irradiation unit and detector, the shooting timing, and the shooting conditions.

[0087] Specifically, the main control unit 300 controls the high-voltage generator and detector according to instructions input through the input unit 350, thereby controlling the timing of X-ray irradiation, the intensity of X-rays, and the irradiation area. Furthermore, the main control unit 300 adjusts the position of the detector and controls the timing of its operation according to prescribed imaging conditions.

[0088] Furthermore, the main control unit 300 generates a medical image of the subject using image data received from the detector. Specifically, the main control unit 300 can receive image data from the detector, remove noise from the image data, and adjust the dynamic range and interleaving to generate a medical image of the subject.

[0089] The workstation may also include a communication unit (not shown), which can be connected to servers, medical devices, and portable terminals via a network. The workstation can be one of the external devices.

[0090] The following, with Figure 4 and Figure 5 The source component 110 and the detector 120 will be described in detail together.

[0091] Figure 4 This describes a detector according to an embodiment of the present disclosure.

[0092] The medical imaging device 100 may include a detector 120. Figure 4 The term "rear" refers to the area behind detector 120. The rear of detector 120 can mean the back side of the surface receiving radiation. Detector 120 can be detached from medical imaging device 100. That is, detector 120 can move independently of medical imaging device 100. However, it is not limited to this and can also be integrated with medical imaging device 100.

[0093] The detector 120 may include a detector control unit for controlling the operation of the detector. The detector control unit can control the operation of the detector 120. The detector control unit can determine the time for receiving radiation. The time for receiving radiation may include the start and end times of receiving radiation. The detector control unit can generate medical images based on the received signals.

[0094] The detector 120 may include a first transceiver 410 at a pre-specified location. Figure 4 This illustrates one embodiment of the first transceiver unit 410. However, the location of the first transceiver unit 410 is not limited to... Figure 4The first transceiver unit 410 can be configured to wirelessly communicate with the second transceiver unit included in the source component 110. The first transceiver unit 410 may include a first transmitting unit and a first receiving unit. The detector 120 may include multiple first transceiver units 410. The first transceiver units 410 may be located on the receiving surface of the detector 120. The first transceiver units 410 may also be arranged along the corners of the detector 120. The first transceiver units 410 may be located on the left and right sides of the detector 120. For example, two first transceiver units 410 may be arranged on the left side and two on the right side of the detector 120. In this way, by arranging multiple first transceiver units 410 in the detector 120, the medical imaging device 100 can accurately arrange the detector 120 and the source component 110. However, it is not limited to this; the first transceiver units 410 may be located near the vertices of the quadrilateral detector 120.

[0095] Figure 5 A diagram illustrating source components for an embodiment of this disclosure.

[0096] Figure 5 This diagram illustrates the radiation irradiation surface of the source assembly 110. The source assembly 110 is connected to the body 130 via the source arm 140. As described above, the source assembly 110 may include an X-ray source 501 and a collimator 502. The collimator 502 is rotatable about an axis parallel to the length direction of the source arm 140 relative to the X-ray source 501. The radiation irradiation range can be determined by the collimator 502. Therefore, by rotating the collimator 502, the radiation irradiation range can also be rotated about an axis parallel to the length direction of the source arm 140.

[0097] The source component 110 may include a second transceiver 510 on its front face. The second transceiver 510 may include a second transmitting unit and a second receiving unit. The front face of the source component 110 may refer to the surface located in the direction of the emitted ray from the source component 110. The front face of the source component 110 may be a surface perpendicular to the direction of the emitted ray. The second transceiver 510 can communicate with the first transceiver 410. The first transceiver 410 and the second transceiver 510 can communicate with each other using Ultra Wide Band (UWB).

[0098] The source component 110 may include a plurality of second transceivers 510. The second transceivers 510 may be disposed at the corners of the front surface of the source component 110. In this way, by arranging a plurality of second transceivers 510 in the source component 110, the medical imaging device 100 can accurately arrange the detector 120 and the source component 110.

[0099] Source component 110 may include a 3D camera 520. The 3D camera 520 may be a structure for obtaining at least one of the pose information of detector 120 and pose information of source component 110. The 3D camera 520 may include at least one of a depth measuring camera, an RGBD (Red, Green, Blue, Depth) camera, or a TOF (Time of Flight) camera. The 3D camera 520 is an imaging device that measures the distance to an object in an image by measuring the time required for light to travel from the camera to an object, be reflected from the object, and then reach the camera. The 3D camera 520 is generally used in applications such as robotics engineering, virtual / augmented reality, autonomous vehicles, and indoor navigation.

[0100] The 3D camera 520 can use a special type of image sensor that is sensitive to both intensity and time. The 3D camera 520 can emit modulated light signals (visible light or infrared light) and measure the time required for the light to return to the camera after being reflected from an object. Furthermore, the 3D camera 520 can measure the phase shift of the modulated signal and calculate the distance to the object. The 3D camera 520 can repeat this process multiple times per second to generate a 3D map of the image. The 3D camera 520 can emit infrared light and sense the infrared light reflected back from an object, thus obtaining an infrared image of the object. However, it is not limited to this; the 3D camera 520 can also emit visible light and sense the visible light reflected back from an object to obtain a visible light image of the object. In the accompanying drawings of this disclosure, although the description focuses on the infrared image obtained by the medical imaging device 100, it is not limited to this. Hereinafter, images described as infrared images can be replaced with 3D camera images. Furthermore, 3D camera image, as a term including at least one of infrared image and visible light image, is an image that can be displayed on the medical imaging device 100, and can be an image of the subject being photographed by the medical imaging device 100 and the surface of objects around it.

[0101] The 3D camera 520 can operate under a wide range of lighting conditions and is less affected by ambient lighting and reflections. Furthermore, the 3D camera 520 can capture fast-moving objects at high frame rates in real time.

[0102] Source component 110 may further include a gyroscope sensor 530. The gyroscope sensor 530 can determine the three-dimensional orientation of source component 110. For example, the gyroscope sensor 530 can determine the degree of rotation relative to at least one of a first axis parallel to the ground, a second axis parallel to the ground and perpendicular to the first axis, and a third axis perpendicular to the ground. Detector 120 may also include a gyroscope sensor, and the medical imaging device 100 can guide the radiation direction of source component 110 to be vertically aligned on the surface of detector 120 based on the gyroscope sensor of detector 120 and the gyroscope sensor 530 of source component 110.

[0103] The operation of the main control unit 300 included in the main body 130 will be explained below.

[0104] Figure 6 This is a flowchart illustrating the operation of a medical imaging device according to an embodiment of the present disclosure.

[0105] The main control unit 300 can execute step 610, which activates the medical imaging device when the strength of the signal received by the second transceiver unit 510 from the first transceiver unit 410 is greater than a pre-specified critical signal strength. The strength of the signal received by the second transceiver unit 510 from the first transceiver unit 410 can be determined based on the distance between the second transceiver unit 510 and the first transceiver unit 410. That is, the closer the second transceiver unit 510 and the first transceiver unit 410 are, the greater the strength of the signal received by the second transceiver unit 510 from the first transceiver unit 410 can be. Furthermore, the distance between the first transceiver unit 410 and the second transceiver unit 510 can represent the distance between the source component 110 and the detector 120. In other words, the medical imaging device can be activated when the distance between the source component 110 and the detector 120 is within the activation critical distance.

[0106] For the first transceiver unit 410 and the second transceiver unit 510 to communicate, both units should be in an active state. More specifically, when the user activates the mobile detector 120 by pressing a button, the detector control unit can use the first transceiver unit 410 to send a signal to the second transceiver unit 510. Upon confirming that the second transceiver unit 510 has received a signal from the detector 120, the main control unit 300 can activate the medical imaging device 100. Activation of the medical imaging device 100 can mean, for example, transitioning from a deep sleep mode to a partial sleep mode or a radiation exposure mode. A deep sleep mode means that almost all functions included in the detector are inactive. For example, a deep sleep mode may mean that all functions except for at least one of the main control unit 300 and the second transceiver unit 510 are inactive. A partial sleep mode may mean that only a portion of the functions are inactive. A radiation exposure mode may mean a state prior to radiation exposure or a state in preparation for radiation exposure. Furthermore, the medical imaging device 100 can mean displaying images on a monitor for preparing for radiation irradiation.

[0107] The main control unit 300 can activate the medical imaging device 100 by performing the following processes: The main control unit 300 can perform the step of receiving detector identification information using the second transceiver unit 510. Furthermore, the main control unit 300 can obtain detector characteristic information based on the detector identification information. The main control unit 300 can reflect specific information about the detector in the radiation irradiation setting information. The radiation irradiation setting information may include at least one of radiation intensity, radiation irradiation timing, radiation irradiation time, and radiation irradiation range. In this way, the medical imaging device 100 irradiates the detector with optimal radiation, thereby obtaining high-quality medical images.

[0108] The above describes the viewpoint of the medical imaging device 100, but a similar process can also be performed in the detector 120.

[0109] If the strength of the signal received by the first transceiver unit 410 from the second transceiver unit 510 is greater than a pre-specified threshold signal strength, the detector control unit included in the detector 120 can activate the detector. More specifically, when the user activates the detector by pressing a button on the mobile medical imaging device 100, the main control unit 300 can use the second transceiver unit 510 to send a signal to the first transceiver unit 410. Upon confirming that the first transceiver unit 410 has received a signal from the medical imaging device 100, the detector control unit can activate the detector 120. Activation of the detector 120 can mean, for example, transitioning from a deep sleep mode to a partial sleep mode or a radiation receiving mode. A deep sleep mode can mean that almost all functions included in the detector are inactive, while a partial sleep mode can mean that only some functions are inactive. Compared to a deep sleep mode, more functions can be activated in a partial sleep mode. For example, in a partial sleep mode, only the structure used to generate radiation images is inactive, while other functions can be active. At this time, the activated state can be at least one of communication function and input / output function. The X-ray receiving mode can mean the state of receiving X-rays and obtaining X-ray images. That is, when the first transceiver 410 receives an irradiation preparation signal from the second transceiver 510 indicating that the detector area and the irradiation area are consistent, the detector control unit can enter the X-ray receiving mode, and the X-ray receiving element included in the detector senses the X-rays and generates an electrical signal. The detector control unit can sense the X-rays within a predetermined time and end the X-ray reception, generating a medical image based on the X-ray signals received so far.

[0110] After activating the detector, the detector control unit can use the first transceiver unit 410 to send at least one of the detector's identification information and the detector's characteristic information to the second transceiver unit 510. The main control unit of the source component 110 can determine the radiation irradiation setting information based on at least one of the detector's identification information and the detector's characteristic information. The medical imaging device 100 can obtain medical images by reflecting the individual characteristics of the detector, thus obtaining high-quality medical images.

[0111] The main control unit 300 can execute step 620 of obtaining a 3D camera image of at least one of the subject and the detector based on the 3D camera 520. As described above, the 3D camera 520 can be configured to measure the distance from the 3D camera 520 to at least one object being photographed using at least one of infrared or visible light. Therefore, the 3D camera 520 can not only measure the distance to the object being photographed, but also obtain a 3D camera image. The 3D camera image can be an image of at least one of infrared and visible light irradiated from the 3D camera 520 reflected from the subject and surrounding objects, and re-based on at least one of the infrared or visible light received by the 3D camera 520. That is, the subject and surrounding objects can be presented in the 3D camera image. The surface of the subject and surrounding objects can be presented in the 3D camera image. The X-ray image can present the internal shape of the subject and surrounding objects, which can be different from the 3D camera image. Furthermore, the detector 120 will be located behind the subject, therefore, the detector 120 can also be included in the 3D camera image. However, this is not the only possibility; the detector 120 can also be obscured by the subject being photographed, thus not appearing in the 3D camera image. Rays emitted from the source component 110 can reach the detector 120 via the subject being photographed. The main control unit 300 can use a machine learning model to sense the detector appearing in the 3D camera image. Furthermore, even if the detector is not appearing in the 3D camera image, the main control unit 300 can sense the position of the detector 120 relative to the source component 110 based on the signals from the first transceiver unit 410 and the second transceiver unit 510.

[0112] To illustrate steps 630 and 640, please refer to [the following text is missing]. Figure 7 .

[0113] Figure 7 This is a diagram illustrating a medical imaging apparatus according to an embodiment of the present disclosure.

[0114] Reference Figure 6 and Figure 7The medical imaging device 100 can execute step 630, which displays the irradiation area in the 3D camera image based on the status information of the source component 110. The status information of the source component 110 may refer to at least one of the mode of the source component and the position information of the wings included in the collimator. For example, when the mode of the source component 110 is the shooting mode, the medical imaging device 100 can display the irradiation area 720 in the 3D camera image 710. The 3D camera 520 can be configured in a fixed position relative to the source component 110. Therefore, in the 3D camera image based on the 3D camera 520, the center 721 of the irradiation area 720 to be irradiated by the source component 110 can be located at a predetermined position. In the 3D camera image, the main control unit 300 can display the center 721 of the irradiation area 720 at a predetermined position. However, it is not limited to this; the main control unit 300 can display the center 721 of the irradiation area 720 based on the position information of the wings included in the collimator. Figure 7 The 3D camera image 710 may simultaneously display the ray irradiation area 720 and the center 721 of the ray irradiation area 720, but is not limited to this. The main control unit 300 may display at least one of the ray irradiation area 720 and the center 721 of the ray irradiation area 720.

[0115] Furthermore, the status information of the source component 110 may include the position information of the wing included in the collimator. The wing included in the collimator may include a material that does not transmit radiation. The wing of the collimator can block a portion of the radiation generated from the X-ray source to determine the radiation irradiation area. The main control unit 300 can determine at least one of the size and position of the radiation irradiation area 720 displayed in the 3D camera image 710 based on the status information of the source component 110 including the position information of the wing included in the collimator. Furthermore, the main control unit 300 can display the center 721 of the radiation irradiation area 720 based on the position of the radiation irradiation area 720. The main control unit 300 can display the radiation irradiation area 720 in the 3D camera image 710 based on at least one of the size and position of the radiation irradiation area 720.

[0116] Furthermore, the main control unit 300 can execute step 640 of displaying the detector region 730 in the 3D camera image 710. The main control unit 300 can execute a process for locating the detector region 730, which will be described later. The main control unit 300 can display at least one of the detector region 730 and the center 731 of the detector region 730 in the 3D camera image 710.

[0117] The medical imaging device 100 may include an output unit 340. The output unit 340 may include a display 760. The display 760 may be included in at least one of the body 130 or the source arm 140. The medical imaging device 100 may display at least one of the following on the display 760: a 3D camera image, a radiation irradiation area, and a detector area.

[0118] Re-reference Figure 6 The main control unit 300 can execute step 650, which outputs a message based on the alignment information to guide the alignment of the irradiation area and the detector area 730. The main control unit 300 can determine alignment information related to at least one of the direction, distance, and angle that the source component 110 needs to move to align the detector 120 and the source component 110, based on at least one of the 3D camera, the first transceiver 410, and the second transceiver 510. The main control unit 300 can obtain the alignment information to execute step 650 for outputting the message. The alignment information can be information for aligning the source component 110 and the detector 120. Aligning the detector 120 and the source component 110 may mean that the irradiation area and the detector area are aligned, or that the line connecting the center of the detector and the center of the source component 110 is parallel to the irradiation direction of the rays. The alignment information may include at least one of first alignment information, second alignment information, and third alignment information.

[0119] The main control unit 300 can obtain at least one of the attitude information of the detector 120 and the attitude information of the source component 110 based on the first transceiver unit 410 and the second transceiver unit 510. The main control unit 300 can also use a 3D camera to obtain at least one of the attitude information of the detector 120 and the attitude information of the source component 110. Alternatively, the main control unit 300 can also use a 3D camera to correct at least one of the attitude information of the detector 120 and the attitude information of the source component 110.

[0120] The main control unit 300 can perform a step of obtaining information for adjusting the angle of the source component 110 so that the ray irradiation direction of the source component 110 is perpendicular to the ray receiving surface of the detector 120, based on at least one of the attitude information of the detector 120 and the attitude information of the source component 110. The attitude information of the detector 120 can be obtained based on at least one of the gyroscope sensor included in the detector 120 or the first transceiver unit 410. The detector 120 can directly determine the attitude information based on the gyroscope sensor, or indirectly determine it through triangulation based on the first transceiver unit 410 and the second transceiver unit 510. The attitude information of the detector 120 can include at least one of the tilt degree (tilt) of the source component 110 or the detector 120 relative to the ground and the distance. The attitude information of the detector 120 can include the degree of rotation of the detector 120 relative to at least one of a first axis parallel to the ground, a second axis parallel to the ground and perpendicular to the first axis, and a third axis perpendicular to the ground. The attitude information of the detector 120 can include the distance from a point on the source component 110 to a point on the detector 120. The orientation information of detector 120 may include coordinates from either a location on source component 110 or a location on body 130 to a location on detector 120. A location on source component 110 may be either the center of source component 110 or the center of the front surface of source component 110. Similarly, a location on detector 120 may be the center of the radiation irradiation surface of detector 120. However, the locations on body 130, source component 110, and detector 120 are not limited to those described above, as long as they are locations included in body 130, source component 110, and detector 120, respectively. The orientation information of detector 120 may include the tilt angle of the radiation irradiation surface of detector 120 relative to the front surface of source component 110.

[0121] The main control unit 300 included in the medical imaging device 100 can obtain the attitude information of the source component 110 based on at least one of a gyroscope sensor or a second transceiver unit 510. The attitude information of the source component 110 may include at least one of the tilt degree (tilt angle) and distance of the source component 110 relative to the detector 120 or the ground. The main control unit 300 can directly determine the attitude information of the source component 110 based on the gyroscope sensor, and can also perform indirect determination through triangulation based on the first transceiver unit 410 and the second transceiver unit 510. The attitude information of the source component 110 may include information on the rotation of the source component 110 relative to at least one of a first axis, a second axis, and a third axis. The attitude information of the source component 110 may include the distance from one of a location on the detector 120 or a location on the body 130 to a location on the source component 110. The attitude information of the source component 110 may include the coordinates from a location on the source component 110 to a location on the detector 120. The orientation information of the source component 110 may include the tilt of the front surface of the source component 110 relative to the radiation surface of the detector 120.

[0122] While the process of obtaining posture information based on the first and second transceivers has been described above, it is not limited thereto. The main control unit 300 can obtain at least one of the posture information of the source component 110 and the detector 120 based on the 3D camera 520. That is, the main control unit 300 can obtain at least one of the posture information of the source component 110 and the detector 120 based on the 3D camera image captured by the 3D camera 520. The 3D camera 520 included in the source component 110 can capture images of the detector 120. The main control unit 300 can determine the depth (distance) from the front surface of the source component 110 to various points included in the ray irradiation surface of the detector based on the 3D camera image captured by the 3D camera. The main control unit 300 can output at least one of the posture information of the source component 110 and the detector 120. That is, the main control unit 300 can control the output unit 340 to output at least one of the posture information of the source component 110 and the detector 120.

[0123] According to one embodiment of this disclosure, when step 650 is executed, in order to arrange the detector and the source component, the main control unit 300 may also determine arrangement information related to at least one of the direction, distance, and angle for which the source component needs to be moved, based on at least one of the posture information of the detector 120 and the posture information of the source component 110. In this disclosure, although the arrangement information for which the source component needs to be moved is described, it is not limited to this; the same description can be performed even if the arrangement information for which the detector needs to be moved is used instead of the arrangement information for which the source component needs to be moved. The arrangement information may include first arrangement information to third arrangement information. The arrangement of the detector 120 and the source component 110 may mean that the irradiation area and the detector area are the same, or it may mean that the line connecting the center of the detector and the center of the source component 110 is parallel to the irradiation direction of the radiation.

[0124] According to this disclosure, the main control unit 300 can obtain at least one of front pose information and front alignment information using the first transceiver unit 410 and the second transceiver unit 510. Furthermore, the main control unit 300 can determine at least one of rear pose information and rear alignment information based on the 3D camera image of the 3D camera 520. The front pose information may include at least one of the pose information of the front detector and the pose information of the front source component. The rear pose information may include at least one of the pose information of the rear detector and the pose information of the rear source component. The front alignment information may include at least one of the front first alignment information, the front second alignment information, and the front third alignment information. The rear alignment information may include at least one of the rear first alignment information, the rear second alignment information, and the rear third alignment information. Although the method of obtaining rear pose information and rear alignment information based on the 3D camera 520 has been described above, it is not limited to this; front pose information and front alignment information can also be obtained based on the 3D camera 520. This process will be further described in detail below.

[0125] According to one embodiment of this disclosure, the main control unit 300 can independently determine posture information using the 3D camera 520. The posture information may include at least one of the posture information of the source component 110 and the posture information of the detector 120. Furthermore, the posture information can be determined first using the first transceiver unit 410 and the second transceiver unit 510, and then the 3D camera 520 can be used to supplementarily correct the posture information. However, this is not a limitation; the posture information can be determined first using the 3D camera 520, and then the first transceiver unit 410 and the second transceiver unit can be used to supplementarily correct the posture information.

[0126] For example, the main control unit 300 can determine the forward pose information using the first transceiver unit 410 and the second transceiver unit. Then, the main control unit 300 can determine the backward pose information based on the 3D camera image of the 3D camera 520. The forward pose information may include the pose information of the front detector and the pose information of the front source component. The backward pose information may include the pose information of the rear detector and the pose information of the rear source component.

[0127] The main control unit 300 can determine the final posture information based on the previous posture information and the subsequent posture information. More specifically, if the difference between the previous posture information and the subsequent posture information is greater than a pre-specified critical arrangement information, the main control unit 300 can determine that the previous posture information needs to be corrected. The magnitude of the posture information can be either the magnitude of the distance or the magnitude of the angle. If correction is determined to be necessary, the main control unit 300 can perform a weighted average of the previous posture information and the subsequent posture information to determine the final posture information.

[0128] Final pose information = W1 * front pose information + W2 * back pose information.

[0129] Wherein, W1 and W2 can be pre-specified constants, and W1 + W2 = 1. Furthermore, W1 can be greater than or equal to W2. The main control unit 300 can determine the arrangement information based on the final posture information.

[0130] According to various embodiments of this disclosure, the main control unit 300 can use the 3D camera 520 to determine the arrangement information. Furthermore, the arrangement information can be determined first using the first transceiver unit 410 and the second transceiver unit 510, and then the 3D camera 520 can be used as an auxiliary tool to correct the arrangement information. However, it is not limited to this; the arrangement information can be determined first using the 3D camera 520, and then the first transceiver unit 410 and the second transceiver unit can be used as an auxiliary tool to correct the arrangement information.

[0131] For example, the main control unit 300 can obtain the previous arrangement information using the first transceiver unit 410 and the second transceiver unit 510. The previous arrangement information can be information obtained without the assistance of the 3D camera 520. The previous arrangement information can be uncorrected arrangement information. Then, the main control unit 300 can obtain the subsequent arrangement information based on the 3D camera image of the 3D camera 520.

[0132] The main control unit 300 can determine the final arrangement information based on the previous arrangement information and the subsequent arrangement information. The final arrangement information, as corrected arrangement information, can include final first arrangement information, final second arrangement information, and final third arrangement information. More specifically, if the difference between the magnitudes of the previous and subsequent arrangement information is greater than a pre-specified critical arrangement information, the main control unit 300 can determine that the previous arrangement information needs to be corrected. The magnitude of the arrangement information can be either the magnitude of a distance or the magnitude of an angle. When it is determined that correction is needed, the main control unit 300 can perform a weighted average of the previous and subsequent arrangement information to determine the final arrangement information.

[0133] Final arrangement information = W3 * previous arrangement information + W4 * subsequent arrangement information.

[0134] Where W3 and W4 can be pre-specified constants, and W3 + W4 = 1. Furthermore, W3 can be greater than or equal to W4.

[0135] If the difference between the magnitude of the preceding and following arrangement information is less than or equal to a pre-specified critical arrangement information, the main control unit 300 can determine that the preceding arrangement information does not need to be corrected. That is, the main control unit 300 can determine that the preceding arrangement information is the final arrangement information. The main control unit 300 can guide the source component 110 to move or guide the detector 120 to move based on the final arrangement information.

[0136] According to one embodiment of this disclosure, the main control unit 300 can obtain information for adjusting the angle of the source component 110 based on the difference between the posture information of the detector 120 and the posture information of the source component 110, so that the ray irradiation direction of the source component 110 is perpendicular to the ray receiving surface of the detector 120. Although the above description has been based on the first axis, the second axis, and the third axis, other coordinate systems can also be used. For example, an axis parallel or perpendicular to a pre-specified surface of at least one of the source component 110 and the detector 120 can be used, centered on a pre-specified location of at least one of the source component 110 and the detector 120. Furthermore, the center of the coordinate system can be located in either the source component 110 or the detector 120. That is, the center of the coordinate system can be moved based on either the source component 110 or the detector 120. According to various embodiments of this disclosure, in order to make the ray irradiation direction of the source component 110 perpendicular to the ray receiving surface of the detector 120, the output section can display the angles of rotation relative to the roll axis parallel to the length direction of the source arm 140, the pitch axis perpendicular to the roll axis, and the yaw axis perpendicular to the roll and pitch axes. In this way, the rotation direction and rotation angle of the source component 110 used to make the ray irradiation direction of the source component 110 perpendicular to the ray receiving surface of the detector 120 can be referred to as third arrangement information.

[0137] The main control unit 300 can execute the step of obtaining first arrangement information of the source components 110 for adjusting the center 721 of the irradiation area 720 of the source component 110 to coincide with the center 731 of the detector area 730 based on the posture information of the detector 120. According to various embodiments of this disclosure, the main control unit 300 can also execute the step of obtaining first arrangement information of the source components 110 for adjusting the irradiation area 720 of the source component 110 to coincide with the detector area 730 based on the posture information of the detector 120. Furthermore, according to various embodiments of this disclosure, the main control unit 300 can also execute the step of obtaining first arrangement information of the source components 110 for adjusting the irradiation area 720 of the source component 110 to include the detector area 730 based on the posture information of the detector 120. In this disclosure, although the expression "the center 721 of the irradiation area 720 coincides with the center 731 of the detector area 730" is used, this expression can be replaced by "the irradiation area 720 includes the detector area 730".

[0138] The first arrangement information includes the direction and distance that at least one of detector 120 or source component 110 needs to be moved for arranging detector 120 and source component. When moving according to the first arrangement information, the line connecting the center of detector 120 and the center of the radiation irradiation surface of source component 110 can be parallel to the radiation direction. That is, detector 120 and source component 110 can be aligned. The first arrangement information may include information on moving in a direction parallel to the radiation receiving surface of detector 120. Alternatively, the first arrangement information may include information on moving in a direction parallel to a plane perpendicular to the radiation irradiation direction of source component 110.

[0139] The pose information of detector 120 can represent the position of detector 120 relative to source assembly 110. The pose information of detector 120 can represent its three-dimensional position from a pre-specified location included in source assembly 110 to a pre-specified location included in detector 120. The pose information of detector 120 can include source-to-image distance (SID). The main control unit 300 can obtain first arrangement information indicating that source assembly 110 needs to move on a plane parallel to the front face of source assembly 110. The front face of source assembly 110 can represent the plane located in the source assembly 110 in the direction traversed by the ray. The front face of source assembly 110 can be a plane perpendicular to the direction traversed by the ray. The front face of source assembly 110 can be controlled to be parallel to the detector's surface.

[0140] Reference Figure 7The main control unit 300 can display an arrow 741 on the display indicating whether the source component 110 needs to move upwards or downwards on a surface parallel to the front surface of the source component 110. The longer the distance the source component 110 needs to move, the longer or thicker the arrow 741 can be displayed. Furthermore, the distance the source component 110 needs to move can be displayed around the arrow 741. However, this is not a limitation. The main control unit 300 can also display an arrow 742 indicating whether the source component 110 needs to move to the right or left on a surface parallel to the front surface of the source component 110. The longer the distance the source component 110 needs to move, the longer or thicker the arrow 742 can be displayed. Furthermore, the distance the source component 110 needs to move can be displayed around the arrow 742. However, this is not a limitation. The distance the source component 110 needs to move can be obtained based on the first arrangement information.

[0141] According to various embodiments of this disclosure, the main control unit 300 can display the center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730 on a display. The center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730 can be displayed in multiple colors. Different colors can be used to display the center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730. However, it is not limited to this; they can be displayed in the same color. For example, the center 721 of the radiation irradiation area 720 can be white.

[0142] The center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730 can have various shapes. The center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730 can have the same shape, but are not limited to this, and can also have different shapes. For example, the center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730 can be circular.

[0143] The main control unit 300 can obtain at least one of the direction and distance between the center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730 as first alignment information. The main control unit 300 can display on a display at least one of the direction and distance between the center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730 based on the first alignment information. The user can observe the center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730 while activating the source component 110 to align the center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730. The medical imaging device 100 of this disclosure can display the center 721 of the radiation irradiation area 720 and the center 731 of the detector area 730, allowing the user to quickly align the source component 110 and the detector 120.

[0144] The main control unit 300 can display third arrangement information on a monitor for aligning the radiation receiving surface of detector 120 with the radiation irradiation direction of source assembly 110. To align the radiation receiving surface of detector 120 with the radiation irradiation direction of source assembly 110, the third arrangement information may include at least one of a rotation direction and a rotation angle that the source assembly 110 needs to rotate. The third arrangement information may include at least one of a rotation direction and a rotation angle relative to at least one of roll axis, pitch axis, and yaw axis. The medical imaging device 100 of this disclosure can display the third arrangement information, allowing the user to quickly arrange the detector 120 so that its radiation receiving surface is perpendicular to the radiation irradiation direction.

[0145] The main control unit 300 can perform a step of obtaining second arrangement information of the source component 110 for adjusting the distance between the source component 110 and the detector 120 based on at least one of the pose information of the detector 120 and the source-to-object distance (SOD). The direction of the second arrangement information can be perpendicular to the direction of the first arrangement information. The direction of the second arrangement information can be perpendicular to the front surface of the source component 110. The direction of the second arrangement information can be parallel to the direction of radiation. The main control unit 300 can perform a step of obtaining the second arrangement information based on the source-to-image distance (SID) included in the pose information of the detector 120. The main control unit 300 can also perform a step of obtaining the second arrangement information based on the source-to-object distance (SOD).

[0146] For example, if the measured SID differs from a predetermined reference SID, the main control unit 300 can obtain second arrangement information to make the measured SID the same as the reference SID. The second arrangement information may include at least one of the direction and distance that the source component 110 needs to move to make the measured SID the same as the reference SID. Similarly, if the measured SOD differs from a predetermined reference SOD, the main control unit 300 can obtain second arrangement information to make the measured SOD the same as the reference SOD. The second arrangement information may include at least one of the direction and distance that the source component 110 needs to move to make the measured SOD the same as the reference SOD.

[0147] Having described the steps for obtaining the first arrangement information, the steps for obtaining the second arrangement information have been described above. However, this is not a limitation; the steps for obtaining the first arrangement information and obtaining the second arrangement information can be performed simultaneously. Furthermore, according to various embodiments of this disclosure, the steps for obtaining the second arrangement information can be performed after the steps for obtaining the first arrangement information, or before the steps for obtaining the first arrangement information.

[0148] When the detector region 730 and the illumination region 720 are aligned, the control unit 300 can output a signal indicating that the detector region 730 and the illumination region 720 are aligned. The control unit 300 can use arrangement information to make the detector region 730 and the illumination region 720 aligned. The control unit 300 can control the output unit 340 to output a signal indicating alignment. The control unit 300 can output the signal indicating alignment before or during the execution of step 660. The step of outputting the signal indicating alignment can be performed before, after, or simultaneously with step 650. The alignment of the detector region 730 and the illumination region 720 can mean that the detector and source components are aligned. The control unit 300 can output the alignment of the detector region 730 and the illumination region 720 to at least one of the displays or speakers. The alignment of the detector region 730 and the illumination region 720 can indicate that the edges of the detector region 730 and the illumination region 720 are aligned. However, this is not the only limitation. The alignment of the detector region 730 and the irradiation region 720 can mean that the center 731 of the detector region 730 and the center 731 of the irradiation region 720 are aligned. In this disclosure, the alignment of the center 731 of the detector region 730 and the center 721 of the irradiation region 720 can be replaced by the alignment of the edges of the detector region 730 and the irradiation region 720. According to the medical imaging device of this disclosure, the user can easily determine the alignment of the detector region 730 and the irradiation region 720, and can easily determine the optimal time point for imaging.

[0149] The control unit 300 can perform the step of displaying the ray irradiation area 720 and the detector area 730 at the current position of the source component 110 in different colors on the 3D camera image 710 when the center 721 of the ray irradiation area 720 at the current position of the source component 110 is not the same as the center 731 of the detector area 730. Furthermore, it can perform the step of displaying the ray irradiation area 720 and the detector area 730 in the 3D camera image 710 in the same color when the center of the detector area 730 and the center of the ray irradiation area 720 are the same. Therefore, the user can easily determine whether the center of the ray irradiation area 720 and the center of the detector area 730 are aligned.

[0150] Reference Figure 6When the center 731 of the detector region 730 and the center 721 of the radiation irradiation region 720 coincide, the main control unit 300 can execute step 660, which uses the second transceiver unit 510 to send a radiation irradiation preparation signal to the first transceiver unit 410 of the detector 120. The detector 120 can enter the radiation receiving mode based on the radiation irradiation preparation signal. The detector 120 can start receiving radiation based on the radiation irradiation preparation signal. After entering the radiation receiving mode, when the first transceiver unit 410 receives a signal from the second transceiver unit 510 indicating the end of radiation irradiation, the detector 120 can process the electrical signal generated by the radiation receiving element by the readout circuit unit included in the detector to obtain radiation image information. In this way, the detector 120 communicates with the source component 110 to start and end radiation reception, thus obtaining high-quality medical images with low noise. Furthermore, the detector 120 communicates with the source component 110 to terminate the reception of radiation. Therefore, the medical imaging device 100 can shorten the time the subject is unnecessarily exposed to radiation and reduce the radiation dose to the subject. The medical imaging device 100 can also obtain medical images of sufficient quality while reducing the radiation dose to the subject. However, it is not limited to this; the detector control unit may also choose not to receive signals indicating the end of radiation exposure, and radiation may be received using the radiation receiving element for a pre-specified period.

[0151] Figure 8 This is a flowchart illustrating a method for obtaining a detector region from 3D camera images in an embodiment of this disclosure.

[0152] In order to display the detector's area 730 in the 3D camera image 710, the main control unit 300 can perform the following actions.

[0153] The main control unit 300 can execute step 810 to obtain first distance information between the second transceiver unit 510 and the first transceiver unit 410 based on the signal between the second transceiver unit 510 and the first transceiver unit 410. The first distance information can be the distance between the first transceiver unit 410 and the second transceiver unit 510, or it can include the SID, which is the distance between the source component 110 and the detector 120. According to various embodiments of this disclosure, the main control unit 300 can also determine the SID based on the first distance information after obtaining it. More specifically, the main control unit 300 can use triangulation to determine the position of the first transceiver unit 410 relative to the plurality of second transceiver units 510 in three-dimensional space. The main control unit 300 can determine the positions of the plurality of first transceiver units 410 included in the detector 120 respectively to determine the position of the detector in three-dimensional space.

[0154] The main control unit 300 can execute step 820, which determines the size of the detector in the 3D camera image based on at least one of the detector's position, first distance information, and SID in three-dimensional space. The detector size can refer to the size of the detector presented in the 3D camera image. The main control unit 300 can pre-store the detector size in three-dimensional space based on at least one of the detector's position, first distance information, and SID using a detector size table or detector size function. The main control unit 300 can determine the detector size in three-dimensional space based on at least one of the detector size table and detector size function. The greater the distance between the detector 120 and the source component 110, the smaller the detector size can be.

[0155] The main control unit 300 can determine the shape of the detector 120 on the 3D camera image 710 in three-dimensional space based on at least one of the detector's position, first distance information, and SID. The shape of the detector 120 may not be rectangular if the detector's ray receiving surface is tilted relative to the ray irradiation surface of the source component 110.

[0156] The main control unit 300 can execute step 830 of displaying the detector region 730 in the 3D camera image based on at least one of the first distance information, SID, and detector size. The 3D camera image of the main control unit 300 can be obtained via the 3D camera 520. Using the 3D camera 520, the main control unit 300 can not only obtain the 3D camera image but also the distances to various locations displayed in the image. The main control unit 300 can determine the set of locations corresponding to the distances to various locations obtained using the 3D camera 520 and one of the first distance information and SID as the detector region 730. Furthermore, within the set of locations corresponding to one of the first distance information and SID, the main control unit 300 can determine only the region corresponding to at least one of the detector size and detector shape as the detector region 730.

[0157] However, the main control unit 300 is not limited to this; it can also determine the detector region 730 based on an image processing algorithm. For example, the main control unit 300 can perform the step of obtaining the detector region in the 3D camera image obtained by the 3D camera 520. That is, the main control unit 300 can also determine the detector region 730 in the 3D camera image based on an object recognition algorithm. The object recognition algorithm can be a machine learning model for determining the detector region 730. In the 3D camera image, even if the detector region 730 is partially obscured by the subject 210, the machine learning model can determine the detector region 730. Furthermore, the main control unit 300 can obtain second distance information from the 3D camera 520 included in the 3D camera image to at least one object being captured. The second distance information can mean the distance from the 3D camera 520 or the source component 110 to various points presented in the 3D camera image. The main control unit 300 can obtain the source-to-image distance (SID) from the source component to the detector based on the detector region 730 and the second distance information.

[0158] The main control unit 300 can use different algorithms based on 3D camera images to determine the detector region 730. According to various embodiments of this disclosure, when at least a portion of the appearance of the detector 120 is confirmed in the 3D camera image 710, the main control unit 300 can determine the detector region 730 using at least one of the 3D camera, the gyroscope sensor of the source component 110, and the gyroscope sensor of the detector 120. For example, the main control unit 300 can determine the detector region 730 by performing image processing on the 3D camera image based on the 3D camera 520. Even if the detector appears in the 3D camera image 710, it is unlikely to be the entire detector. Therefore, in order to obtain the detector's posture based on the posture of the source component, the main control unit 300 can use at least one of the gyroscope sensor of the source component 110 and the gyroscope sensor of the detector 120 to obtain the detector's posture for the 3D camera image 710. As described above, the detector's posture can indicate the degree of tilt of the detector. The main control unit 300 can display the tilted detector region 730 in the 3D camera image 710 based on the detector's posture.

[0159] According to various embodiments of this disclosure, when the appearance of the detector 120 is not confirmed in the 3D camera image 710, the main control unit 300 can utilize at least one of the 3D camera, the gyroscope sensor of the source component 110, the gyroscope sensor of the detector 120, the first transceiver unit 410, and the second transceiver unit 510. The processes utilizing the 3D camera, the gyroscope sensor of the source component 110, and the gyroscope sensor of the detector 120 have already been described; therefore, only the processes utilizing the first transceiver unit 410 and the second transceiver unit 510 will be described. The main control unit 300 can use triangulation to obtain the position of the first transceiver unit 410 relative to the plurality of second transceiver units 510. The main control unit 300 can obtain the positions of the plurality of first transceiver units 410 included in the detector 120, thereby determining the position of the detector in three-dimensional space. Based on the position of the detector in three-dimensional space, the main control unit 300 can obtain at least one of the distance from the source component 110 to the detector and the pose of the detector relative to the source component 110. The main control unit 300 can determine the region 730 of the detector in the 3D camera image 710 based on the position of the detector in three-dimensional space.

[0160] Figure 9 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure. Figure 10 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure.

[0161] Reference Figure 9 The detector 120 may include multiple first transceivers 921, 922, 923, and 924. Furthermore, the source component 110 may include multiple second transceivers 911, 912, 913, and 914. More specifically, the multiple first transceivers may include a first-first transceiver 921, a first-second transceiver 922, a first-third transceiver 923, and a first-fourth transceiver 924. Furthermore, the multiple second transceivers may include a second-first transceiver 911, a second-second transceiver 912, a second-third transceiver 913, and a second-fourth transceiver 914.

[0162] The main control unit 300 can utilize at least three of the plurality of second transceivers 911, 912, 913, and 914 and obtain the position of at least one of the plurality of first transceivers 921, 922, 923, and 924 using a triangulation method. Furthermore, the detector control unit can utilize at least three of the plurality of first transceivers 921, 922, 923, and 924 and obtain the position of at least one of the plurality of second transceivers 911, 912, 913, and 914 using a triangulation method. The detector control unit can obtain the attitude (tilt) of the detector 120 relative to the source assembly 110 based on the position of at least one of the plurality of second transceivers 911, 912, 913, and 914.

[0163] According to various embodiments of this disclosure, the detector control unit can sensitively adjust a sensor located away from the source component 110 within the radiation receiving surface of the detector. Alternatively, the detector control unit can sluggishly adjust a sensor located closer to the source component 110 within the radiation receiving surface of the detector. Furthermore, the detector control unit or the main control unit 300 can perform image processing to improve the clarity of medical images based on the distance between various locations of the radiation received by the detector and the source component 110. Therefore, even if the surface of the detector 120 is not perpendicular to the radiation direction of the source component 110, the medical image can become clear.

[0164] The main control unit 300 can obtain the distances to one of the multiple second transceiver units and the multiple first transceiver units. For example, the main control unit 300 can obtain the distances from the second-first transceiver unit 911 to the first-first transceiver unit 921, the first-second transceiver unit 922, the first-third transceiver unit 923, and the first-fourth transceiver unit 924, respectively. The timings of the multiple second transceiver units and the multiple first transceiver units can be synchronized. When a signal is sent to the second-first transceiver unit 911, the first-first transceiver unit 921, the first-second transceiver unit 922, the first-third transceiver unit 923, and the first-fourth transceiver unit 924 can simultaneously send their transmission times. The main control unit 300 can obtain the distances from the second-first transceiver unit 911 to the first-first transceiver unit 921, the first-second transceiver unit 922, the first-third transceiver unit 923, and the first-fourth transceiver unit 924 based on the times when signals are transmitted from the first-first transceiver unit 921, the first-second transceiver unit 922, the first-third transceiver unit 923, and the first-fourth transceiver unit 924, respectively, and the times when signals are received by the second-first transceiver unit 911. Furthermore, the second-second transceiver unit 912, the second-third transceiver unit 913, and the second-fourth transceiver unit 914 can also perform the same process.

[0165] In the plurality of first transceiver units, the control unit 300 can correspond the first transceiver unit closest to one of the plurality of second transceiver units, so that the plurality of first transceiver units and the plurality of second transceiver units correspond one-to-one. The main control unit 300 can correspond the first transceiver unit 921 closest to the second-first transceiver unit 911 to the second-first transceiver unit 911. Similarly, the main control unit 300 can correspond the first-second transceiver unit 922 closest to the second-second transceiver unit 912 to the second-second transceiver unit 912. The main control unit 300 can correspond the first-third transceiver unit 923 closest to the second-third transceiver unit 913 to the second-third transceiver unit 913. The main control unit 300 can correspond the first-fourth transceiver unit 924 closest to the second-fourth transceiver unit 914 to the second-fourth transceiver unit 914.

[0166] When the positions of the source component 110 and the detector 120 are completely misaligned, it becomes difficult to achieve one-to-one matching between multiple first transceivers and multiple second transceivers using the closest possible distance. In this case, the medical imaging device 100 may also output a message to orient the source component 110 toward the detector 120 or to perform parallel adjustment.

[0167] However, this is not the only option; the process described below can also be performed. The main control unit 300 can obtain 16 distance information values ​​based on 16 combinations of the four first transceiver units 410 and the four second transceiver units 510. If the multiple first transceiver units and the multiple second transceiver units do not perform one-to-one matching, the main control unit 300 can remove the combination corresponding to the shortest distance information among the 16 distance information values ​​from the 16 combinations. The main control unit 300 can then match the multiple first transceiver units 410 that are closest to the multiple second transceiver units 510 from the remaining 15 combinations, thereby performing one-to-one matching of the multiple second transceiver units 510 and the multiple first transceiver units 410. If the multiple first transceiver units and the multiple second transceiver units still cannot perform one-to-one matching, the combination corresponding to the shortest distance information among the 15 distance information values ​​is removed from the 15 combinations, and the process described above can be repeated using the remaining 14 combinations.

[0168] While the process of determining distance based on the second transceiver 510 included in the source component 110 has been described above, it is not limited thereto. The detector control unit can obtain the distance between one of the plurality of first transceivers and the plurality of second transceivers. The detector control unit can obtain first distance information between the second transceiver and the first transceiver based on the signal between the second transceiver and the first transceiver. The first distance information may be the distance between the second transceiver and the first transceiver, or it may include the SID. However, it is not limited thereto; the detector control unit can obtain the SID based on the first distance information.

[0169] The detector control unit can obtain the distances from the first transceiver unit 921 to the second transceiver units 911, 912, 913, and 914, respectively. Furthermore, the detector control unit can correspond the second transceiver unit closest to one of the first transceiver units, achieving a one-to-one correspondence between the first and second transceiver units. For example, when a signal is transmitted to the first transceiver unit 921, the second transceiver units 911, 912, 913, and 914 can simultaneously transmit their transmission times. The main control unit 300 can obtain the distances from the first transceiver unit 921 to the second transceiver unit 911, second transceiver unit 912, second transceiver unit 913, and second transceiver unit 914 based on the times when signals are transmitted from the second transceiver unit 911, second transceiver unit 912, second transceiver unit 913, and second transceiver unit 914, respectively, and the times when signals are received from the first transceiver unit 921. The detector control unit can align the second transceiver unit 911, which is closest to the first transceiver unit 921, with the first transceiver unit 921. Similarly, the detector control unit can align the second transceiver unit 912, which is closest to the first transceiver unit 922, with the first transceiver unit 922. The detector control unit can align the second transceiver unit 913, which is closest to the first transceiver unit 923, with the first transceiver unit 923. The detector control unit can make the second-fourth transceiver 914, which is closest to the first-fourth transceiver 924, correspond to the first-fourth transceiver 924.

[0170] As described above, at least one of the main control unit 300 and the detector control unit can obtain the source-to-image distance (SID) from the source component to the detector based on multiple distances between a plurality of first transceiver units and a plurality of second transceiver units that correspond in a one-to-one relationship. More specifically, at least one of the main control unit 300 and the detector control unit can obtain first distance information using one of the average, minimum, maximum, and median of the plurality of distances. The main control unit 300 can obtain SID940 from the modified first distance based on at least one of a SID generation table or a SID generation function.

[0171] Figure 9 The object being photographed 210 can be smaller than the detector. Therefore, the object being photographed will not block the signal between the first transceiver unit 410 and the second transceiver unit 510. However, as Figure 10As shown, when the object being photographed 210 is larger than the detector, the object being photographed can block the signal between the first transceiver unit 410 and the second transceiver unit 510. Even when the object being photographed 210 blocks the signal, the one-to-one matching of the multiple first transceiver units 410 and the multiple second transceiver units 510 is not affected. However, when the object being photographed 210 blocks the signal, it affects the main control unit 300's measurement of SID 940. This is because, since the signal between the first transceiver unit 410 and the second transceiver unit 510 is blocked by the object being photographed 210, the main control unit 300 has difficulty measuring the straight-line distance between the first transceiver unit 410 and the second transceiver unit 510. Therefore, the main control unit 300 can measure first distance information between the second transceiver unit and the first transceiver unit. The first distance information can be the distance between the corresponding first transceiver unit and the second transceiver unit. The first distance information can be a distance with error caused by the object being photographed blocking the signal.

[0172] The main control unit 300 can guide the movement of the source component 110 to prevent the subject from obstructing the space between the source component 110 and the detector 120. The user can temporarily move the source component 110 based on this guidance. The medical imaging device 100 can obtain the detector's position from a third transceiver located at a fixed position within the patient room. An additional beacon including the third transceiver may be provided at a fixed position within the patient room. However, this is not a limitation; the third transceiver may also be included within the body 130 of the medical imaging device 100. This is because even if the source component 110 moves, the body 130 can remain fixed within the patient room. The main control unit 300 can guide the source component 110 to reposition to the imaging position. The main control unit 300 can determine the position of the source component 110 relative to the third transceiver within the imaging position. The main control unit 300 can display the detector's area 730 in the 3D camera image 710 based on the position from the third transceiver to the detector 120 and the position of the source component 110. Furthermore, the main control unit 300 can determine the SID based on the position from the third transceiver unit to the detector 120 and the position of the source component 110. However, it is not limited to this; the medical imaging device 100 can also implement the following process.

[0173] When the difference between the multiple first distance information measured by the multiple first transceivers and the multiple second transceivers is greater than or equal to a critical distance, the main control unit 300 may output a message guiding the movement of the source component 110. The first distance information may include at least one of first-first distance information, first-second distance information, first-third distance information, and first-fourth distance information. When the difference between the measured multiple first distance information is less than or equal to a critical distance, the main control unit 300 may measure the SOD930, which is the distance from the source component 110 to the subject 210, based on the 3D camera 520. The SOD930 may be included in the second distance information, but is not limited thereto.

[0174] The main control unit 300 can determine the distance from the 3D camera 520 to the nearest object as SOD 930. Furthermore, the main control unit 300 can determine the distance from the 3D camera 520 to the nearest object as SOD 930 within at least one of the ray irradiation area 720 and the detector area 730. The main control unit 300 can modify the first distance based on SOD 930. The main control unit 300 can obtain the modified first distance based on SOD 930 based on at least one of a first distance change table and a first distance change function. For example, the shorter the SOD 930, the more the first distance change table and the first distance change function reduce the first distance to generate the modified first distance. This is because a shorter SOD 930 implies a thicker subject 210. Furthermore, the main control unit 300 can determine SID 940 based on the modified first distance. The main control unit 300 can obtain SID 940 from the first distance modified based on at least one of a SID generation table or a SID generation function.

[0175] Figure 11 This can be a diagram illustrating the operation of a medical imaging device according to an embodiment of the present disclosure.

[0176] As described above, the main control unit 300 can use the 3D camera 520 to measure the distance between the front surface of the source component 110 and the object presented in the 3D camera image 710. To obtain a medical image, the user can orient the source component 110 toward the subject 210. The main control unit 300 can perform a step of obtaining second distance information from the 3D camera 520 to at least one object included in the 3D camera image. The main control unit 300 can perform a step of obtaining second distance information from the 3D camera 520 to at least one object included in at least one of the ray irradiation area 720 and the detector area 730 of the 3D camera image 710. The main control unit 300 can obtain the source-to-object distance (SOD) from the source component to the subject based on the second distance information. For example, the main control unit 300 can determine the shortest distance in the second distance information as SOD 930. This is because the user positions the subject closest to the source component 110. SOD can mean the distance from the source to the subject.

[0177] Furthermore, the medical imaging device 100 can obtain the width 1110 of the subject 210. For example, if the distances 1121 and 1122 between the source component 110 and the object presented in the 3D camera image 710 are greater than a pre-specified critical distance for the subject, the main control unit 300 can remove the object to determine the area of ​​the subject. The main control unit 300 can then determine the width of the area of ​​the subject as the width 1110 of the subject 210. For example, in... Figure 11 In this context, the width 1110 can represent the width of the object being photographed. Furthermore, the main control unit 300 can determine the center 1130 of the area of ​​the object being photographed as the center 731 of the detector area 730. Therefore, even if the detector 120 is obstructed by the object being photographed 210, the medical imaging device 100 can still determine the center 731 of the detector area 730.

[0178] According to various embodiments of this disclosure, the main control unit 300 can determine the thickness of the object being photographed. For example, the main control unit 300 can obtain first distance information between the second transceiver unit 510 and the first transceiver unit 410 based on the signal between the second transceiver unit 510 and the first transceiver unit 410. Furthermore, the main control unit 300 can obtain the source-to-image distance (SID) from the source component to the detector based on the first distance. The main control unit 300 can determine the thickness of the object being photographed based on the surface area of ​​radiation (SOD) and the SID. For example, the main control unit 300 can determine the thickness of the object being photographed by subtracting the SOD from the SID. The main control unit 300 can determine radiation irradiation setting information based on the thickness of the object being photographed. The main control unit 300 can store a radiation irradiation table corresponding to the radiation irradiation setting information for the thickness of the object being photographed. The main control unit 300 can obtain the radiation irradiation setting information corresponding to the thickness of the object being photographed from the radiation irradiation table. For example, the thicker the object being photographed, the stronger the radiation intensity or the longer the radiation irradiation time can be. The medical imaging device 100 disclosed herein can automatically determine the thickness of the subject and determine the corresponding radiation irradiation settings, thus obtaining a high-quality medical imaging device and improving user convenience.

[0179] According to various embodiments of this disclosure, the following embodiments can also be implemented. The 3D camera image may include the subject being photographed and the patient bed 220. Furthermore, the distance from the source component 110 to the patient bed 220 may be similar to the distance from the source component 110 to the detector 120. Therefore, the main control unit 300 can obtain SOD and SID based on second distance information, which is the distance between at least one object presented in the 3D camera image 710 and the source component 110. Based on user input or a machine learning model, the main control unit 300 can determine SOD and SID based on the second distance information. The machine learning model can be a model used to determine that only the subject being photographed and the patient bed 220 exist in the 3D camera image. The main control unit 300 can determine the minimum value in the second distance information as SOD. Furthermore, the main control unit 300 can determine the maximum value in the second distance information as SID.

[0180] The following, with Figure 12 and Figure 13 Together, we will explain the process used to obtain the information from the first to the third permutation. Figure 12 and Figure 13 The operation of the medical imaging device can be performed before step 650, or it can be performed together with step 650.

[0181] As described above, when step 650 is executed, the main control unit 300 can determine, based on at least one of the 3D camera, the first transceiver 410, and the second transceiver 510, at least one of the direction, distance, and angle that the source component needs to move to align the detector and the source component. Aligning the detector 120 and the source component 110 may mean that the irradiation area and the detector area are consistent, or that the line connecting the center of the detector and the center of the source component 110 is parallel to the irradiation direction of the rays. The alignment information may include first alignment information to third alignment information. The plurality of first transceivers may include a first-first transceiver 921, a first-second transceiver 922, a first-third transceiver 923, and a first-fourth transceiver 924. Furthermore, the plurality of second transceivers may include a second-first transceiver 911, a second-second transceiver 912, a second-third transceiver 913, and a second-fourth transceiver 914. The main control unit 300 can measure the distance of one of the plurality of second transceivers relative to at least three of the plurality of first transceivers. Furthermore, the main control unit 300 can determine the distance of one of the plurality of second transceivers relative to at least three of the plurality of second transceivers. The distance can be determined based on the time required for the signal to move between one of the plurality of first transceivers and one of the plurality of second transceivers. The main control unit 300 can use triangulation to determine the position (coordinates) of the first transceiver 410 included in the detector 120 relative to the second transceiver 510 included in the source assembly 110. Furthermore, the main control unit 300 can use triangulation to determine the position (coordinates) of the second transceiver 510 included in the source assembly 110 relative to the first transceiver 410 included in the detector 120. Alternatively, the main control unit 300 can obtain the position (coordinates) of the source assembly 110 relative to the detector 120. The main control unit 300 can determine the arrangement information required for the source assembly to move in order to arrange the detector 120 and the source assembly 110 based on the position of the source assembly 110 relative to the detector 120. That is, the main control unit 300 can obtain at least one of the first arrangement information, the second arrangement information, and the third arrangement information based on the first transceiver unit 410 and the second transceiver unit 510. Figure 12 and Figure 13 Together, we will describe the process of obtaining at least one of the first, second, and third permutation information.

[0182] While the process of obtaining arrangement information using the first transceiver unit 410 and the second transceiver unit 510 has been described above, it is not limited thereto. When determining the arrangement information, the main control unit 300 can obtain a set of coordinates of multiple first transceivers and a set of coordinates of multiple second transceivers from the 3D camera image based on the 3D camera 520. For example, since the 3D camera 520 is included in the source component 110, the main control unit 300 can determine a pre-specified position of the 3D camera image as a set of coordinates of multiple second transceivers. Furthermore, after locating the detector area, the main control unit 300 can determine a pre-specified position of the detector area as a set of coordinates of multiple first transceivers. Furthermore, the main control unit 300 can... Figure 12 and Figure 13 The method described herein is used to obtain at least one of the first arrangement information, the second arrangement information, and the third arrangement information.

[0183] Figure 12 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure.

[0184] When the arrangement information is determined, the main control unit 300 can measure the angle formed by the front face of the source component and the face of the detector based on at least one of the first transceiver unit 410, the second transceiver unit 510, the 3D camera 520, and the gyroscope sensor. To ensure that the front face of the source component and the face of the detector have a predetermined angle based on the angle formed by the angle formed by the front face of the source component and the face of the detector, the main control unit 300 can output an angle for rotating the source component (the rotation angle of the source component). The predetermined angle may mean the angle required for capturing medical images by making the front face of the source component and the face of the detector parallel. The predetermined angle may include the front face of the source component and the face of the detector being parallel, and in this case, the predetermined angle may be, for example, 0 degrees. The predetermined angle may be greater than or equal to 0 degrees and may be less than 90 degrees. Furthermore, the predetermined angle can be determined based on user input. This process will be further described in detail below.

[0185] According to one embodiment of this disclosure, the main control unit 300 can determine the angle formed by the front surface of the source component and the surface of the detector based on a plurality of first transceiver units and a plurality of second transceiver units. At least one of the pose information of the detector and the pose information of the source component may include the angle formed by the front surface of the source component and the surface of the detector. The process of obtaining the angle formed by the front surface of the source component and the surface of the detector will be described below.

[0186] The detector 120 may include a plurality of first transceivers 410. The plurality of first transceivers may include a first-first transceiver 921, a first-second transceiver 922, a first-third transceiver 923, and a first-fourth transceiver 924. The set of coordinates of the plurality of first transceivers can be represented in the following manner.

[0187] The set of coordinates of multiple first transceiver units = {(x(a'), y(a')), (x(b'), y(b')), (x(c'), y(c')), (x(d'), y(d'))}.

[0188] The coordinates can be the coordinates of various points on the display of a medical imaging device, or the coordinates of a pre-specified origin in actual space. The pre-specified origin can be located at the source component or detector.

[0189] When the center of the coordinate system is located at the source component 110, the main control unit 300 can utilize multiple first transceivers and multiple second transceivers, and determine the set of coordinates of the multiple first transceivers by triangulation. When the center of the coordinate system is located at the detector 120, the main control unit 300 can obtain a predetermined set of coordinates of the multiple first transceivers from the memory.

[0190] Similarly, the source component 110 may include a plurality of second transceivers 510. The plurality of second transceivers may include a second-first transceiver 911, a second-second transceiver 912, a second-third transceiver 913, and a second-fourth transceiver 914. The set of coordinates of the plurality of second transceivers can be represented in the following manner.

[0191] The set of coordinates of multiple second transceivers is {(x(a), y(a)), (x(b), y(b)), (x(c), y(c)), (x(d), y(d))}.

[0192] The coordinates of the multiple first transceivers and the multiple second transceivers can be represented by values ​​within the same coordinate system. When the center of the coordinates is located at the source component 110, the main control unit 300 can obtain a predetermined set of coordinates of the multiple second transceivers from the memory. When the center of the coordinates is located at the detector 120, the main control unit 300 can utilize the multiple first transceivers and the multiple second transceivers, and determine the set of coordinates of the multiple second transceivers through triangulation.

[0193] As described above, with a one-to-one correspondence between the plurality of first transceivers 410 and the plurality of second transceivers 510, the medical imaging apparatus 100 can perform the step of obtaining first arrangement information of the source assembly 110, including the detector region 730, based on the posture information of the detector 120, for adjusting the radiation irradiation area 720 of the source assembly 110. For example, the plurality of first transceivers 410 may include a first-first transceiver 921 and a first-second transceiver 922. Furthermore, the plurality of second transceivers 510 may include a second-first transceiver 911 corresponding to the first-first transceiver 921 and a second-second transceiver 912 corresponding to the first-second transceiver 922. The main control unit 300 can obtain a first-first distance between the first-first transceiver 921 and the second-first transceiver 911. The main control unit 300 can obtain a first-second distance between the first-second transceiver 922 and the second-second transceiver 912. If the difference between the first-first distance and the first-second distance exceeds a pre-specified critical distance, the main control unit 300 can output a message to guide the source component 110 to similarly align with the first-first distance and the first-second distance. The pre-specified critical distance can be a value stored in memory. The pre-specified critical distance can be a value used to determine if the difference between the first-first distance and the first-second distance is significant. A significant difference between the first-first distance and the first-second distance may mean that the detector 120 and the source component 110 are not aligned.

[0194] Based on the obtained third alignment information, messages can be output to guide the movement of the source component 110 to similarly align the first-to-first and first-to-second distances. The third alignment information may indicate the direction in which the source component 110 rotates, with reference to an axis perpendicular to the length direction of the source arm 140. (See reference...) Figure 12 The main control unit 300 can obtain the horizontal differential depth and the vertical differential depth in the following manner.

[0195] Horizontal difference depth = depth(a-a') - depth(b-b').

[0196] Vertical difference depth = depth(a-a') - depth(c-c').

[0197] The horizontal and vertical differential depths correspond to the angles formed by the front surface of the source component and the surface of the detector. If the horizontal differential depth is 0, then the lines formed by ab and a'-b' can be parallel.

[0198] The main control unit 300 can obtain a rotation angle of the source component based on the angle formed by the front surface of the source component and the surface of the detector, which is used to make the angle between the front surface of the source component and the surface of the detector have a predetermined angle. The arrangement information may include the rotation angle of the source component. Furthermore, the main control unit 300 can output the rotation angle of the source component.

[0199] If the horizontal differential depth value is positive, the main control unit 300 can obtain third arrangement information to rotate the source component 110, so as to increase the distance between b-b' or decrease the distance between a-a' relative to the vertical axis 1220. If the horizontal differential depth value is negative, the main control unit 300 can obtain third arrangement information to rotate the source component 110, so as to decrease the distance between b-b' or increase the distance between a-a' relative to the vertical axis 1220. Figure 12 In the diagram, although a vertical axis 1220 can be drawn arbitrarily, it is not limited to this position; the vertical axis 1220 can be located at the same position as the vertical axis 1220. Figure 12 Different places.

[0200] Furthermore, the main control unit 300 can also obtain third arrangement information based on a pre-specified angle. As described above, the pre-specified angle can be obtained based on a constant or user input. The main control unit 300 can determine the depth offset based on the pre-specified angle. The larger the pre-specified angle, the larger the depth offset can be. In the main control unit 300, if the value of the depth offset value subtracted from the horizontal differential depth is 0, then the line formed by ab and the line formed by a'-b' can form a pre-specified angle. If the value of the depth offset value subtracted from the horizontal differential depth is positive, then the main control unit 300 can obtain third arrangement information to rotate the source component 110, so as to increase the distance between B-B' or decrease the distance between A-A' relative to the vertical axis 1220. If the value of the depth offset value subtracted from the horizontal differential depth is negative, then the main control unit 300 can obtain third arrangement information to rotate the source component 110, so as to decrease the distance between B-B' or increase the distance between A-A' relative to the vertical axis 1220. Figure 12 In the diagram, although a vertical axis 1220 can be drawn arbitrarily, it is not limited to this; the vertical axis 1220 can be located at... Figure 12 Different places.

[0201] Furthermore, if the vertical difference depth value is 0, the lines formed by ac and a'-c' can be parallel. If the vertical difference depth value is positive, the main control unit 300 can obtain third arrangement information to rotate the source component 110, so as to increase the distance between c-c' or decrease the distance between a-a' with reference to the horizontal axis 1210. If the vertical difference depth value is negative, the main control unit 300 can obtain third arrangement information to rotate the source component 110, so as to decrease the distance between c-c' or increase the distance between a-a' with reference to the horizontal axis 1210.

[0202] Furthermore, the main control unit 300 can also obtain third arrangement information using a pre-specified angle. For example, if the value of subtracting the depth offset from the vertical differential depth is 0, then the line formed by ac and the line formed by a'-c' can form a pre-specified angle. If the value of subtracting the depth offset from the vertical differential depth is positive, then the main control unit 300 can obtain third arrangement information to rotate the source component 110, so as to increase the distance between c-c' or decrease the distance between a-a' relative to the horizontal axis 1210. If the value of subtracting the depth offset from the vertical differential depth is negative, then the main control unit 300 can obtain third arrangement information to rotate the source component 110, so as to decrease the distance between c-c' or increase the distance between a-a' relative to the horizontal axis 1210.

[0203] The third arrangement information was determined using the first transceiver unit 410 and the second transceiver unit 510. However, it is not limited to this. When determining the arrangement information, the main control unit 300 can measure the angle formed by the front surface of the source component and the surface of the detector based on at least one of the 3D camera 520 and the gyroscope sensor 530. As described above, the 3D camera 520 can use a machine learning model to determine the region 730 of the detector. Furthermore, the main control unit 300 can also use the depth information measured by the 3D camera 520 to determine the tilt of the detector region. Furthermore, the main control unit 300 can also use the depth information measured by the 3D camera 520 to obtain depth (a-a'), depth (b-b'), and depth (c-c'). The main control unit 300 can obtain horizontal differential depth and vertical differential depth based on the 3D camera 520, and can also obtain the third arrangement information.

[0204] The tilt of the detector region can be determined by a gyroscope sensor included in the detector. In this disclosure, the tilt of the detector 120 can be a tilt relative to a fixed surface. For example, the fixed surface can be the ground. Alternatively, it can be a tilt relative to the ray irradiation surface of the source component.

[0205] The gyroscope sensor 530 of the source component 110 can measure the tilt of the source component. In this disclosure, the tilt of the source component 110 can be a tilt relative to a fixed surface. For example, the fixed surface can be the ground. Alternatively, it can be a tilt relative to the surface of the detector.

[0206] When outputting a message to guide the alignment of the illumination area and the detector, the main control unit 300 can output the angle (rotation angle of the source component) required to rotate the source component to make the front surface of the source component parallel to the surface of the detector, based on the angle formed by the front surface of the source component and the surface of the detector. The angle (rotation angle of the source component) required to rotate the source component can be included in the third arrangement information. For example, the main control unit 300 can obtain the tilt angle of the source component 110 relative to the detector and can guide the source component 110 to rotate in the opposite direction of the tilt angle so that the front surface of the source component is parallel to the surface of the detector.

[0207] Figure 13 This diagram illustrates the operation of a medical imaging device according to an embodiment of the present disclosure.

[0208] When the arrangement information is determined, the main control unit 300 can obtain position information on the 3D camera image of a pre-specified first arrangement location in the illumination area and a pre-specified second arrangement location in the detector area based on at least one of the first transceiver unit, the second transceiver unit, the 3D camera, and the gyroscope sensor. The position information may include at least one of the coordinate values ​​of the pre-specified first arrangement location in the illumination area and the coordinate values ​​of the pre-specified second arrangement location in the detector area. The position information can be information represented in the coordinate system of the 3D camera image, but is not limited thereto. The position information can be information represented in a three-dimensional spatial coordinate system. For example, the position information can also be represented in a coordinate system centered on a location of at least one of the source component 110 and the body 130. If the coordinate systems of the coordinate values ​​are different, the main control unit 300 can perform a coordinate transformation on the coordinate values ​​to make them consistent with one of the coordinate systems of the 3D camera image and the three-dimensional spatial coordinate system.

[0209] The main control unit 300 can output, based on position information, at least one of the direction and distance at which the source component needs to be moved to align the irradiation area and the detector area. The operation of the main control unit 300 will be further described in detail below.

[0210] The first arrangement location can be the same as at least one of locations a, b, c, and d. Furthermore, the first arrangement location can also correspond to the position of at least one second transceiver 510. The second arrangement location can be the same as at least one of locations a', b', c', and d'. The second arrangement location can correspond to the position of at least one first transceiver 410.

[0211] When outputting a message to guide the alignment of the irradiation area and the detector area, the main control unit 300 can output at least one of a direction and a distance that the source component needs to move to make the irradiation area and the detector area consistent, based on the position information. At least one of the direction and distance that the source component needs to move may include at least one of the first arrangement information and the second arrangement information.

[0212] The following is about Figure 13 Further details are provided. The main control unit 300 can obtain position information based on a plurality of first transceivers and a plurality of second transceivers. At least one of the detector's attitude information and the source component's attitude information may include position information.

[0213] The detector 120 may include a plurality of first transceivers 410. The plurality of first transceivers may include a first-first transceiver 921, a first-second transceiver 922, a first-third transceiver 923, and a first-fourth transceiver 924. The set of coordinates of the plurality of first transceivers may be shown in the table below. The method for obtaining the set of coordinates of the plurality of first transceivers has already been described, therefore, a repeated description is omitted.

[0214] The set of coordinates of multiple first transceiver units = {(x(a'), y(a')), (x(b'), y(b')), (x(c'), y(c')), (x(d'), y(d'))}.

[0215] Similarly, the source component 110 may include a plurality of second transceiver units 510. The plurality of second transceiver units may include a second-first transceiver unit 911, a second-second transceiver unit 912, a second-third transceiver unit 913, and a second-fourth transceiver unit 914. The set of coordinates of the plurality of second transceiver units may be shown in the table below. The method for obtaining the set of coordinates of the plurality of first transceiver units has already been described, therefore, a repeated description is omitted.

[0216] The set of coordinates of multiple second transceivers is {(x(a), y(a)), (x(b), y(b)), (x(c), y(c)), (x(d), y(d))}.

[0217] As shown below, the main control unit 300 can determine Alignment x and Alignment y as location information.

[0218] Alignment x=([x(a)-x(a')]+[x(b)-x(b')]+[x(c)-x(c')]+[x(d)-x(d')]) / n (where n=4).

[0219] Alignment y=([y(a)-y(a')]+[y(b)-y(b')]+[y(c)-y(c')]+[y(d)-y(d')]) / n (where n=4).

[0220] Furthermore, the main control unit 300 can obtain, based on the position information, at least one of the direction and distance that the source component needs to move to align the irradiation area and the detector area. The arrangement information may include at least one of the direction and distance that the source component needs to move. The main control unit 300 can output at least one of the direction and distance that the source component needs to move.

[0221] If Alignment x is negative, it means that the direction of the first arrangement of information is shifted to the right by |Alignmentx|.

[0222] Furthermore, if Alignment x is a positive number, it means that the first arrangement of information is shifted to the left by |Alignment x|.

[0223] Furthermore, if Alignment y is negative, it can indicate that the first arrangement of information is shifted upwards by |Alignment y|.

[0224] If Alignment y is a positive number, it means that the first arrangement of information is shifted downwards by |Alignment y|.

[0225] Furthermore, the absolute value of Alignment x can be related to the distance that the source component 110 needs to be moved to align the source component 110 and the detector. The main control unit 300 can store a movement distance acquisition table and a movement distance acquisition function for obtaining the movement distance corresponding to the absolute value of Alignment x and the distance that the source component 110 needs to be moved. The main control unit 300 can obtain the distance that the source component 110 needs to be moved corresponding to the absolute value of Alignment x based on the movement distance acquisition table and the movement distance acquisition function. The main control unit 300 can include the movement direction and the distance to be moved in the first arrangement information. Furthermore, the main control unit 300 can display the first arrangement information on the display. The user can move the source component 110 based on the first arrangement information, thereby aligning the irradiation area and the detector area, or aligning the center of the detector and the center of the irradiation area.

[0226] UWB can be used to represent multiple first transceiver units 410 and multiple second transceiver units 510. The purpose of UWB is to obtain x and y coordinates. If the detectors 120 and source components 110 are not arranged, the quality of medical images can be reduced, and as described above, the medical imaging device 100 can take approximate values ​​as averages to guide the arrangement of the detectors 120 and source components 110.

[0227] While the process of obtaining the first arrangement information using the first transceiver unit 410 and the second transceiver unit 510 has been described above, it is not limited thereto. When determining the arrangement information, the main control unit 300 can obtain a set of coordinates of multiple first transceivers and a set of coordinates of multiple second transceivers from the 3D camera image based on the 3D camera 520. For example, since the 3D camera 520 is included in the source component 110, the main control unit 300 can determine a pre-specified position of the 3D camera image as the set of coordinates of multiple second transceivers. Furthermore, after locating the detector area, the main control unit 300 can determine a pre-specified position of the detector area as the set of coordinates of multiple first transceivers. The main control unit 300 can obtain the first arrangement information using the method described above.

[0228] The main control unit 300 can obtain body part recognition information of the subject being photographed. This information can be obtained based on user input or pre-stored subject information. The main control unit 300 can perform three-dimensional or two-dimensional modeling of the subject based on the body part recognition information and the surface area of ​​the object (SOD) to obtain a body part model. The SOD can be determined using the methods already described. Furthermore, the main control unit 300 can position the center of the detector area at the center of the body part model presented in the 3D camera image. The center of the body part model can include at least one of the location of the center of weight of the body part model or the center of a rectangle circumscribed by the body part model.

[0229] But it is not limited to this, such as Figure 11 Alternatively, the center 731 of the detector region 730 can be set at the center 1130 of the area of ​​the subject being photographed. The main control unit 300 can determine the detector region 730 based on the SID. The SID can be obtained by the method described above. The size of the detector region 730 can be determined on the 3D camera image based on the SID. A large SID indicates a large distance between the source component 110 and the detector 120, therefore, the detector region 730 can be small in the 3D camera image. Conversely, a small SID indicates a small distance between the source component 110 and the detector 120, therefore, the detector region 730 can be large in the 3D camera image. The main control unit 300 can determine the size of the detector based on at least one of the first distance information and the SID based on at least one of the detector size table and the detector size function.

[0230] In summary, the medical imaging device 100 can obtain at least one of the first arrangement information, second arrangement information, and third arrangement information of the source components 110. Furthermore, the medical imaging device 100 can display at least one of the first arrangement information, second arrangement information, and third arrangement information of the source components 110 on a display screen, allowing the user to arrange the source components 110 on the detector 120. Moreover, the medical imaging device 100 can automatically arrange the source components 110 and the detector 120 based on at least one of the first arrangement information, second arrangement information, and third arrangement information. More specifically, the source arm 140 of the medical imaging device 100 can be a robotic arm, which can move the source components 110 based on at least one of the first to third arrangement information, thereby automatically arranging the source components 110 and the detector 120.

[0231] The direction of the first arrangement of information can indicate the direction in which the source component 110 is moved in a plane parallel to the front surface of the source component 110. (Refer to...) Figure 7 The direction of the first arrangement information can be displayed on the screen as shown by arrows 741 and 742. The first arrangement information can be the direction of the moving source component 110 such that the irradiation area 720 includes the detector area 730. In this disclosure, the first arrangement information can include not only direction information but also distance information. The distance of the first arrangement information can be displayed around arrows 741 and 742. Therefore, the user can arrange the source component 110 and detector 120 after seeing the display showing the first arrangement information.

[0232] The second arrangement information can be a direction used to adjust the distance between the source component 110 and the detector 120. That is, the second arrangement information can be parallel to a direction from the center of the source component 110 toward the center of the detector 120. The second arrangement information can affect at least one of SID or SOD. In this disclosure, the second arrangement information can include not only direction information but also distance information. At least one of the direction and distance of the second arrangement information can be displayed on a monitor. Therefore, the user can adjust the distance between the source component 110 and the detector 120 after viewing the display.

[0233] The third arrangement information refers to the direction in which the source assembly 110 rotates, with reference to the horizontal axis 1210 and the vertical axis 1220, which are parallel to the plane perpendicular to the length direction of the source arm 140. For example, the horizontal axis 1210 may correspond to the pitch axis, and the vertical axis 1220 may correspond to the yaw axis. However, it is not limited to this; the horizontal axis 1210 may correspond to the yaw axis, and the vertical axis 1220 may correspond to the pitch axis. The third arrangement information may be the direction in which the source assembly 110 rotates so that the ray irradiation direction of the source assembly 110 is perpendicular to the surface of the detector 120. In other words, the third arrangement information may be the direction in which the source assembly 110 rotates so that the front surface of the source assembly 110 is parallel to the surface of the detector 120. In this disclosure, the third arrangement information may include not only direction information but also rotation angle information. Furthermore, although the third arrangement information has been described above with reference to the horizontal axis 1210 and the vertical axis 1220, it is not limited to this; the third arrangement information may also include information on the rotation direction and rotation angle relative to the roll axis. The main control unit 300 can display the third row of information on the monitor. After viewing the monitor, the user can adjust the direction of the radiation from the source assembly 110 to be perpendicular to the plane of the detector 120.

[0234] The medical imaging device 100 can fix the movement direction of the source component 110 to be used only for one of the first, second, and third arrangement information based on the user's selection. For example, the medical imaging device 100 can display an object moving in one of the first, second, and third arrangement information on the display. The object can be at least one of text, color, and shape, and is displayed as an image on the display. When the user selects an object related to the first arrangement information, the source component 110 can only move in a direction parallel to the direction of the first arrangement information, preventing movement in the directions of the second and third arrangement information. For example, the main control unit 300 can fix the joint for movement in the directions of the second and third arrangement information. Similarly, when the user selects an object related to the second arrangement information, the source component 110 can only move in a direction parallel to the direction of the second arrangement information, preventing movement in the directions of the first and third arrangement information. And when the user selects an object related to the third arrangement information, the source component 110 can only move in a direction parallel to the direction of the third arrangement information, preventing movement in the directions of the second and first arrangement information.

[0235] One embodiment of the medical imaging apparatus disclosed herein utilizes at least one sensor to align detectors and source components, thereby improving alignment accuracy. Furthermore, during alignment, the medical imaging apparatus 100 outputs at least one of first to third alignment information for alignment, minimizing user intervention and thus improving user convenience. Additionally, with the aid of a robotic arm, the source component 110 can automatically move to the alignment position based on the first to third alignment information, thereby increasing user convenience and accelerating the acquisition of medical images.

[0236] According to the medical imaging device 100 described above, the source assembly 110 and detector 120 can be arranged quickly and accurately. Furthermore, the burden of imaging on users and patients can be reduced. Additionally, the discomfort caused by re-imaging can be reduced, and radiation exposure caused by re-imaging can be eliminated.

[0237] The present invention has been observed above with a focus on several embodiments. It will be understood by those skilled in the art that the invention can be embodied in modified forms without departing from its essential characteristics. Therefore, the disclosed embodiments should not be considered from a limiting perspective, but rather from an illustrative perspective. The scope of the invention is presented within the scope of the claims, not in the foregoing description, and all differences within the same scope should be interpreted as inclusive of the invention.

[0238] On the other hand, the embodiments of the present invention described above can be written into programs that can be executed on a computer, and can be implemented in a general-purpose digital computer for running the program using a computer-readable recording medium. Computer-readable recording media include storage media such as magnetic storage media (e.g., read-only memory, floppy disks, hard disks, etc.) and optical reading media (e.g., optical discs, digital video discs, etc.).

Claims

1. A medical imaging device, characterized in that, include: The detector includes a detector control unit for controlling the operation of the detector and a first transceiver unit disposed at a pre-specified location; The source component includes a second transceiver unit on its front face; and The main control unit is used to control the operation of the medical imaging device. The main control unit obtains arrangement information for arranging the detector and the source component.

2. The medical imaging device according to claim 1, characterized in that, The arrangement information is based on at least one of the pose information of the detector and the pose information of the source component, and includes information related to at least one of the direction, distance and angle of movement of the source component.

3. The medical imaging device according to claim 1, characterized in that, Based on the arrangement information, when the detector area and the illumination area are consistent, a signal is output to indicate that the detector area and the illumination area are consistent.

4. The medical imaging device according to claim 1, characterized in that, The detector includes multiple first transceiver units, and the source component includes multiple second transceiver units. The main control unit obtains the source-image distance from the source component to the detector based on multiple distances between multiple first transceivers and multiple second transceivers that correspond one-to-one.

5. The medical imaging device according to claim 1, characterized in that, The source component also includes a 3D camera for acquiring images from a 3D camera. The main control unit obtains at least one of the pose information of the source component and the detector based on the 3D camera images.

6. The medical imaging device according to claim 5, characterized in that, The main control unit uses the first transceiver unit and the second transceiver unit to obtain the previous row information. And based on the 3D camera images, the rear arrangement information is obtained. The final arrangement information is determined based on the preceding and following arrangement information.

7. The medical imaging device according to claim 5, characterized in that, The first distance information between the first transceiver unit and the second transceiver unit is obtained based on the signal between the first transceiver unit and the second transceiver unit. And based on the first distance information, the area of ​​the detector is displayed in the 3D camera image.

8. The medical imaging device according to claim 5, characterized in that, The main control unit displays the area of ​​the detector in the 3D camera image. Obtain second distance information from the 3D camera to at least one object being photographed. The source image distance from the source component to the detector is obtained based on the region of the detector and the second distance information.

9. The medical imaging device according to claim 5, characterized in that, The main control unit obtains second distance information from the 3D camera to at least one object being photographed. The source-object distance from the source component to the subject is obtained based on the second distance information.

10. The medical imaging device according to claim 9, characterized in that, The main control unit obtains the first distance information between the first transceiver unit and the second transceiver unit based on the signal between the first transceiver unit and the second transceiver unit. The source-image distance from the source component to the detector is obtained based on the first distance. The thickness of the subject is determined based on the source object distance and the source image distance.

11. The medical imaging device according to claim 10, characterized in that, The main control unit obtains the body part identification information of the subject being photographed. Based on the body part recognition information and the source-object distance, a three-dimensional or two-dimensional model of the photographed object is performed to obtain a body part model. The center of the detector's region is located at the center of the body part model presented in the 3D camera image. The region of the detector is displayed based on the source-image distance.

12. The medical imaging device according to claim 5, characterized in that, The 3D camera includes at least one of a depth measurement camera, an RGBD camera, or a TOF camera.

Images