Method of controlling an x-ray apparatus, x-ray apparatus and computer program product

Abstract

The invention relates to a method for controlling an X-ray device. The X-ray device comprises an X-ray source, an X-ray detector and a light guiding device, the X-ray source and the X-ray detector are oppositely arranged in a first defined layout, the light guiding device is arranged in a second defined layout relative to the X-ray detector, a virtual reference ray is defined by a first reference point and a second reference point, the method includes: receiving planning information about a planned path for arranging a medical subject; emitting a light fan through the light guiding unit, so that the virtual reference rays are arranged in the light fan; repositioning the first defined layout from the initial position to other positions; the virtual reference ray intersects the planned path in an initial position and other positions of the first defined layout; detecting other positions as current positions; the second defined layout is rotated based on the plan information and the current location of the first defined layout, causing the light fan to illuminate the planned path. The invention also relates to an X-ray device and a computer program product.

Description

Technical Field

[0001] This invention relates to a method for controlling an X-ray device, an X-ray device, and a computer program product. Background Technology

[0002] In medical interventions, especially minimally invasive procedures such as biopsies for pain management and / or catheter placement, precise positioning of the medical subject, such as needles and / or medical devices, is often crucial. Typically, the subject should be guided to the target location along a planned trajectory, and / or oriented along that trajectory, particularly in terms of planned spatial orientation.

[0003] In medical C-arm X-ray equipment and / or computed tomography (CT) scanners, needle guidance can be achieved, for example, through optical and / or electromagnetic tracking and / or laser guidance. Systems used for optical and / or electromagnetic tracking are typically expensive and complex to use, prone to failure, require regular calibration, and / or their accuracy can be affected by external factors such as metallic objects and electromagnetic fields.

[0004] In the laser needle guidance range of a C-arm X-ray system, for example, two "progress views" of the C-arm X-ray system can be used. These progress views are as perpendicular as possible to the planned needle path orientation, and typically perpendicular to the "bullseye" direction, especially perpendicular to the longitudinal extension direction of the planned needle path. These progress views are usually pre-calculated according to specific geometric standards and to avoid collisions. To activate one of the progress views, it is usually necessary to select that progress view in the system menu so that the C-arm X-ray system can automatically move to that position. The line laser can then be turned on and illuminate the needle path from the side. The line laser integrated into the detector of the C-arm X-ray system can here achieve its lateral progress view, in which the planned needle path can be illuminated from the side. Selecting the progress view in the system menu can be time-consuming and cumbersome. Pre-calculated progress views also limit flexibility and efficiency.

[0005] These drawbacks generally make it more difficult and less efficient to manipulate medical subjects in X-ray imaging monitoring. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to improve the guidance of medical subjects in X-ray imaging monitoring.

[0007] This technical problem is solved according to the present invention by a method for controlling an X-ray device, an X-ray device, and a computer program product having a computer program. In this patent application, nouns and pronouns referring to persons generally do not specify a particular gender.

[0008] In one aspect, the present invention relates to a method for controlling an X-ray apparatus. The X-ray apparatus includes an X-ray source, an X-ray detector, and a light guide device. The X-ray source and the X-ray detector are arranged opposite each other and in a first defined layout. The first defined layout is movably supported. The light guide device is arranged relative to the X-ray detector in a second defined layout. The second defined layout is at least rotatably supported. Furthermore, a virtual reference ray is defined by first and second reference points. Here, the first reference point is arranged at the X-ray source, and the second reference point is arranged between the X-ray source and the X-ray detector, which is part of the first defined layout. The method includes several steps. In a first step, planning information about a planned path is received, which is used to arrange a medical object capable of being imaged by the medical X-ray apparatus. In another step, a light fan is emitted through the light guide unit, such that the virtual reference ray is arranged within the light fan. In yet another step, the first defined layout is repositioned from an initial position to another position, wherein, in the initial position and the other position of the first defined layout, the virtual reference ray intersects the planned path at a point, respectively. The virtual reference ray may intersect the planned path at the same or different points in the initial and other positions of the first defined layout. In another step, the other positions are detected as the current positions of the first defined layout. In yet another step, the second defined layout is rotated based on the planning information and the current positions of the first defined layout, causing the light fan to illuminate the planned path.

[0009] This X-ray device can be, in particular, a medical X-ray device. The X-ray source can be designed to emit X-rays, especially X-ray beams. Furthermore, the X-ray detector can be used to detect, especially incident X-rays, particularly at X-ray-sensitive surfaces. The X-ray detector can be designed, in particular, as a flat detector.

[0010] The X-ray source and X-ray detector are arranged opposite each other. The X-ray source and X-ray detector are arranged opposite each other in a manner such that X-rays emitted by the X-ray source can irradiate the X-ray detector, especially the X-ray sensitive surface of the X-ray detector. Furthermore, the X-ray source and X-ray detector are arranged in a first defined layout. The first defined layout can refer to the relative positioning between the X-ray source and X-ray detector, particularly their spatial relative positioning and / or relative orientation and / or relative attitude. Furthermore, the X-ray source and X-ray detector can be arranged in the first defined layout within a common support structure, such as a C-arm and / or a C-bow and / or an O-arm. The common support structure can be movably supported about one or more axes.

[0011] The first defined layout allows for movable, particularly translational and / or rotatable support. In the first defined layout, the X-ray source and X-ray detector can be particularly movable, particularly translational and / or rotatable support.

[0012] The optical guiding device is arranged relative to the X-ray detector in a second defined arrangement. This second defined arrangement can refer to the relative positioning between the optical guiding device and the X-ray detector, particularly their spatial relative positioning and / or relative orientation and / or relative attitude. The second defined arrangement is at least rotatably supported, particularly translatably and rotatably supported. In the second defined arrangement, the optical guiding device and the X-ray detector are particularly rotatably, particularly translatably and rotatably supported. When the X-ray detector is designed as a planar detector, the axis of rotation of the second defined arrangement can advantageously correspond to the surface normal of the planar detector.

[0013] The light guiding device may advantageously include a light source, such as a laser source, designed to emit a light fan. The light guiding device may therefore include an optical aperture. The light fan may advantageously, in particular, illuminate a predefined layer in a fan shape. The light guiding device may advantageously be arranged relative to an X-ray detector such that the light fan can be emitted at least partially toward the X-ray source. The light guiding device may, for example, be arranged relative to the X-ray detector in at least a portion of the possible positions of the first and second defined layouts, and particularly in all possible positions of the first and second defined layouts, such that the light fan can be emitted at least partially toward the direction of the X-ray source. The light guiding device may emit the light fan in the form of a laser line.

[0014] When the first defined layout moves, the second defined layout can move accordingly. The movement of the second defined layout, especially at least the rotation of the second defined layout, can be implemented independently of the first defined layout, and especially relative to the first defined layout.

[0015] Receiving planning information may in particular include acquiring and / or reading from computer-readable data storage and / or receiving from data storage units, such as databases. Furthermore, planning information may be provided by the providing unit of the medical imaging equipment.

[0016] Planning information can advantageously include spatially resolved, and especially spatially and temporally resolved, information regarding the planned paths for the placement of medical subjects. Here, the planned paths can extend at least partially, and especially entirely, in a linear fashion. For example, planning information for research subjects can be provided based on preprocessed datasets, particularly preprocessed 3D datasets.

[0017] Medical objects can be surgical instruments, such as needles, especially puncture needles, and / or drills, and / or diagnostic instruments, such as endoscopes, especially laparoscopes, and / or catheters and / or implants. Medical objects can advantageously be at least partially, and especially entirely, designed to be rigid and elongated, especially rod-shaped and / or needle-shaped. Medical objects can advantageously be image-enhancing through them, for example, by being at least partially designed to be opaque to X-rays. Planning information can advantageously specify the planning path relative to the object of examination, especially relative to the coordinate system of the object of examination. The object of examination can, for example, be a human and / or animal patient and / or examination phantom.

[0018] If the medical object includes a needle, the planned path may include, for example, the planned needle trajectory.

[0019] The first reference point can be a point in space, particularly a point determined by spatial coordinates, located at the X-ray source, especially at the focal point of the X-ray source. The first reference point can have a defined, especially constant, positional relationship relative to the X-ray source.

[0020] The second reference point may include a spatial point, particularly a point determined by spatial coordinates, which differs from the first reference point and is arranged between the X-ray source and the X-ray detector. The second reference point may be located at the X-ray detector, at the X-ray source, or in an intermediate region between the X-ray source and the X-ray detector. The second reference point is advantageously arranged at an interval from the first reference point. The first and second reference points are advantageously part of the first defined layout.

[0021] Advantageously, the first and second reference points can define a virtual reference ray. The virtual reference ray can extend from the first reference point through the second reference point.

[0022] In another step, the light guiding unit emits light fans, causing a virtual reference ray to be arranged within the fan-shaped region. Here, the light fans can have a defined positional relationship relative to the second defined layout, particularly relative to the light guiding device and the X-ray detector. Thus, the light fans can also have a defined positional relationship relative to the first defined layout. The light fans can illuminate a predefined layer, particularly in a fan shape. Advantageously, the light guiding unit emits light fans as follows, causing the virtual reference ray to be arranged within the layer illuminated by the light fans.

[0023] In another step, the first defined layout can be repositioned from its initial location, particularly manually or semi-automatically, and particularly moved to another location. For example, during semi-automatic repositioning of the first defined layout, the user can be supported by digital suggestions, such as workflow prompts. The first defined layout can describe the initial spatial position and / or orientation and / or attitude of the first defined layout at a first point in time. Furthermore, other locations can describe the different spatial positions and / or orientations and / or attitudes of the first defined layout at other points in time, particularly after the first point in time. These other locations differ from the initial location of the first defined layout. In addition, when the first defined layout is positioned in the initial location and other locations, the virtual reference ray intersects the planned path at a point of intersection, respectively. Repositioning of the first defined layout can include translation and / or rotation of the first defined layout. Repositioning includes, in particular, not only rotating the first defined layout about the planned path, which serves as the axis of rotation.

[0024] Advantageously, at the initial time point, the second defined layout can be positioned relative to the first defined layout such that the optical fan illuminates the predetermined path. After the first defined layout is repositioned from its initial position to another position, the second defined layout can be positioned relative to the planned path such that the optical fan initially intersects only with the planned path. For example, the intersection point of the virtual reference ray and the planned path can be arranged at the rotation center of the first defined layout, especially at an isoangular point.

[0025] In another step, other positions of the first defined layout are detected as the current position of the first defined layout. The current position of the first defined layout can be detected by a control unit, which is used to control movement, particularly the repositioning of the X-ray equipment, and especially the repositioning of the first defined layout. The control unit may include, in particular, electromagnetic and / or optical and / or acoustic and / or mechanical sensors to detect the current position of the first defined layout. Advantageously, the current position of the first defined layout relative to the planned path can be detected, particularly the current position relative to the coordinate system of the object being inspected.

[0026] In another step, based on planning information, particularly information about the planned path and the current positioning of the first defined layout, the second defined layout is rotated so that the light fan illuminates the planned path. Specifically, the light fan can be rotated relative to the planned path by rotating the second defined layout. This rotation of the second defined layout can advantageously be performed simultaneously with or after the repositioning of the first defined layout.

[0027] Advantageously, the current position of the second defined layout can be determined based on the current position of the first defined layout, particularly its current position relative to the planned path. Based on planning information, particularly information about the spatial positioning of the planned path, and information about the current position of the first defined layout, and especially about the current position of the second defined layout, the second defined layout, particularly the optical fan, can be rotated so that the optical fan illuminates the planned path.

[0028] This allows the light fan to advantageously and consistently illuminate the predetermined path used to position the medical object. This enables flexible and precise guidance of the medical object along the predetermined path. By rotating the second defined layout, especially the X-ray detector, relative to the predetermined path, such as the needle path, collimation along the predetermined path can be advantageously achieved, thereby additionally saving X-ray dose while maintaining imaging of the region of interest of the object to be examined.

[0029] In another advantageous embodiment of the method, the second reference point may be arranged at the rotation center of the first defined layout, especially at an isogonal point, the rotation center of the second defined layout, or at the geometric center of the X-ray source's exit window.

[0030] The center of rotation, particularly the center of rotation of the first defined layout, can represent a spatial point about which the first defined layout is rotatably supported. The axis of rotation for rotating the first defined layout can extend through this center of rotation. The center of rotation of the first defined layout can, in particular, be an isoangular point of an X-ray device. Advantageously, a second reference point can be arranged at the center of rotation of the first defined layout. This allows a virtual reference ray to rotate as the first defined layout rotates around the second reference point.

[0031] Alternatively, the second reference point can be arranged at the rotation center, particularly at the rotation center of the second defined layout. The rotation center, particularly the rotation center of the second defined layout, can represent a spatial point about which the second defined layout is rotatably supported. Here, the rotation axis of the second defined layout can extend through the rotation center of the second defined layout. Advantageously, the rotation axis of the second defined layout can be arranged perpendicular to the surface of the X-ray detector facing the X-ray source. The rotation center of the second defined layout can, for example, be the rotation center of the X-ray detector. The rotation center of the second defined layout can be arranged, in particular, at the geometric center of the X-ray detector, especially at the X-ray sensitive surface of the X-ray detector. Thus, the second reference point can advantageously remain unchanged with rotation relative to the second defined layout. Here, even when the second defined layout rotates, the virtual reference ray can still illuminate the same spatial point, such as the detector pixel and / or position on the X-ray detector.

[0032] Alternatively, a second reference point can be arranged at the geometric center of the X-ray exit window of the X-ray source. Here, the virtual reference ray can extend along the central ray and / or intermediate ray of the X-ray beam emitted by the X-ray source. This allows the reference ray to remain advantageously constant relative to changes in the relative positioning of the X-ray source and X-ray detector in the first defined arrangement, changes in relative positioning caused, for example, by mechanical deformation of the common support structure. The emission of the light guide can be adapted accordingly to the light fan when changes in relative positioning are detected.

[0033] In another advantageous embodiment of the method, the virtual reference ray can be arranged along the rotation axis of the second defined layout.

[0034] Advantageously, the second reference point can be arranged along the rotation axis of the second defining layout, particularly on the rotation axis of the second defining layout. Here, the rotation axis of the second defining layout can, for example, extend through the rotation center of the first defining layout and / or the geometric center of the ray exit window. Alternatively, the second reference point can be arranged at the rotation center of the second defining layout.

[0035] Thus, the virtual reference ray can advantageously remain unchanged with respect to rotation relative to the second defined layout.

[0036] In another advantageous implementation of the method, the repositioning of the first defined layout can be limited to rotation about the intersection of the virtual reference ray and the planned path, or may include a combination of rotation about the intersection and translation parallel to the planned path.

[0037] Advantageously, the repositioning of the first defined layout, particularly the degrees of freedom of motion for repositioning, can be restricted to rotation, particularly rotational motion, of the first defined layout about the intersection point of the virtual reference ray and the planned path. Alternatively, the repositioning of the first defined layout, particularly the degrees of freedom of motion for repositioning, can be restricted to rotation, particularly rotational motion, of the first defined layout about the intersection point of the virtual reference ray and the planned path, as well as translation, particularly translational motion, of the first defined layout parallel to the planned path. By restricting the translation, particularly translational motion, of the first defined layout parallel to the planned path, it is advantageously ensured that the virtual reference ray intersects the planned path at the intersection point. Restricting the repositioning of the first defined layout, particularly the degrees of freedom of motion, can, for example, include adaptive control, particularly controllable degrees of freedom adapted to the first defined layout. For example, the control element, particularly the monitoring element, can be configured via the input unit of the X-ray device, particularly the user interface, such that the first defined layout can only move with geometrical constraints; for example, the joystick of the input unit can be correspondingly modified in its functionality.

[0038] For example, the intersection of the virtual reference ray and the planned path can be arranged at the rotation center of the first defined layout, especially at an isocentric point. Here, the first defined layout can be repositioned, especially rotated, isocentrically to other positions, either manually or semi-automatically, so that the second defined layout rotates automatically, thereby illuminating the planned path, especially in the progress view.

[0039] This advantageously ensures that the virtual reference ray, when repositioned from its initial position to another position in the first defined layout, still intersects the planned path, especially at the intersection points. This advantageously enables continuous repositioning of the first defined layout while maintaining the intersection points between the virtual reference ray and the planned path. Furthermore, this advantageously ensures that the light fan illuminates the planned path, especially continuously and at least partially.

[0040] In another advantageous embodiment of the method, changes in the relative positioning of the first and second reference points can be identified. The emission of the optical fan by the optical guiding device can be adapted based on the identified changes in relative positioning.

[0041] The relative positions of the X-ray source and X-ray detector within the first defined layout may change, for example, due to mechanical deformation of the common support structure. The relative positions of the X-ray source and X-ray detector are particularly likely to change based on the current position of the first defined layout. Here, the relative positions of the first and second reference points may change. Changing the relative positions of the first and second reference points may cause a change in the relative position of the virtual reference ray relative to the second defined layout, especially relative to the emitting optical fan. Advantageously, changes in the relative positions of the first and second reference points can be identified, especially automatically. Identification of changes in the relative positions of the first and second reference points may, for example, include detecting the current relative positions of the X-ray source and X-ray detector using sensors. Alternatively or additionally, changes in the relative positions of the first and second reference points may also be identified based on the current position of the first defined layout, for example, based on a lookup table and / or a physical model of the X-ray apparatus.

[0042] Advantageously, the optical guiding device can be designed to adapt the emission of the optical fan to changes in the relative positioning of the identified first and second reference points, particularly the projection direction and / or the fan angle of the optical fan. Advantageously, the optical guiding device can adapt the emission of the optical fan to changes in the identified relative positioning, such that a virtual reference ray is arranged within the optical fan, particularly within the layer illuminated by the optical fan.

[0043] The proposed implementation can advantageously compensate for changes in the relative positioning of the first and second reference points during the emission of the optical fan. This advantageously ensures that the virtual reference ray is arranged within the optical fan.

[0044] In another advantageous embodiment of the method, the first defined layout can be repositioned, particularly successively, to multiple other positions. Here, a virtual reference ray can intersect the planned path in the initial and other positions of the first defined layout. The corresponding current position of the first defined layout can be detected. The second defined layout can rotate based on the planning information and the corresponding current position of the first defined layout, such that the light fan illuminates the planned path.

[0045] Advantageously, the first defined layout can be repositioned in time sequence, especially to multiple other locations. These multiple other locations are at least partially, and especially completely different. Advantageously, the initial location and the multiple other locations can describe the trajectory of the first defined layout, especially a continuous trajectory. Advantageously, the first defined layout can be continuously, especially along a continuous trajectory, repositioned in time sequence from the initial location to multiple other locations.

[0046] The virtual reference ray can advantageously intersect the planned path of the first-defined layout at a point, particularly at the initial and other locations. The points where the virtual reference ray intersects the planned path at the initial and other locations of the first-defined layout can be at least partially, particularly identical or different.

[0047] Here, each time the first defined layout is placed into one of a plurality of other locations, the corresponding current location of the first defined layout can be detected.

[0048] Advantageously, the second defined layout can be rotated based on planning information, particularly information regarding the location of the planned path, and the corresponding current location of the first defined layout, such that the light fan illuminates the planned path, and in particular, that the planned path is arranged within the layer illuminated by the light fan. The rotation of the second defined layout can advantageously be performed simultaneously with or after the repositioning of the first defined layout.

[0049] The proposed implementation can advantageously achieve particularly flexible and efficient positioning of the first defined layout, wherein rotating the second defined layout ensures illumination by the light fan, especially continuous illumination of the planned path.

[0050] In another advantageous embodiment of the method, the medical object can be arranged along a planned path. An X-ray source can emit X-rays to irradiate the medical object. The X-rays can be detected by an X-ray detector, and signals are provided based on the detected X-rays. X-ray image data can be provided based on the signals.

[0051] Advantageously, the medical object, especially its longitudinal axis, can be arranged along a planned path, particularly on the planned path. Advantageously, X-rays, especially X-ray beams, for irradiating the medical object can be emitted from an X-ray source. The X-rays, especially after interacting with the medical object, can be detected by an X-ray detector, especially by the X-ray-sensitive surface of the X-ray detector. The X-ray detector can provide a signal based on the detected X-rays. Advantageously, this signal can have information about the detected X-rays, especially spatially resolved or spatially and temporally resolved information. This signal can advantageously be provided by the X-ray detector. Advantageously, X-ray image data can be provided based on said signal.

[0052] X-ray image data can include representations of medical objects, particularly imaging, especially representations of medical objects and objects under examination. Here, the X-ray image data can be spatially resolved in two dimensions (2D) and / or three dimensions (3D). Furthermore, the X-ray image data can also be time-resolved. The X-ray image data can have multiple image points, particularly pixels and / or voxels, each image point having at least one image value, particularly multiple image values, such as time-intensity curves, where each image value corresponds to a partial volume.

[0053] Providing X-ray image data may include storing it on a computer-readable storage medium and / or displaying it on a display unit and / or transmitting it to a processing unit. In particular, a graphical view of the X-ray image data may be displayed on the display unit.

[0054] The proposed implementation method enables improved guidance of medical subjects under X-ray imaging monitoring.

[0055] According to another advantageous embodiment of the method, an image of a medical object can be identified, for example, manually or automatically, in X-ray image data through segmentation and / or pattern recognition and / or annotation. Here, the longitudinal axis of the medical object, especially its instantaneous longitudinal axis, can be identified based on the image of the medical object identified in the X-ray image data. Here, the current orientation of the medical object and its virtual extension can be used as a planned path.

[0056] In this embodiment, the light fan, after the second defined layout is rotated, can advantageously illuminate the current longitudinal extension direction of the medical object as the planned path. This provides assistance to the medical operator in positioning and / or moving the medical object forward to maintain its current orientation.

[0057] In another advantageous embodiment of the method, the planning information can be registered with the coordinate system of the X-ray equipment.

[0058] Registration of the planning information with the coordinate system of the X-ray equipment may involve applying transformation rules to the planning information. These transformation rules may specify translations and / or rotations and / or scaling and / or deformations that minimize the deviation between the corresponding spatial points in the planning information, and particularly between the coordinate system of the planning information and the coordinate system of the X-ray equipment. If the planning information has been registered with the coordinate system of the object being inspected, the coordinate systems of the object being inspected and the X-ray equipment can be advantageously registered to each other.

[0059] The proposed implementation method can advantageously achieve particularly precise guidance of medical subjects under X-ray imaging monitoring.

[0060] In another advantageous embodiment of the method, the provision of X-ray image data may include providing a graphical view of the X-ray image data via a display unit. Here, the graphical view of the X-ray image data may be rotated such that the current rotation of the second defined layout relative to the planned path is offset.

[0061] The display unit may include, for example, a monitor and / or display screen and / or projector, designed to display a graphical view of X-ray image data. Providing the graphical view of the X-ray image data may include displaying the graphical view of the X-ray image data through the display unit. The graphical view of the X-ray image data can advantageously be rotated, especially digitally. Here, the X-ray image data can be graphically displayed according to the current position of the second-defined layout relative to the planned path, especially the current rotation. This advantageously enables stable display of the image of the medical object, especially independent of the current rotation of the second-defined layout.

[0062] In a second aspect, the present invention relates to an X-ray apparatus comprising an X-ray source, an X-ray detector, a light guide, and a control unit. The X-ray source and the X-ray detector are arranged opposite each other and in a first defined layout. The first defined layout is movably supported. The light guide is arranged relative to the X-ray detector in a second defined layout. The second defined layout is at least rotatably supported. Here, virtual reference rays are defined by first and second reference points. Furthermore, the first reference point is arranged at the X-ray source, and the second reference point is arranged between the X-ray source and the X-ray detector, which is part of the first defined layout.

[0063] The optical guiding device is designed to emit optical fans such that a virtual reference ray is positioned within the optical fans. The control unit is designed to receive planning information about a planned path for arranging a medical object imageable by a medical X-ray device. The control unit is also designed to reposition a first defined layout from an initial position to another position, wherein the virtual reference ray intersects the planned path in both the initial and other positions of the first defined layout. The control unit is also designed to detect the other positions as the current position of the first defined layout. Furthermore, the control unit is designed to rotate a second defined layout based on the planning information and the current position of the first defined layout, such that the optical fans illuminate the planned path.

[0064] The advantages of the proposed X-ray equipment are substantially the same as the advantages of the proposed method for controlling the X-ray equipment. The features, advantages, or alternative embodiments mentioned herein can also be applied to other claimed technical solutions, and vice versa.

[0065] The control unit may advantageously include an interface, a computing unit, and / or a storage unit. The control unit may be designed to provide a first control signal via the interface to control the repositioning of a first defined layout. Furthermore, the control unit may also be designed to provide a second control signal via the interface to control the rotation of a second defined layout.

[0066] In another advantageous embodiment of the X-ray apparatus, the optical guiding device may be arranged in a second defined layout at the X-ray detector, X-ray source, or guiding unit.

[0067] The optical guiding device can be advantageously fixed in a second defined configuration at an X-ray detector, X-ray source, or guiding unit. Alternatively or additionally, the optical guiding device can be at least partially, and especially completely, integrated into the X-ray detector, X-ray source, or guiding unit in the second defined configuration. The guiding unit may, for example, include a bracket and / or tripod designed to position the optical guiding device in the second defined configuration and to rotate with the second defined configuration.

[0068] In another advantageous embodiment of the X-ray device, the first defined layout may be able to be translated and / or rotated.

[0069] In another advantageous embodiment of the X-ray device, the X-ray source can be designed to emit X-rays to irradiate a medical object. The X-ray detector can be designed to detect the X-rays and provide a signal to a control unit based on the detected X-rays. The control unit can be designed to provide X-ray image data based on the signal.

[0070] In another advantageous embodiment of the X-ray apparatus, the first and second defined layouts can be designed to move in a motor-driven manner, respectively. Here, the X-ray apparatus may have a motion unit with at least one motor, particularly an electric motor, designed for repositioning the first defined layout and rotating the second defined layout. A control unit may be designed to control the corresponding motor-driven movements of the first and second defined layouts. For this purpose, the control unit can provide first and second control signals to the motion unit via an interface. The motion unit may be designed to control the first and second defined layouts according to the corresponding control signals.

[0071] In a third aspect, the present invention relates to a computer program product having a computer program that can be directly loaded into the memory of a control unit and comprising program segments for performing all steps of the proposed method for controlling X-rays when the control unit executes these program segments.

[0072] The computer program product may include, for example, software with source code that still needs to be compiled and linked or only needs to be interpreted, or executable software code that still needs to be loaded into the control unit for execution. With this computer program product, methods for controlling an X-ray device can be executed quickly, reproducibly, and robustly via the control unit. The computer program product is configured such that it can execute the method steps according to the invention via the control unit.

[0073] The computer program product may be stored, for example, on a computer-readable medium, or on a network or server, and can be loaded from the network or server into the processor of a local control unit, which may be directly connected to the magnetic resonance device or designed as part of the control unit. Furthermore, the control information of the computer program product may be stored on an electronically readable data carrier. The control information on the electronically readable data carrier may be designed such that when the data carrier is used in the control unit, the control information executes the method according to the invention. Examples of electronically readable data carriers include DVDs, magnetic tapes, or USB drives, on which electronically readable control information, especially software, is stored. If this control information is read from the data carrier and stored in the control unit, all embodiments of the method according to the invention can be executed.

[0074] The advantage of a largely software-based implementation is that the control unit currently in use can be easily upgraded via software to operate in accordance with the invention. In addition to the computer program, such a computer program product may, if necessary, include additional components, such as documentation and / or additional parts, as well as hardware components, such as hardware keys (dongles, etc.) for software use. Attached Figure Description

[0075] Embodiments of the present invention are shown in the accompanying drawings and will be described in more detail below. In the different figures, the same features are represented by the same reference numerals. In the drawings:

[0076] Figures 1 to 4 Schematic diagrams of different advantageous embodiments of the proposed method for controlling X-ray equipment are shown.

[0077] Figures 5 to 7 Schematic diagrams of different advantageous embodiments of the proposed X-ray device are shown.

[0078] Figure 8 and Figure 9 A schematic diagram showing different positioning of the second defined layout is shown.

[0079] Figure 10 A schematic diagram of an exemplary implementation of the proposed X-ray device as a medical C-arm X-ray device is shown. Detailed Implementation

[0080] Figure 1 A schematic diagram of an advantageous embodiment of a method for controlling an X-ray device is shown. Here, the X-ray device may include an X-ray source, an X-ray detector, and a light guide device. Furthermore, the X-ray source and the X-ray detector may be arranged relative to each other and in a first defined layout. Furthermore, the first defined layout may be movably supported. Furthermore, the light guide device may also be arranged relative to the X-ray detector in a second defined layout. Furthermore, the second defined layout may be at least rotatably supported. Furthermore, a virtual reference ray may be defined by first and second reference points. Furthermore, the first reference point may be arranged at the X-ray source, and the second reference point may be arranged between the X-ray source and the X-ray detector, which is part of the first defined layout. In one step of the method, planning information PI regarding a planned path may be received, which is used to arrange a medical object REC-PI capable of being imaged by the medical X-ray device. In another step, an optical fan TR-LF may be emitted through the light guide unit, such that the virtual reference ray is arranged within the optical fan. In another step, the first defined layout may be repositioned from an initial position REPOS to another position. Here, the virtual reference ray may intersect the planned path in both the initial and other positions of the first defined layout. In another step, other positioning CAP-POSs can be detected as the current positioning POS of the first defined layout. In yet another step, the second defined layout ROT is rotated based on the planning information PI and the current positioning POS of the first defined layout, so that the light fan illuminates the planned path.

[0081] Advantageously, the repositioning of the first defined layout (REPOS) can be restricted to rotation around the intersection of the virtual reference ray and the planned path, or may include a combination of rotation around the intersection and translation parallel to the planned path.

[0082] Advantageously, the first defined layout can be repositioned, especially continuously repositioned to multiple other locations. Here, a virtual reference ray can intersect the planned path in the initial location and other locations of the first defined layout. Furthermore, the corresponding current location POS of the CAP-POS first defined layout can be detected. Additionally, the second defined layout can rotate the ROT based on the planning information PI and the corresponding current location POS of the first defined layout, causing the light fan to illuminate the planned path.

[0083] Advantageously, the second reference point can be arranged at the center of rotation of the first defined layout, especially at an isoangular point, or at the center of rotation of the second defined layout, or at the geometric center of the X-ray source's exit window. Furthermore, the virtual reference ray can also be arranged along the rotation axis of the second defined layout.

[0084] Figure 2 A schematic diagram of another advantageous embodiment of a method for controlling an X-ray device is shown. Here, the change CH in the relative positioning of the first and second reference points of DET-CH can be identified. Furthermore, the emission TR-LF of the optical fan can be adapted by a light guiding device according to the identified change CH in relative positioning.

[0085] Figure 3 A schematic diagram of another advantageous embodiment of a method for controlling an X-ray device is shown. Here, the medical object can be arranged along a planned path. Furthermore, X-rays (TR-XR) can be emitted from an X-ray source to illuminate the medical object. Additionally, X-rays (DET-XR) can be detected by an X-ray detector, and signals can be provided based on the detected X-rays. Furthermore, X-ray image data (BD-PROV-BD) can be provided based on the signals.

[0086] Advantageously, the provision of X-ray image data BD (PROV-BD) may include a graphical view of the X-ray image data BD provided via a display unit. Here, the graphical view of the X-ray image data BD can be rotated such that the current rotation of the second defined layout relative to the planned path is offset.

[0087] Figure 4 A schematic diagram of another advantageous embodiment of a method for controlling an X-ray device is shown. Here, the planning information PI can be registered with the coordinate system of the X-ray device.

[0088] Figure 5A schematic diagram of an advantageous embodiment of the proposed X-ray apparatus is shown. The X-ray apparatus may include an X-ray source 33, an X-ray detector 34, a light guide unit LFE, and a control unit CU. Here, the X-ray source and the X-ray detector may be arranged opposite each other and arranged in a first defined layout. Advantageously, the first defined layout may be movably supported. The light guide unit LFE may be arranged relative to the X-ray detector 34 in a second defined layout. Here, the second defined layout may be at least rotatably supported. Furthermore, a virtual reference ray RS may be defined by a first reference point R1 and a second reference point R2. Here, the first reference point R1 may be arranged at the X-ray source 33, and the second reference point R2 may be arranged between the X-ray source 33 and the X-ray detector 34, which is part of the first defined layout. Furthermore, the light guide unit LFE may be designed to emit a TR-LF optical fan LF, such that the virtual reference ray RS is arranged within the optical fan LF. The control unit CU may be designed to control the light guide unit LFE to emit the optical fan LF via a signal S. The control unit CU can be designed to receive planning information PI from REC-PI regarding a planned path, which is used to position a medical object MO capable of being imaged by a medical X-ray device. Furthermore, the control unit CU can be designed to reposition a first-defined layout from its initial position to another position REPOS. A virtual reference ray RS can advantageously intersect the planned path P in both the initial and other positions of the first-defined layout. Additionally, the control unit CU can be designed to detect other CAP-POS positions as the current position POS of the first-defined layout. Furthermore, the control unit CU can be designed to rotate a second-defined layout ROT based on the planning information PI and the current position POS of the first-defined layout, such that the light fan LF illuminates the planned path P.

[0089] Advantageously, the optical guiding device LFE can be arranged at the X-ray detector 33 in the second defined layout. Alternatively, the optical guiding device LFE can be arranged at the X-ray source or guiding unit (not shown here) in the second defined layout.

[0090] Advantageously, the first-defined layout can be supported in a way that allows for translation and / or rotation.

[0091] exist Figure 5 As schematically shown, the second reference point R2 can be arranged at the rotation center of the second defined layout, such as at the geometric center of the X-ray detector 34, and especially at the X-ray sensitive surface of the X-ray detector 34.

[0092] Figure 6A schematic diagram of an advantageous embodiment of the proposed X-ray apparatus is shown. Here, the second reference point R2 can be arranged at the center of rotation of the first defined layout, particularly at an isoangular point. The virtual reference ray can also be arranged along the axis of rotation of the second defined layout.

[0093] Figure 7 A schematic diagram of an advantageous embodiment of the proposed X-ray apparatus is shown. Here, the second reference point R2 can be arranged at the geometric center of the X-ray exit window of the X-ray source 33.

[0094] Figure 8 and Figure 9 A schematic diagram of different positioning of the second defined layout is shown. Figure 8 A schematic diagram of the second defined layout in its initial positioning is shown in the first operating state. In the first operating state, the first defined layout may have, for example, been repositioned (REPOS). Here, the second defined layout may have an initial relative positioning with respect to the first defined layout. Specifically, the optical fan LF can be positioned such that the optical fan LF does not illuminate the predetermined path P in the first operating state.

[0095] Figure 9 The diagram illustrates the second defined layout in other positions during the second operating state. Here, the second defined layout can rotate the ROT based on the planning information PI and the current position POS of the first defined layout, causing the light fan LF to illuminate the planned path P.

[0096] Figure 10 A schematic diagram 37 illustrates an exemplary implementation of the proposed X-ray device as a medical C-arm X-ray apparatus. An X-ray source 33 and an X-ray detector 34 can be arranged in a defined layout at the C-arm 38. The C-arm 38 can be movably supported about one or more axes.

[0097] The control unit CU can send a signal 24 to the X-ray source 33. The X-ray source 33 can then emit X-rays according to the signal 24 to irradiate, in particular, the medical object MO and the examination object 31 placed on the patient support device 32. When the X-rays, after interacting with the medical object MO and the examination object 31, irradiate the X-ray sensitive surface of the X-ray detector 34, the X-ray detector 34 can send a signal 21 to the control unit CU. The control unit CU can be designed to detect X-ray image data BD according to said signal 21.

[0098] The X-ray apparatus may also include an input unit 42, such as a keyboard and / or joystick, and a display unit 41, such as a monitor and / or display screen and / or projector. For example, in the case of a capacitive and / or resistive input display, the input unit 42 may preferably be integrated into the display unit 41. The display unit 41 may be designed to display a graphical view of the X-ray image data BD. For this purpose, the control unit CU may send a signal 25 to the display unit 41. Furthermore, the input unit may also be designed to detect user input. The detection unit 42 may also be designed to provide a signal 26 to the control unit CU based on the detected user input. The control unit CU may be designed to control the X-ray apparatus based on the user input, particularly based on the signal 26, especially controlling the repositioning of the first defined layout. For example, the repositioning of the first defined layout and / or the rotation of the second defined layout may be controlled via the input unit, such as via a joystick or separately via a joystick. The repositioning of the first defined layout may be limited to rotation about the intersection of a virtual reference ray RS and the planned path P, or may include a combination of rotation about the intersection and translation parallel to the planned path. This can be achieved by adapting the control degrees of freedom of the input unit. The rotation of the second defined layout can be controlled via a joystick. Furthermore, alignment along the planned path is possible. Additionally, the repositioning of the first defined layout to be parallel to the planned path can be controlled via other joysticks. Here, the rotation center of the first defined layout, especially its isoangular point, can be moved along the planned path.

[0099] Advantageously, the first and second defined layouts can each be designed to move in a motor-driven manner. Here, the control unit CU can be designed to control the respective motor-driven movements of the first and second defined layouts.

[0100] The schematic diagrams included in the figures do not establish any scale or size relationship.

[0101] Finally, it should be reiterated that the methods and apparatus described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the invention. Furthermore, the use of the indefinite article "a" or "an" does not preclude the existence of multiple related features. Similarly, the terms "unit" and "element" do not preclude the existence of related components composed of multiple sub-components that function together, which may, if necessary, be spatially distributed.

[0102] The word "based on" can be understood, in particular, in the context of this application as meaning "when using...". In particular, the statement that the first feature is generated (alternatively: derived, determined, etc.) based on the second feature does not preclude the first feature from being generated (alternatively: derived, determined, etc.) based on the third feature.

Claims

1. A method for controlling an X-ray device, characterized in that the X-ray device comprising an X-ray source (33), an X-ray detector (34) and a light guiding arrangement (LFE), wherein the X-ray source (33) and the X-ray detector (34) are arranged opposite to each other and in a first defined layout, wherein the first defined layout is movably supported, wherein the light guiding arrangement (LFE) is arranged in a second defined layout relative to the X-ray detector (34), wherein the second defined layout is at least rotatably supported, wherein a virtual reference ray (RS) is defined by a first reference point (Rl) and a second reference point (R2), wherein the first reference point (Rl) is arranged at the X-ray source (33) and the second reference point (R2) is arranged between the X-ray source (33) and the X-ray detector (34) as part of the first defined layout, wherein the method comprises the following steps: - receiving (REC-PI) planning information (PI) about a planned path (P) for arranging a medical object (MO) that can be imaged by the medical X-ray device, - emitting (TR-LF) a light fan (LF) by the light guiding arrangement (LFE) such that the virtual reference ray (RS) is arranged within the light fan (LF), - repositioning (REPOS) the first defined layout from an initial positioning into a further positioning, wherein the virtual reference ray (RS) intersects the planned path (P) in the initial positioning and in the further positioning of the first defined layout, - detecting (CAP-POS) the further positioning as a current positioning (POS) of the first defined layout, - rotating (ROT) the second defined layout based on the planning information (PI) and the current positioning (POS) of the first defined layout such that the light fan (LF) illuminates the planned path (P).

2. The method of claim 1, wherein, The second reference point (R2) is arranged at a center of rotation of the first defined layout, in particular at an isocenter, at a center of rotation of the second defined layout, or at a geometric center of a ray exit window of the X-ray source.

3. The method according to claim 1 or 2, characterized in that, The virtual reference ray (RS) is arranged along an axis of rotation of the second defined layout.

4. The method according to any of the preceding claims, characterized in that, The repositioning (REPOS) of the first defined layout is limited to a rotation around an intersection of the virtual reference ray (RS) and the planned path (P) or comprises a combination of a rotation around the intersection and a translation parallel to the planned path (P).

5. The method according to any of the preceding claims, characterized in that, A change (CH) in a relative positioning of the first and second reference points (Rl, R2) is detected (DET-CH), wherein the emission (TR-LF) of the light fan (LF) by the light guiding arrangement (LFE) is adapted based on the detected change (CH) in the relative positioning.

6. The method according to any one of the preceding claims, characterized in that the first defined layout is repositioned (REPOS), in particular continuously, into a plurality of further positionings, wherein the virtual reference ray intersects the planned path (P) in the initial positioning and in the plurality of further positionings of the first defined layout, wherein respective current positionings (POS) of the first defined layout are detected (CAP-POS), wherein the second defined layout is rotated (ROT) based on the planning information (PI) and a respective current positioning (POS) of the first defined layout, such that the light fan (LF) illuminates the planning path (P).

7. The method according to any one of the preceding claims, characterized in that a medical object (MO) is arranged along the planning path (P), wherein X-rays are emitted (TR-XR) by an X-ray source (33) for irradiating the medical object (MO), wherein the X-rays are detected (DET-XR) by an X-ray detector (34) and a signal (21) is provided depending on the detected X-rays, wherein X-ray image data (BD) is provided (PROV-BD) depending on the signal (21).

8. The method according to claim 7, characterized in that the provision (PROV-BD) of the X-ray image data (BD) comprises providing a graphical view of the X-ray image data (BD) by a display unit (41), wherein the graphical view of the X-ray image data (BD) is rotated such that a current rotation of the second defined layout relative to the planning path (P) is compensated.

9. The method according to any of the preceding claims, characterized in that, The planning information (PI) is registered with a coordinate system of the X-ray device.

10. An X-ray apparatus, characterized by The X-ray device comprises an X-ray source (33), an X-ray detector (34), a light guiding arrangement (LFE) and a control unit (CU), wherein the X-ray source (33) and the X-ray detector (34) are arranged opposite to each other and in a first defined layout, wherein the first defined layout is movably supported, wherein the light guiding arrangement (LFE) is arranged in a second defined layout relative to the X-ray detector (34), wherein the second defined layout is at least rotatably supported, wherein a virtual reference ray (RS) is defined by a first reference point (R1) and a second reference point (R2), wherein the first reference point (R1) is arranged at the X-ray source (33) and the second reference point (R2) is arranged between the X-ray source (33) and the X-ray detector (34) as part of the first defined layout, wherein the light guiding arrangement (LFE) is designed for emitting (TR-LF) a light fan (LF) such that the virtual reference ray (RS) is arranged within the light fan (LF), wherein the control unit (CU) is designed for: receiving (REC-PI) planning information (PI) about a planning path (P) for arranging a medical object (MO) that can be imaged by a medical X-ray device (37), repositioning (REPOS) the first defined layout from an initial positioning into a further positioning, wherein the virtual reference ray (RS) intersects the planning path (P) in the initial positioning and in the further positioning of the first defined layout, detecting (CAP-POS) the further positioning as a current positioning (POS) of the first defined layout, rotating (ROT) the second defined layout based on the planning information (PI) and the current positioning (POS) of the first defined layout, such that the light fan (LF) illuminates the planning path (P).

11. The X-ray apparatus of claim 10, characterized by The light guiding device (LFE) is arranged in a second defined arrangement at the X-ray detector (34), the X-ray source (33) or the guiding unit (38).

12. The X-ray apparatus as claimed in claim 10 or 11, characterized in that, The first defined arrangement is supported displaceably and / or rotatably.

13. The X-ray apparatus (37) according to any one of claims 10 to 12, characterized in that The X-ray source (33) is designed for emitting (TR-XR) X-rays for irradiating a medical object (MO), wherein the X-ray detector (34) is designed for detecting (DET-XR) the X-rays and for providing a signal (21) to the control unit (CU) depending on the detected X-rays, wherein the control unit (CU) is designed for providing (PROV-BD) X-ray image data (BD) depending on the signal (21).

14. The X-ray apparatus according to any one of claims 10 to 13, characterized in that The first and second defined arrangements are designed to be moved motor-drivenly, respectively, wherein the control unit (CU) is designed for controlling the motor-driven movement of the first and second defined arrangements, respectively.

15. A computer program product having a computer program, characterized in that The computer program is directly loadable into the memory of the control unit (CU), the computer program having program sections for carrying out all steps of the method according to any one of claims 1 to 9 when the program sections are executed by the control unit (CU).

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