Mammography system for determining the three-dimensional shape of a breast

Abstract

The invention relates to a mammography system (101) for determining the three-dimensional shape of a breast (O). The mammography system (101) comprises an X-ray source (104), an X-ray detector (105), means for projecting at least one marker (210, 220, 320) onto the breast, wherein the marker (210, 220, 320) is transparent to X-rays (R), a camera (102) for detecting the projected marker (220, 320), and a processing unit (110.2) for determining (DET) the three-dimensional shape of the breast (O) as a function of the detected projected marker (220, 320) and for providing (PROV) the determined three-dimensional shape of the breast (O).

Description

[0001] The invention relates to a mammography system for determining the three-dimensional shape of a breast. The invention further relates to a computer-implemented method, a computer program product, and a computer-readable storage medium.

[0002] Mammography is a standard procedure in medical imaging. In this procedure, a patient's breast is positioned between an X-ray source and an X-ray detector. When the X-ray source emits X-rays, these penetrate at least partially into the breast and are detected by the X-ray detector. This allows a projection image of the breast to be acquired. The X-ray source can be stationary, producing a two-dimensional projection image, or X-ray image, of the breast. Alternatively, or additionally, the X-ray source can be moved in a circular arc around the breast, capturing numerous projection images. From these multiple projection images, a three-dimensional X-ray image can be determined. This method is called tomosynthesis.

[0003] Typically, the breast is compressed for imaging using a compression unit. This unit typically comprises at least one compression plate or paddle, which is designed to move along an axis. The compression plate is typically movable in a direction perpendicular to a surface of the X-ray detector. The breast is typically positioned between the surface of the X-ray detector and the compression plate, and compressed for imaging by moving the compression plate towards the surface of the X-ray detector. Alternatively, the breast can be compressed between two compression plates that are designed to move relative to each other.

[0004] For further image processing of the acquired two- or three-dimensional X-ray images, it is advantageous to know the three-dimensional shape of the breast during imaging, particularly of the compressed breast. In particular, this allows, for example, the thickness of the breast at different positions to be estimated and taken into account during image processing. The three-dimensional shape of the breast is described or characterized primarily by its thickness perpendicular to the surface of the X-ray detector.

[0005] It is known to use multiple optical cameras to capture the shape of the breast from different directions and derive its three-dimensional shape from this data. Alternatively, it is known to use a special 3D camera to capture the three-dimensional shape of the breast. Another alternative is to use multiple distance sensors mounted laterally to the breast to determine its three-dimensional shape. The maximum thickness of the compressed breast can be estimated, after compression, by the distance between the compression plate and the surface of the X-ray detector, or by the distance between the two compression plates themselves.

[0006] The use of distance sensors is relatively inaccurate, as this method only determines the maximum thickness of the compressed breast, but not its actual shape. Therefore, distance sensors cannot be used to determine the three-dimensional shape of the breast.

[0007] It is therefore the object of the present invention to provide a mammography system that offers an alternative to known solutions for determining the three-dimensional shape of a breast.

[0008] The problem is solved by a mammography system for determining the three-dimensional shape of a breast, a computer-implemented method for determining the three-dimensional shape of a breast, a computer program product, and a computer-readable storage medium according to the independent claims. Advantageous embodiments are listed in the dependent claims and in the following description.

[0009] The inventive solution to the problem is described below with regard to both the claimed devices and the claimed method. Features, advantages, or alternative embodiments mentioned herein are also applicable to the other claimed items and vice versa. In other words, the claims (which, for example, relate to a device) can also be further developed with the features described or claimed in connection with a method. The corresponding functional features of the method are thereby implemented by corresponding physical modules.

[0010] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

[0011] The invention relates to a mammography system for determining the three-dimensional shape of a breast. The mammography system comprises an X-ray source and an X-ray detector. The mammography system also comprises a means for projecting at least one marker onto the breast, wherein the marker is transparent to X-rays, and a camera for capturing the projected marker. The mammography system further comprises a processing unit for determining the three-dimensional shape of the breast as a function of the captured projected marker and for providing the determined three-dimensional shape of the breast.

[0012] The mammography system is designed for medical imaging, specifically mammography or X-ray imaging of a patient's breast. The breast is positioned between the X-ray source and the X-ray detector. Specifically, the breast can be positioned on a surface of the X-ray detector facing the X-ray source. For imaging, the X-ray source emits X-rays that at least partially penetrate the breast and are then detected by the X-ray detector. In this way, a two-dimensional projection image of the breast can be acquired. Specifically, the X-ray source can be moved in an arc around the breast while multiple projection images are acquired. This type of image acquisition is called tomosynthesis.

[0013] The X-ray source can be, for example, a rotating anode tube, a stationary anode tube, or a transmission tube.

[0014] The X-ray detector can be a digital or an analog detector for X-ray radiation. For example, the X-ray detector can be a scilloscope detector or a semiconductor detector.

[0015] The device for projecting a mark onto the breast is designed to project a mark onto the positioned breast, from which the three-dimensional shape of the breast can be derived. The mark is advantageously invisible in the projection image or X-ray image. In other words, the mark is advantageously transparent to X-rays. Advantageously, both the mark and the projected mark are detectable by the camera. In particular, the mark can be visible in the optical range. Specifically, the mark can be projected onto the breast during imaging.

[0016] The camera is designed to detect the marker. Advantageously, the camera is an optical camera. In other words, the camera is advantageously designed to detect radiation in the optical range. In particular, the camera can capture an optical image of the projected marker. The camera captures at least one optical image, or camera image, of the at least one projected marker from at least one perspective. The camera image can be a color image (RGB or CMYK), a black-and-white image, or a grayscale image. Advantageously, the camera is arranged on the mammography system such that it is not visible in the projected image, but is still able to detect the at least one marker.In other words, the camera is advantageously positioned so that it is located outside the path of the X-ray radiation from the X-ray source to the X-ray detector, but still has a view of the positioned breast with the projected mark.

[0017] The processing unit is designed to determine the three-dimensional shape of the breast based on the captured, or at least one, projected marker. Specifically, the processing unit is designed to receive the image of the projected marker captured by the camera and to determine the three-dimensional shape based on this image.

[0018] The processing unit is also designed to provide the specific three-dimensional shape of the breast. In particular, the three-dimensional shape can be provided to an image processing unit, which is designed to further process the projection images of the breast acquired during medical imaging.

[0019] The three-dimensional shape of the breast describes, in particular, the progression of breast thickness perpendicular to the surface of the X-ray detector. Specifically, the three-dimensional shape of the breast describes how the breast thickness decreases laterally and forwards (from the patient's perspective) perpendicular to the surface of the X-ray detector.

[0020] Because the marker is not visible in the X-ray image, it can be projected simultaneously with the X-ray and captured by the camera. This way, the imaging procedure is not prolonged, and the patient does not have to hold their breast in the position required for the X-ray longer than necessary.

[0021] The camera used to capture the projected marker can be positioned outside the area projected onto the X-ray detector by the X-ray radiation, as a detailed image of the breast is not necessary. Therefore, it is possible to capture the image of the projected marker simultaneously with the medical imaging, and a complex camera mechanism can be avoided. This results in savings in both time and cost.

[0022] Furthermore, it is sufficient that the image of the breast in which the projected marker is captured or displayed depicts only the marker itself, and not details of the breast. In other words, it is not necessary to capture detailed optical images of the breast to determine its three-dimensional shape. This way, the patient's privacy can be preserved.

[0023] According to one aspect of the invention, the mammography system also includes a compression device for compressing the breast. The compression device is arranged between the X-ray source and the X-ray detector. The compression device comprises a compression plate, which is positioned between the X-ray source and the breast. The compression plate includes at least one marking. The projection means comprises a light source that emits radiation detectable by the camera. The at least one marking is projected onto the breast by means of the light source.

[0024] The compression device compresses and fixes the breast perpendicular to the surface of the X-ray detector during X-ray imaging. The compression plate is often also referred to as a "paddle." The breast can be compressed against the surface of the X-ray detector using this compression plate. Alternatively, the compression device can include a second compression plate against which the breast is compressed. This second compression plate is movable or adjustable in the direction of the breast. In other words, the distance between the compression plate and the surface of the X-ray detector or the second compression plate can be varied. In other words, the compression plate is designed to be movable perpendicular to the surface of the X-ray detector or to the second compression plate.

[0025] The compression plate is specifically transparent to X-rays. In other words, the compression plate does not absorb X-rays, or absorbs them only very weakly, in the energy range relevant for X-ray imaging. The compression plate is made of an optically transparent material, such as Plexiglas, to allow visual monitoring of the breast's position during compression. Specifically, the compression plate is transparent to radiation detectable by the camera and emitted by the light source.

[0026] The compression plate includes at least one marking, which is projected onto the breast by the light source. The projection of the at least one marking then corresponds to a shadow cast by the marking on the breast. Depending on the shape of the breast and the position of the camera, the projected marking is shifted in the image captured by the camera compared to the marking on the compression plate.

[0027] The light source can be, in particular, an optical light source. Advantageously, the light source emits diffuse light. In this case, the marking is absorbent, especially for optical radiation. Alternatively, the light source can also emit radiation in the UV range, for example. In this case, the marking is absorbent for this radiation. In other words, the marking is designed in such a way that it absorbs the radiation emitted by the light source.

[0028] The light source can be located, in particular, inside the X-ray source.

[0029] The camera is positioned in such a way that it has an oblique viewing angle relative to the X-ray source of the compressed breast and can capture both the marking and the projected marking.

[0030] The compression plate can, in particular, include more than one marking. These multiple markings could, for example, be several periodic lines on the compression plate.

[0031] The at least one marking can, for example, be painted or printed onto the compression plate. Alternatively, the at least one marking can be engraved into the compression plate. Alternatively, the at least one marking can be inlaid or cast into the compression plate.

[0032] The processing unit can then derive the three-dimensional shape of the breast based on the position of the projected marker relative to the marker in the camera image.

[0033] In particular, the camera's oblique angle of view of the breast allows a distance between the mark on the compression plate and the mark projected onto the breast to be displayed in the image captured by the camera. This distance is referred to below as the projected distance. This projected distance depends, among other things, on the distance of the breast to the compression plate at the location of the mark. Where the breast is in direct contact with the compression plate, for example, no projected distance is visible in the camera image. The greater the distance of the breast to the compression plate, the greater the projected distance in the camera image. The processing unit can, in particular, use an algorithm to determine the distance of the breast to the compression plate or to the mark at the location of the mark from the projected distance. Specifically, the algorithm can be based on a simple proportion.For this purpose, the algorithm is advantageously calibrated to the position of the camera and the projection device.

[0034] The three-dimensional shape of the breast can thus be determined cost-effectively using simple means. By integrating the marking into the compression plate, no additional component is needed to create at least one marking. This avoids the possibility of another component interfering with the X-ray beam path to the X-ray detector and potentially even having to be removed from it for X-ray imaging. If the light source is located within the X-ray source, any influence of the components on the projected image(s) of the breast can also be easily avoided, as the light source is certainly not positioned in the beam path from the X-ray source to the detector. The patient will not notice any difference compared to a conventional medical X-ray of the breast, as the exposure time is the same, and the three-dimensional shape can still be accurately determined.

[0035] Compared to a known 3D camera for capturing the three-dimensional shape, the three-dimensional shape captured with the described system can be more accurate because the distance between the marker and the chest is minimal.

[0036] According to another aspect of the invention, the at least one marking encompassed by the compression plate is absorbent for radiation emitted by the light source and transparent for X-rays.

[0037] For radiation emitted by the light source, absorbing means that at least one marking casts a shadow when illuminated by the light source.

[0038] X-ray transparent means that at least one marker absorbs no or very little X-ray radiation in the area relevant for medical X-ray imaging of the breast. In particular, X-ray transparent means that a portion of the X-ray radiation necessary for imaging is not absorbed by the marker.

[0039] This ensures that the projected marker can be detected by the camera. Simultaneously, it ensures that the image quality of the projection image(s) is not reduced by the marker(s), as the marker does not affect the X-ray radiation and is therefore not visible in the projection image(s) of the breast.

[0040] According to another aspect of the invention, the compression plate has a rectangular shape. The at least one marking is designed as a line parallel to one side of the compression plate.

[0041] The compression plate can, in particular, have a rectangular base shape with rounded corners. Specifically, the compression plate can be designed such that one long side of the rectangular base shape is positioned along the patient's rib cage when the chest is compressed by means of the compression plate.

[0042] The at least one marking is in the form of a line. In particular, the at least one marking extends from one side or edge of the compression plate to an opposite side or edge of the compression plate. In particular, the at least one marking is aligned parallel to a side. In particular, the at least one marking can be aligned parallel to the long side of the rectangular base shape.

[0043] It is particularly simple and straightforward to analyze the shadow cast by a line and determine the distance to the line itself in the camera image, from which the three-dimensional shape of the breast can then be determined as described above. In this way, the most accurate possible result for the three-dimensional shape of the breast can be achieved. Specifically, the three-dimensional shape of the breast can be determined along this line. For this purpose, the line can be divided into several segments. By aligning these segments parallel to one side of the compression plate, the three-dimensional shape of the breast can be determined along a defined and reproducible direction.

[0044] According to another aspect of the invention, the compression plate comprises more than one marking. These markings are formed as lines, which are arranged periodically parallel to each other.

[0045] In other words, the lines form a uniform striped pattern.

[0046] Arranged periodically means that the lines have a regular spacing between them. In particular, any two adjacent lines can have a constant distance between them. Alternatively, the distance between two adjacent lines can continuously increase or decrease.

[0047] In this way, the three-dimensional shape of the breast can be determined over a larger area, in particular over the entire area of ​​the compressed breast.

[0048] According to a further optional aspect of the invention, the compression plate comprises more than one marking. These markings are formed as lines, arranged in a grid pattern relative to each other.

[0049] In particular, any two markings can be arranged either parallel to each other or perpendicular to each other.

[0050] In this way, the three-dimensional shape can be determined in two directions along the markings or lines.

[0051] According to a further aspect of the invention, the projection means comprises a fan laser. The fan laser is arranged such that the area projected by the fan laser is aligned parallel to a surface of the X-ray detector.

[0052] In embodiments of the invention, the mammography system can comprise a compression plate as described above.

[0053] A fan laser is a laser that emits a fan-shaped laser beam, or laser fan, in a plane. In other words, the laser beam emitted by the fan laser spans a fan-shaped plane. When the emitted laser beam strikes an object, such as the breast, a line is projected onto its surface. This line corresponds to at least one projected marking. The camera is positioned to capture the shape of the projected marking or line on the breast. In particular, the camera can, for example, capture the breast and the marking projected onto the breast from above or from an oblique angle through the compression plate and display it, for example, as an image. Specifically, the camera is positioned outside the beam path from the X-ray source to the X-ray detector.

[0054] The plane in which the laser beam of the fan laser is emitted is advantageously aligned parallel to the surface of the X-ray detector.

[0055] The frequency of the laser beam emitted by the fan laser can be detected by the camera. Advantageously, the frequency of the laser beam emitted by the fan laser is in the optical range and therefore visible.

[0056] The fan laser, the projection device, directly creates at least one marking on the breast without any additional components. The fan laser can be positioned outside the path of the X-ray beam, between the X-ray tube and the X-ray detector. The projected marking is designed to be optically visible and captured by the camera. Furthermore, the laser beam and the marking are completely transparent to X-rays, as they consist solely of light. Therefore, the imaging process is not affected by determining the three-dimensional shape of the breast, and in particular, it is not slowed down, thus maintaining the same level of patient comfort compared to standard X-ray imaging. The shape of the breast can be determined along the projected line by the shape of the line itself.Furthermore, it is not necessary to image the breast in detail using the optical camera. It is sufficient to capture an overview image of the breast on which the projected marker is visible. In this way, the patient's privacy is protected.

[0057] According to a further aspect of the invention, the mammography system also includes a compression device for compressing the breast. The compression device is arranged between the X-ray source and the X-ray detector. The compression device includes a compression plate. The compression plate is arranged between the X-ray source and the breast. The fan laser is arranged at a height between the X-ray detector and the compression plate.

[0058] The compression device and the compression plate are designed as described above. Alternatively, the compression plate can also be optically opaque.

[0059] The fan laser is positioned at a height such that the emitted laser beam strikes the breast between the X-ray detector and the compression plate. Advantageously, the laser beam striking the breast forms a line on the breast that is parallel to the surface of the X-ray detector. This line corresponds to at least one projected marking. In particular, the fan laser can be positioned outside the beam path from the X-ray source to the X-ray detector.

[0060] The described arrangement allows the breast shape to be displayed and captured at a discrete height between the compression plate and the surface of the X-ray detector. Furthermore, this ensures that no component used to determine the three-dimensional shape of the breast is positioned within the beam path. Therefore, X-ray imaging can be performed as usual, and no extended breast compression time is required.

[0061] According to another aspect of the invention, the fan laser can be moved at least along the height of the compressed breast.

[0062] In other words, the fan laser can be moved at least between the compression plate and the surface of the X-ray detector or the second compression plate. This allows multiple markings to be projected onto the chest at different heights.

[0063] In particular, the camera can then capture an image of each of the projected markers. Based on these multiple camera images, the three-dimensional shape of the breast can then be determined using the processing unit.

[0064] In this way, the shape of the breast can be determined at different heights and, based on this, the three-dimensional shape of the breast can be determined.

[0065] According to another aspect of the invention, the area laser is designed to project a marking onto the chest at discrete heights. The camera is designed to detect each of the projected markings.

[0066] In this way, the shape of the breast can be scanned along the height between the compression plate and the surface of the X-ray detector or the second compression plate. Various equipotential surfaces of the breast are thus displayed using the fan laser or the respective marker. The camera optically captures these different equipotential surfaces in multiple images, which are then made available for further processing by the processing unit. Based on these multiple images, the processing unit can then determine the three-dimensional shape of the breast.

[0067] By scanning the breast vertically, it is possible to capture and determine its shape perpendicular to the surface of the X-ray detector. The breast's shape parallel to the surface of the X-ray detector at different heights can be captured and determined by the shape of the projected marker at each height. In particular, the breast can be scanned with arbitrary precision by varying the position of the fan laser as needed.

[0068] The invention also relates to a computer-implemented method for determining the three-dimensional shape of a breast using a mammography system described above. The method comprises a step of positioning the breast between the X-ray detector and the X-ray source. The method further comprises a step of projecting at least one marker onto the positioned breast using projection means. The method also includes steps of capturing the projected marker with the camera, determining the three-dimensional shape of the breast with the processing unit as a function of the captured projected marker, and providing the three-dimensional shape of the breast.

[0069] The mammography system is designed according to the basic shape or one of the aspects described above.

[0070] During positioning, the breast is positioned between the X-ray detector and the X-ray source in such a way that the X-ray radiation emitted by the X-ray source at least partially penetrates the breast before it is captured or detected by the X-ray detector.

[0071] During projection, at least one marking is projected onto the chest using the projection device. The marking and the projection device are designed as described above.

[0072] When the camera captures the projected marking, an optical image, or camera image, of the projected marking on the chest is captured. The camera is designed as described above.

[0073] When determining the three-dimensional shape, the three-dimensional form of the breast is determined based on the projected marker in the image captured by the camera. In particular, the shape and / or position of the projected marker can be taken into account. Specifically, multiple images of multiple projected markers can be considered. Alternatively or additionally, several projected markers can be depicted in the image, which are then considered when determining the three-dimensional shape.

[0074] When providing the three-dimensional shape of the breast, the specific three-dimensional form is made available. In particular, the three-dimensional shape can be provided to a user or a database. For example, the three-dimensional shape can be displayed. Alternatively, the three-dimensional shape can be provided in such a way that it can be used in further image processing of two- or three-dimensional X-ray images of the breast. Advantageously, the X-ray images are acquired simultaneously with the projection of the marker and the acquisition of the projected marker. For example, the three-dimensional shape of the breast can be used to correct hardening artifacts and / or image errors caused by varying breast thickness during the acquisition of X-ray images or projection images.

[0075] In particular, the described method allows the three-dimensional shape of the breast to be determined simultaneously with the known acquisition of X-ray images or projection images of the breast. No longer exposure time is required, and the breast does not need to remain in position for any longer than before. The determined three-dimensional shape of the breast enables an improvement in image quality.

[0076] According to one aspect of the invention, the mammography system is designed according to one of the aspects first described, in which at least one marking is encompassed by the compression plate and the projection means comprises a light source. Positioning then comprises a process step of compressing the breast with the compression device. In determining the three-dimensional shape of the breast, the position of the projected marking is taken into account in relation to the marking encompassed by the compression plate.

[0077] The compression plate is enclosed by the compression device as described above. The breast is compressed between the compression plate and the surface of the X-ray detector or a second compression plate, as described above. This compression reduces the thickness of the breast in the direction of the X-ray beam and stabilizes the breast during the X-ray imaging procedure.

[0078] The marking is formed as described above and is encompassed by the compression plate. As described above, the compression plate can also contain more than one marking.

[0079] By projecting the marking from the compression plate onto the breast, the projected marking is shifted relative to the marking in the image captured by the camera, depending on the distance between the breast and the marking. This shift depends on the position of the light source and the camera. The distance between the marking and the projected marking in the camera image correlates with the distance between the breast and the marking at that point. By analyzing the distance in the camera image, the distance between the breast and the marking, and thus the three-dimensional shape, can be deduced. In particular, the analysis can be based on a simple proportion.

[0080] The three-dimensional shape of the breast can therefore be determined during ongoing procedures, incidentally, without requiring any additional time. This protects the patient's privacy, as the breast itself does not need to be captured in great detail by the camera; only the projected marker needs to be visible in the image. Furthermore, the procedure is very cost-effective, as the additional components (light source, marker, and camera) are very inexpensive.

[0081] According to another aspect of the invention, the mammography system is designed in which the projection means comprises a fan laser. In this configuration, more than one marking in the form of equipotential surfaces is projected onto different heights of the breast using the fan laser. The three-dimensional shape of the breast is then determined based on these equipotential surfaces.

[0082] The height of the breast is defined by the distance of the fan laser to the surface of the X-ray detector.

[0083] The multiple markings can be projected onto the chest one after the other by moving the fan laser. Several images are captured by the camera, each depicting a projected marking.

[0084] Alternatively, several fan lasers can be positioned at different heights, and the multiple markings can be projected onto the chest simultaneously. Then, only one image of all projected markings is captured by the camera at once. Advantageously, the multiple fan lasers illuminate with different colors or frequencies.

[0085] In particular, the three-dimensional shape of the breast can be determined based on the reflection that occurs when the light fan emitted by the fan laser strikes the breast. Specifically, this reflection forms a line on the breast. Advantageously, this line is aligned parallel to the surface of the detector.

[0086] Here too, the three-dimensional shape of the breast can be determined during the ongoing X-ray imaging process, without any additional time expenditure. This protects the patient's privacy, as the breast itself does not need to be captured in great detail by the camera; only the projected marker needs to be visible in the image.

[0087] The invention also relates to a computer program product comprising a computer program and a computer-readable medium. A largely software-based implementation has the advantage that existing mammography systems can be easily retrofitted via a software update to operate in the manner described. In addition to the computer program, such a computer program product may optionally include additional components such as documentation and / or additional components, as well as hardware components such as hardware keys (dongles, etc.) for using the software.

[0088] In particular, the invention also relates to a computer program product comprising a computer program which can be directly loaded into a memory of a control unit of a mammography system, with program sections to execute all steps of the above-described method for determining a three-dimensional shape of a breast and its aspects when the program sections are executed by the mammography system.

[0089] In particular, the invention relates to a computer-readable storage medium on which program sections readable and executable by a control unit of a mammography system are stored in order to execute all steps of the above-described method for determining a three-dimensional shape of a breast and its aspects when the program sections are executed by the mammography system.

[0090] The properties, features, and advantages of this invention described above become clearer and more understandable in conjunction with the following figures and their descriptions. The figures and descriptions are not intended to limit the invention or its embodiments in any way.

[0091] In various figures, identical components are labeled with corresponding reference symbols. The figures are generally not to scale.

[0092] They show Fig. 1 An embodiment of a mammography system for determining a three-dimensional shape of a breast, Fig. 2a a first embodiment in a top view of a section of a mammography system for determining a three-dimensional shape of a breast, Fig. 2b the first embodiment in a side view of a section of a mammography system for determining a three-dimensional shape of a breast, Fig. 3a a second embodiment in a top view of a section of a mammography system for determining a three-dimensional shape of a breast, Fig. 3b the second embodiment in a side view of a section of a mammography system for determining a three-dimensional shape of a breast, Fig. 4 an embodiment of a method for determining a three-dimensional shape of a breast.

[0093] Fig. Figure 1 shows an embodiment of a mammography system 101 for determining the three-dimensional shape of a breast O. The mammography system 101 is shown in an exemplary and roughly schematic representation. The mammography system 101 can be configured for tomosynthesis. Relative directions such as "top," "bottom," etc., refer to the mammography system 101 set up for its intended operation. The mammography system 101 has a vertical column 107 and a source-detector assembly 103, which in turn comprises an X-ray source 104 and an X-ray detector 105 with a surface 105.1. The vertical column 107 is mounted on the floor. The source-detector assembly 103 can be movably connected to the vertical column 107 so that the height of the surface 105.1 of the X-ray detector 105 can be adjusted to the breast level of a patient.

[0094] The patient's breast (shown schematically here) is the object of examination and, in various configurations, is positioned on the surface 105.1 of the X-ray detector 105. A compression plate 106 is arranged above the breast and the surface 105.1 and is movably connected to the source detector assembly 103. For the examination, the breast is compressed and simultaneously fixed by lowering the compression plate 106 onto it, so that pressure is exerted on the breast between the compression plate 106 and the surface 105.1. Alternatively, a second compression plate can be used instead of the surface 105.1 of the X-ray detector 105, so that the breast is compressed between two compression plates.

[0095] The X-ray source 104 is arranged opposite the X-ray detector 105 such that the X-ray detector 105 detects the X-ray radiation R emitted by the X-ray source 104 after at least part of the X-ray radiation R has passed through the breast O.

[0096] The X-ray source 104 can be designed to be rotatable relative to the X-ray detector 105 by means of a rotating arm 108, for example, in a range of ± 25° around a basic position in which the rotating arm 108 is perpendicular to the surface 105.1 of the X-ray detector 105.

[0097] The mammography system 101 also includes a camera 102. The camera 102 is designed to capture a marker 220, 320 projected onto the breast O in an optical image or camera image. The camera 102 is arranged outside the path of the X-ray beam R between the X-ray source 104 and the X-ray detector 105. The mammography system 101 also includes a means for projecting the marker 220, 320. For a detailed description of the camera 102 and the projected marker 220, 320, the means for projecting, and the associated other components of the mammography system 101, please refer to the Fig. 2a, Fig. 2b, Fig. 3a and Fig. 3b referred.

[0098] The mammography system 101 can, in particular, comprise a control unit 110 with an interface 110.1, a computer unit 110.2, and a storage unit 110.3. The control unit 110 can, in particular, be connected to a terminal 113, which, for example, has a user interface or display unit through which a user can transmit commands to the mammography system 101 or retrieve measurement results, such as the acquired projection images or X-ray images. The control unit 110 can be located in the same room as the mammography system 102, but it can also be located in an adjacent control room or at an even greater distance.

[0099] The control unit 110 is configured to execute a method according to the invention for determining the three-dimensional shape of a breast. The control unit 110 comprises an interface 110.1, a processing unit 110.2, and a storage unit 110.3.

[0100] The control unit 110 can be, in particular, a computer, a microcontroller, or an integrated circuit (IC). Alternatively, the control unit 110 can be a real or virtual computer network (a technical term for a real computer network is "cluster," a technical term for a virtual computer network is "cloud"). The control unit 110 can be designed as a virtual system that runs on a computer, a real computer network, or a virtual computer network (a technical term for this is "virtualization").

[0101] The interface 110.1 can be a hardware or software interface (for example, a PCI bus, USB, or FireWire). The processing unit 110.2 can comprise hardware and / or software components, such as a microprocessor or a so-called FPGA (Field Programmable Gate Way). The storage unit 110.3 can be configured as random access memory (RAM) or as permanent mass storage (hard drive, USB flash drive, SD card, solid state drive (SSD)).

[0102] The interface 110.1 can, in particular, comprise a plurality of sub-interfaces that execute different process steps of the respective method according to the invention. In other words, the interface 110.1 can be configured as a plurality of interfaces 110.1. The computing unit 110.2 can, in particular, comprise a plurality of sub-computing units that execute different process steps of the respective method according to the invention. In other words, the computing unit 110.2 can be configured as a plurality of computing units 110.2.

[0103] Fig. Figure 2a shows a first embodiment in a top view of a section of a mammography system 101 according to Fig. 1. To determine a three-dimensional shape of a breast O.

[0104] Fig. Figure 2b shows the first embodiment in a side view of a section of a mammography system 101 according to Fig. 1. To determine a three-dimensional shape of a breast O.

[0105] The compression plate 106 comprises a plurality of markings 221. The markings 221 are absorbent for light emitted by the light source 222 and transparent to X-rays. The markings 221 can, for example, be painted, incised, embedded, or cast into the compression plate 106. The markings 221 are designed such that they cast a shadow when illuminated by light from the light source 222. The compression plate 106 is, in particular, optically transparent.

[0106] The majority of markings 221 can be formed as a plurality of parallel lines, as shown. The lines can be equidistant. In alternative configurations, the lines can have different distances between them. For example, the distance between the lines can decrease from one side of the compression plate 106 to the other. Alternatively or additionally, the majority of the lines can also include lines that are oriented perpendicular to the lines shown.

[0107] The projection device comprises a light source 222. The light source 222 can be, in particular, an optical light source. Alternatively, the light source 222 can emit light of a different frequency, for example, in the UV range. The light source 222 is arranged outside the path of the X-ray radiation R. Advantageously, the light source 222 is arranged inside the X-ray source 104. Alternatively, the light source 222 is arranged at or next to the X-ray source 104. The light source 222 is oriented such that it illuminates the compression plate 106. The markings 221 are projected onto the positioned and compressed breast O, thus forming a shadow in the form of projected markings 220. From the perspective of the camera 102, these projected markings 220 are shifted relative to the markings 221, depending on the three-dimensional shape of the breast O.

[0108] Camera 102 captures an image of these markings 221 and projected markings 220. Based on the distance between the markings 221 and the projected markings 220 in the camera image, the distance of the breast O to the compression plate 106, and thus the three-dimensional shape of the breast O, can be determined. Camera 102 is positioned outside the path of the X-ray beam R.

[0109] Fig. Figure 3a shows a second embodiment in a top view of a section of a mammography system 101 according to Fig. 1. To determine the three-dimensional shape of a breast.

[0110] Fig. Figure 3b shows the second embodiment in a side view of a section of a mammography system 101 according to Fig. 1. To determine a three-dimensional shape of a breast O.

[0111] The projection device comprises a fan laser 322. The fan laser 322 is height-adjustable. In other words, the distance between the fan laser 322 and the surface 105.1 of the X-ray detector 105 is variable. The fan laser 322 is positioned between the X-ray tube 104 and the X-ray detector 105. The fan laser 322 can be moved along the height of the chest O.

[0112] If the mammography system 101, as in this embodiment, includes a compression plate 106, the fan laser 322 is arranged and movable between the surface 105.1 of the X-ray detector 105 and the compression plate 106.

[0113] In versions where the breast O is compressed between two compression plates, the fan laser 322 is positioned and movable between the two compression plates.

[0114] The fan laser 322 is designed to emit a fan-shaped laser beam or laser fan 322.1. Advantageously, this laser fan 322.1 is aligned parallel to the surface 105.1 of the X-ray detector 105.

[0115] The laser fan 322.1 creates the projected marking 320 at the point where it hits the chest O. By moving the fan laser 322 vertically, several projected markings 320 can be created at different positions on the chest O.

[0116] These projected markings 320 are captured in images using camera 102. Camera 102 is positioned outside the path of the X-ray beam R.

[0117] Based on these camera images, the three-dimensional shape of the breast O can be determined.

[0118] Fig. Figure 4 shows an embodiment of a method for determining the three-dimensional shape of a breast O using a mammography system 101 according to the Fig. 2a and Fig. 2b or Fig. 3a and Fig. 3b.

[0119] The procedure includes a procedural step of positioning POS of the breast O between the X-ray detector 105 and the X-ray source 104.

[0120] In embodiments where the mammography system 101, as described above, includes a compression device comprising a compression plate 106, the positioning step POS can also include a compression step COMP. In this case, the breast O is compressed between the surface 105.1 of the X-ray detector 105 and the compression plate 106 by adjusting or moving the compression plate 106. Alternatively, during compression COMP, the breast can be compressed between two compression plates. The compression plate 106 or plates are positioned between the X-ray detector 105 and the X-ray source 104. Compression COMP reduces the thickness of the breast O in the direction of the X-ray beam R and also fixes the breast O in place.

[0121] The procedure also includes a procedural step of projecting PROJ at least one marker 220, 320 onto the positioned breast O.

[0122] The PROJ projection is then carried out either as described in the Fig. 2a and Fig. 2b described or as per the Fig. 3a and Fig. 3b described.

[0123] The method also includes a process step of capturing REC of the projected markings 220, 320 using the camera 102. The camera 102 is designed as described above and is arranged on the mammography system 101. In particular, the camera 102 captures at least one image, each image depicting one or more projected markings 220, 320 on the breast O.

[0124] The procedure also includes a step for determining the three-dimensional shape of breast O using the 110.2 processing unit. This determination is based on the projected markers 220 and 320 captured in the camera image(s). Specifically, the shape of the projected markers 320 can be analyzed. Alternatively, the distance between the projected markers 220 and the markers 221 in the camera image can be analyzed, and the shape of breast O derived from this. This distance correlates with the distance of breast O to the respective marker.

[0125] The procedure also includes a step of providing PROV, the three-dimensional shape of the breast. Specifically, the three-dimensional shape of the breast is provided to an image processing unit, which processes simultaneously acquired X-ray images. Alternatively, the three-dimensional shape of the breast can be provided to a user via terminal 113.

[0126] Where not explicitly stated, but sensible and in line with the invention, individual embodiments, individual aspects or features thereof may be combined or exchanged without departing from the scope of the present invention. Advantages of the invention described with reference to one embodiment also apply to other embodiments, where applicable, without explicit mention.

Claims

[1] Mammography system (101) for determining a three-dimensional shape of a breast (O) comprising - an X-ray source (104), - an X-ray detector (105), - Means for projecting at least one mark (210, 220, 320) onto the chest, wherein the mark (210, 220, 320) is transparent to X-rays (R), - a camera (102) for capturing the projected marking (220, 320), - a computing unit (110.2) for determining (DET) the three-dimensional shape of the breast (O) depending on the detected projected marker (220, 320) and for providing (PROV) the determined three-dimensional shape of the breast (O). [2] Mammography system (101) according to claim 1, wherein the mammography system (101) also includes a compression device for compressing (COMP) the breast (O), wherein the compression device is arranged between the X-ray source (104) and the X-ray detector (105), wherein the compression device comprises a compression plate (106), wherein the compression plate (106) is arranged between the X-ray source (104) and the breast (O), wherein the compression plate (106) includes at least one marking (210), wherein the means for projection comprises a light source (222) which emits radiation detectable by the camera (102), wherein at least one marking (210) is projected onto the chest (O) by means of the light source (222). [3] Mammography system (101) according to claim 2, wherein the at least one marking (210) encompassed by the compression plate (106) is absorbing radiation emitted by the light source (222) and transparent to X-ray radiation (R). [4] Mammography system (101) according to one of claims 2 or 3, wherein the compression plate (106) has a rectangular shape, wherein at least one marking (210) is formed as a line parallel to one side of the compression plate (106). [5] Mammography system (101) according to one of claims 2 to 4, wherein the compression plate (106) includes more than one mark (210), wherein the markings (210) are formed as lines, the lines are arranged periodically parallel to each other. [6] Mammography system (101) according to claim 1, wherein the means for projection comprises a fan laser (322), wherein the fan laser (322) is arranged such that the plane spanned by the fan laser (322) is aligned parallel to a surface (105.1) of the X-ray detector (105). [7] Mammography system (101) according to claim 6, wherein the mammography system (101) also includes a compression device for compressing (COMP) the breast (O), wherein the compression device is arranged between the X-ray source (104) and the X-ray detector (105), wherein the compression device comprises a compression plate (106), wherein the compression plate (106) is arranged between the X-ray source (104) and the breast (O), wherein the fan laser (322) is arranged at a height between the X-ray detector (105) and the compression plate (106). [8] Mammography system (101) according to one of claims 6 or 7, wherein the area laser (322) is movable at least along the height of the compressed breast (O). [9] Mammography system (101) according to claim 7, wherein the area laser (322) is designed to project a marking (320) onto the chest (O) at discrete heights, wherein the camera (102) is designed to detect each projected mark (320). [10] Computer-implemented method for determining a three-dimensional shape of a breast (O) using a mammography system (101) according to any one of claims 1 to 9, comprising the following method steps: - Positioning (POS) of the breast (O) between the X-ray detector (105) and the X-ray source (104), - Projecting (PROJ) at least one marker (210, 220, 320) onto the positioned breast (O) using the means for projecting, - Recognition (REC) of the projected marker (220, 320) with the camera (102), - Determining (DET) the three-dimensional shape of the breast (O) with the computing unit (110.2) depending on the captured projected marker (220. 320), - Providing (PROV) the three-dimensional shape of the breast (O). [11] Method according to claim 10, wherein the mammography system (101) is configured according to one of claims 2 to 5, wherein the positioning (POS) further comprises the following process step: - Compressing (COMP) the breast (O) with the compression device, where, when determining (DET) the three-dimensional shape of the breast (O), a position of the projected marker (220) is taken into account in comparison to the marker (210) encompassed by the compression plate (106). [12] Method according to claim 10, wherein the mammography system (101) is configured according to one of claims 6 to 8, wherein more than one marking (320) is projected by means of the fan laser (322) in the form of equipotential surfaces at different heights of the breast (O), where, in determining (DET) the three-dimensional shape of the breast (O), the three-dimensional shape is determined as a function of the equipotential surfaces. [13] Computer program product comprising a computer program which can be directly loaded into a memory (101.3) of a control unit (110) of a mammography system (101), comprising program sections to execute all steps of the method according to any one of claims 10 to 12 when the program sections are executed by the control unit (110) of the mammography system (101). [14] Computer-readable storage medium on which program sections readable and executable by a control unit (110) of a mammography system (101) are stored to execute all steps of the method according to any one of claims 10 to 12 when the program sections are executed by the control unit (110) of the mammography system (101).

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