Methods for controlling an X-ray machine and X-ray equipment

Abstract

The invention relates to a method for controlling an X-ray device, which comprises an X-ray source and an X-ray detector in a first defined arrangement and a light guiding device in a second defined arrangement with respect to the X-ray detector, wherein a virtual reference beam is defined by a first and a second reference point which are arranged between the X-ray source and the X-ray detector as part of the first defined arrangement, comprehensive: - Receiving planning information about a planned path for the placement of a medical object, - Emitting a fan of light by means of the light guiding device, such that the virtual reference beam is arranged within the fan of light, - Repositioning the first defined arrangement from an initial to a further positioning, where the virtual reference ray intersects the planned path in the initial and subsequent positioning of the first defined arrangement, - Capturing the future positioning as the current positioning, - Rotating the second defined arrangement based on the planning information and the current positioning such that the light fan illuminates the planned path. The invention further relates to an X-ray device and a computer program product.

Description

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

[0002] In medical interventions, the precise placement of medical objects, such as needles and / or medical instruments, is often crucial, especially in minimally invasive procedures like biopsies, pain management, and / or catheter placement. Frequently, the medical object needs to be guided along a planned trajectory to a target location and / or aligned along a planned trajectory, particularly a planned spatial direction.

[0003] Needle guidance on medical C-arm X-ray machines and / or computed tomography (CT) systems can be achieved, for example, by optical and / or electromagnetic needle tracking and / or laser needle guidance. Optical and / or electromagnetic tracking systems are often expensive and complex to use; they can be prone to interference, require regular calibration, and / or their accuracy can be affected by external influences such as metallic objects and electromagnetic fields.

[0004] In the area of ​​laser needle guidance on the C-arm X-ray unit, for example, two "progression views" of the C-arm X-ray unit can be used. These are oriented as perpendicular as possible to a planned needle path and are generally perpendicular to a "bullseye" direction, particularly a longitudinal direction of the planned needle path. These views are often pre-calculated according to specific geometric criteria and to prevent collisions. To move to one of the progression views, it often has to be selected in the system menu to enable automatic movement of the C-arm X-ray unit to that position. The line laser can then be switched on and the needle path illuminated from the side. A line laser integrated into a detector of the C-arm X-ray unit can provide a lateral progression view, in which the planned needle path can be illuminated from the side.Selecting the Progression View from the system menu can be time-consuming and cumbersome. Furthermore, the pre-calculated Progression Views limit flexibility and efficiency.

[0005] These disadvantages result in a more difficult and less efficient management of medical objects under X-ray imaging control.

[0006] Documents DE 10 2022 204 859 B3 and DE 10 2023 204 909 B3 each disclose a device for aligning a medical object with respect to an object under investigation.

[0007] It is therefore the object of the present invention to enable improved guidance of medical objects under X-ray imaging control.

[0008] The object of the invention is achieved by the subject matter of the independent claims. Advantageous embodiments with expedient further developments are the subject matter of the dependent claims. Regardless of the grammatical gender of a particular term, persons of male, female, or other gender identities are included.

[0009] The invention relates, in a first aspect, 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 guidance device. The X-ray source and the X-ray detector are arranged opposite each other in a first defined arrangement. The first defined arrangement is movably mounted. The light guidance device is arranged in a second defined arrangement relative to the X-ray detector. The second defined arrangement is at least rotatably mounted. Furthermore, a virtual reference beam is defined by a first and a second reference point. The first reference point is located at the X-ray source, and the second reference point is located between the X-ray source and the X-ray detector as part of the first defined arrangement. The method comprises several steps.In a first step, planning information for a planned path for arranging a medical object that can be imaged using the X-ray machine is received. In a further step, a light fan is emitted by the light guidance device such that the virtual reference beam is positioned within the light fan. In a further step, the first defined arrangement is repositioned from an initial position to a subsequent position, whereby the virtual reference beam intersects the planned path in both the initial and subsequent positions of the first defined arrangement, specifically at a single point of intersection. The points of intersection of the virtual reference beam with the planned path in the initial and subsequent positions of the first defined arrangement can be the same or different.In a further step, the next positioning is recorded as the current position of the first defined arrangement. In a further step, the second defined arrangement is rotated based on the planning information and the current position of the first defined arrangement so that the light fan illuminates the planned path.

[0010] The X-ray device can be, in particular, a medical X-ray device. The X-ray source can be designed to emit X-rays, in particular a beam of X-rays. Furthermore, the X-ray detector can be designed to capture, in particular detect, incident X-rays, especially on a radiopaque surface. The X-ray detector can, in particular, be a flat-panel detector.

[0011] The X-ray source and the X-ray detector are arranged opposite each other. In particular, the X-ray source and the X-ray detector are arranged opposite each other such that the X-rays emitted by the X-ray source illuminate the X-ray detector, especially its radiopaque surface. Furthermore, the X-ray source and the X-ray detector are arranged in the first defined arrangement. The first defined arrangement can characterize a relative positioning, in particular a spatial relative position and / or relative orientation and / or relative pose, between the X-ray source and the X-ray detector. Furthermore, the X-ray source and the X-ray detector can be arranged on a common support structure, for example, a C-arm and / or C-arm and / or O-arm, in the first defined arrangement. The common support structure can be movably mounted about one or more axes.

[0012] The first defined arrangement is movably mounted, in particular in a translatable and / or rotatable manner. In particular, the X-ray source and the X-ray detector can be movably mounted, in particular in a translatable and / or rotatable manner, in the first defined arrangement.

[0013] The light guidance device is arranged in the second defined arrangement relative to the X-ray detector. The second defined arrangement can characterize a relative positioning, in particular a spatial relative position and / or relative orientation and / or relative pose, between the light guidance device and the X-ray detector. The second defined arrangement is mounted in a manner that allows for rotation, in particular translation and rotation. Specifically, the light guidance device and the X-ray detector can be mounted in the second defined arrangement in a manner that allows for rotation, in particular translation and rotation. If the X-ray detector is designed as a flat-panel detector, an axis of rotation of the second defined arrangement can advantageously correspond to a surface normal of the flat-panel detector.

[0014] The light guidance device can advantageously include a light source, for example a laser light source, configured to emit the light fan. For this purpose, the light guidance device can, for example, include an optical aperture. The light fan can advantageously illuminate a predefined layer, particularly in a fan shape. Advantageously, the light guidance device can be arranged relative to the X-ray detector such that the light fan can be emitted at least partially in the direction of the X-ray source. For example, the light guidance device can be arranged relative to the X-ray detector in at least a subset of possible positions of the first and second defined arrangements, and in particular in all possible positions of the first and second defined arrangements, such that the light fan can be emitted at least partially in the direction of the X-ray source.The light guidance device can, for example, emit the light fan as a laser line.

[0015] When the first defined arrangement is moved, the second defined arrangement can also be moved. A movement of the second defined arrangement, in particular at least a rotation of the second defined arrangement, can occur independently of the first defined arrangement, especially with respect to the first defined arrangement.

[0016] Receiving the planning information can include, in particular, capturing and / or reading data from a computer-readable data storage device and / or receiving data from a data storage unit, such as a database. Furthermore, the planning information can be provided by a delivery unit of a medical imaging device.

[0017] The planning information can advantageously include spatially, and in particular spatially and temporally, resolved information on a planned path for the arrangement of the medical object. The planned path can be straight, at least in sections, and in particular completely. For example, the planning information can be provided based on a pre-procedural dataset, in particular a pre-procedural 3D dataset, of an object under investigation.

[0018] The medical object can comprise a surgical instrument, for example, a needle, in particular a puncture needle, and / or a drill, and / or a diagnostic instrument, for example, an endoscope, in particular a laparoscope, and / or a catheter, and / or an implant. Advantageously, the medical object can be at least partially, and in particular completely, rigid and elongated, in particular rod- and / or needle-shaped. Advantageously, the medical object can be imageable using an X-ray device, for example, by being at least partially radiopaque. Advantageously, the planning information can specify the planned path with respect to the object of investigation, in particular with respect to a coordinate system of the object of investigation. The object of investigation can be, for example, a human and / or animal patient and / or a study phantom.

[0019] If the medical object includes a needle, the planned path may, for example, include a planned needle trajectory.

[0020] The first reference point can comprise a spatial point, in particular defined by spatial coordinates, which is located at the X-ray source, in particular at a focal point of the X-ray source. The first reference point can have a defined, in particular constant, positional relationship to the X-ray source.

[0021] The second reference point can comprise a spatial point, in particular defined by spatial coordinates, which is different from the first reference point and is located between the X-ray source and the X-ray detector. The second reference point can 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 spaced apart from the first reference point. The first and second reference points are advantageously part of the first defined arrangement.

[0022] Advantageously, the first and second reference points can define the virtual reference ray. The virtual reference ray can extend from the first reference point through the second reference point.

[0023] In a further step, the light guidance device emits the light fan in such a way that the virtual reference beam is positioned within the light fan. The light fan can have a defined positional relationship with respect to the second defined arrangement, in particular with respect to the light guidance device and the X-ray detector. This allows the light fan to also have a defined positional relationship with respect to the first defined arrangement. The light fan can illuminate a predefined layer, in particular in a fan shape. Advantageously, the light guidance device emits the light fan in such a way that the virtual reference beam is positioned within the layer illuminated by the light fan.

[0024] In a further step, the first defined arrangement can be repositioned, particularly manually or semi-automatically, from its initial position to a subsequent position. For example, a user can be supported by digital suggestions, such as a workflow prompt, when semi-automatically repositioning the first defined arrangement. The initial positioning of the first defined arrangement can describe its initial spatial position, orientation, and / or pose at a specific point in time. Furthermore, the subsequent positioning can describe a different spatial position, orientation, and / or pose of the first defined arrangement at a later point in time, particularly after the initial point in time. This subsequent positioning differs from the initial positioning of the first defined arrangement.Furthermore, the virtual reference ray intersects the planned path, specifically at one intersection point each when the first defined array is positioned in the initial and subsequent positions. Repositioning the first defined array can involve translation and / or rotation. In particular, repositioning does not only involve rotation of the first defined array around the planned path as the axis of rotation.

[0025] Advantageously, the second defined arrangement can be positioned relative to the first defined arrangement at the initial time such that the light fan illuminates the planned path. After repositioning the first defined arrangement from its initial position to its subsequent position, the second defined arrangement can be positioned relative to the planned path such that the light fan initially only intersects the planned path. For example, the intersection point of the virtual reference beam with the planned path can be located at a center of rotation, particularly an isocenter, of the first defined arrangement.

[0026] In a further step, the current positioning of the first defined arrangement is recorded. This current positioning can be recorded by a control unit for controlling the movement, in particular the repositioning, of the X-ray device, specifically of the first defined arrangement. The control unit can include a sensor, in particular an electromagnetic, optical, acoustic, or mechanical sensor, for recording the current positioning of the first defined arrangement. Advantageously, the current positioning of the first defined arrangement can be recorded with respect to the planned path, in particular with respect to a coordinate system of the object under investigation.

[0027] In a further step, the second defined arrangement is rotated based on the planning information, in particular the information about the planned path, and the current position of the first defined arrangement, such that the light fan illuminates the planned path. Specifically, rotating the second defined arrangement allows the light fan to be rotated relative to the planned path. Advantageously, the rotation of the second defined arrangement can be performed simultaneously with, or after, the repositioning of the first defined arrangement.

[0028] Advantageously, the current position of the second defined arrangement can be determined based on the current position of the first defined arrangement, particularly with respect to the planned path. Based on the planning information, especially the information on the spatial positioning of the planned path, and the current position of the first defined arrangement, and especially the current position of the second defined arrangement, the second defined arrangement, particularly the light fan, can be rotated such that the light fan illuminates the planned path.

[0029] Advantageously, this allows the light fan to always illuminate the planned path for positioning the medical object. This enables flexible and precise guidance of the medical object along the planned path. By rotating the second defined assembly, particularly the X-ray detector, relative to the planned path (e.g., a needle path), collimation along the planned path can be advantageously achieved, thereby reducing the X-ray dose while ensuring that the areas of interest to be imaged remain visible.

[0030] In a further advantageous embodiment of the method, the second reference point can be located at a center of rotation, in particular an isocenter, of the first defined arrangement, at a center of rotation of the second defined arrangement, or at a geometric center of a beam exit window of the X-ray source.

[0031] The center of rotation, or in particular a center of rotation, of the first defined arrangement can be a point in space around which the first defined arrangement is rotatably mounted. In particular, an axis of rotation for rotating the first defined arrangement can pass through the center of rotation. In particular, the center of rotation of the first defined arrangement can be an isocenter of the X-ray device. Advantageously, the second reference point can be located at the center of rotation of the first defined arrangement. This allows the virtual reference beam to be rotated around the second reference point when the first defined arrangement is rotated.

[0032] Alternatively, the second reference point can be located at a center of rotation, in particular a center of rotation, of the second defined arrangement. The center of rotation, in particular the center of rotation, of the second defined arrangement can be a point in space about which the second defined arrangement is rotatably mounted. An axis of rotation of the second defined arrangement can pass through the center of rotation of the second defined arrangement. Advantageously, the axis of rotation of the second defined arrangement can be arranged perpendicular to a surface of the X-ray detector facing the X-ray source. The center of rotation of the second defined arrangement can, for example, be a center of rotation of the X-ray detector. In particular, the center of rotation of the second defined arrangement can be located at a geometric center point of the X-ray detector, in particular the X-ray-sensitive surface of the X-ray detector.This allows the second reference point to be advantageously invariant under a rotation of the second defined arrangement. The virtual reference beam can thus hit the same point in space, for example a detector pixel and / or a location on the X-ray detector, even when the second defined arrangement is rotated.

[0033] Alternatively, the second reference point can be located at a geometric center point of the X-ray source's beam exit window. The virtual reference beam can then follow a central ray and / or mid-ray of an X-ray beam emitted by the X-ray source. This advantageously allows the reference beam to remain invariant to changes in the relative positioning of the X-ray source and the X-ray detector in the first defined arrangement, for example, due to mechanical deformations of the common support structure. The emission of the light fan by the light guidance device can be adjusted accordingly upon detection of a change in the relative positioning.

[0034] In another advantageous embodiment of the method, the virtual reference beam can be arranged along a rotation axis of the second defined arrangement.

[0035] Advantageously, the second reference point can be located along the axis of rotation of the second defined arrangement, in particular on the axis of rotation of the second defined arrangement. The axis of rotation of the second defined arrangement can, for example, pass through the center of rotation of the first defined arrangement and / or the geometric center of the beam exit window. Alternatively, the second reference point can be located at the center of rotation of the second defined arrangement.

[0036] This allows the virtual reference beam to be advantageously invariant under a rotation of the second defined arrangement.

[0037] In a further advantageous embodiment of the method, the repositioning of the first defined arrangement can be limited to a rotation about an intersection of the virtual reference ray with the planned path or a combination comprising a rotation about the intersection and a translation parallel to the planned path.

[0038] Advantageously, the repositioning, in particular the degrees of freedom of repositioning, of the first defined arrangement can be restricted to rotation, in particular a rotational movement, of the first defined arrangement around the intersection of the virtual reference ray with the planned path. Alternatively, the repositioning, in particular the degrees of freedom of repositioning, of the first defined arrangement can be restricted to rotation, in particular a rotational movement, of the first defined arrangement around the intersection of the virtual reference ray with the planned path and translation, in particular a translational movement, of the first defined arrangement parallel to the planned path.By restricting the translation, in particular the translational movement, of the first defined arrangement parallel to the planned path, it can advantageously be ensured that the virtual reference beam intersects the planned path at a single point. Restricting the repositioning, in particular the degrees of freedom of movement, of the first defined arrangement can, for example, involve adjusting a control mechanism, in particular the control degrees of freedom, of the first defined arrangement. For example, via an input unit, in particular a user interface, of the X-ray machine, controls, in particular control elements, can be assigned such that the first defined arrangement can only be moved with a geometric restriction; for example, joysticks of the input unit can be adapted accordingly.

[0039] For example, the intersection of the virtual reference beam with the planned path can be located at a center of rotation, in particular an isocenter, of the first defined arrangement. The first defined arrangement can be repositioned from its initial to subsequent positions, in particular manually or semi-automatically, and in particular rotated isocentrically, such that the second defined arrangement is automatically rotated so that the light fan illuminates the planned path, particularly in Progression View.

[0040] This advantageously ensures that the virtual reference beam intersects the planned path even during the repositioning of the first defined arrangement from its initial to its subsequent positioning, particularly at an intersection point. This advantageously enables continuous repositioning of the first defined arrangement while maintaining the intersection point between the virtual reference beam and the planned path. Furthermore, this advantageously ensures that the light fan illuminates the planned path, at least partially, and particularly continuously.

[0041] In a further advantageous embodiment of the method, a change in the relative positioning of the first and second reference points can be identified. The emission of the light fan by the light guiding device can be adjusted based on the identified change in the relative positioning.

[0042] The relative positioning of the X-ray source and the X-ray detector in the first defined arrangement can change, for example, due to mechanical deformations of the common support structure. In particular, the relative positioning of the X-ray source and the X-ray detector can change depending on the current position of the first defined arrangement. This can lead to a change in the relative positioning of the first and second reference points. This change in the relative positioning of the first and second reference points can, in turn, lead to a change in the relative positioning of the virtual reference beam with respect to the second defined arrangement, especially the emitted light fan. Advantageously, the change in the relative positioning of the first and second reference points can be identified, particularly automatically.Identifying the change in the relative positioning of the first and second reference points can, for example, involve capturing the instantaneous relative positioning of the X-ray source and the X-ray detector, perhaps using a sensor. Alternatively or additionally, the change in the relative positioning of the first and second reference points can be identified based on the instantaneous positioning of the first defined arrangement, for example, based on a lookup table and / or a physical model of the X-ray device.

[0043] Advantageously, the light guidance device can be configured to adjust the emission of the light fan, in particular a projection direction and / or a fan angle of the light fan, depending on the identified change in the relative positioning of the first and second reference points. Advantageously, the light guidance device can adjust the emission of the light fan depending on the identified change in the relative positioning such that the virtual reference beam is located within the light fan, in particular within the layer illuminated by the light fan.

[0044] The proposed embodiment advantageously allows for compensation of changes in the relative positioning of the first and second reference points during the emission of the light fan. This advantageously ensures that the virtual reference beam is positioned within the light fan.

[0045] In a further advantageous embodiment of the method, the first defined arrangement can be repositioned into several further positions, particularly continuously. The virtual reference beam can intersect the planned path in the initial and subsequent positions of the first defined arrangement. The current position of the first defined arrangement can be recorded. Based on the planning information and the current position of the first defined arrangement, the second defined arrangement can be rotated such that the light fan illuminates the planned path.

[0046] Advantageously, the first defined arrangement can be repositioned, in particular moved, into several further positions in a temporal sequence. The several further positions can be at least partially, and in particular completely, different. Advantageously, the initial and the several further positions can describe a trajectory of the first defined arrangement, in particular a continuous one. Advantageously, the first defined arrangement can be continuously repositioned from the initial to the several further positions, in particular along a continuous trajectory in a temporal sequence.

[0047] The virtual reference ray can advantageously intersect the planned path in the initial and subsequent positions of the first defined arrangement, in particular at a single intersection point in each case. The intersection points of the virtual reference ray with the planned path in the initial and subsequent positions of the first defined arrangement can be at least partially, and in particular completely, the same or different.

[0048] In this process, the current position of the first defined arrangement can be recorded each time it is placed in one of the several further positions.

[0049] Advantageously, the second defined arrangement can be rotated based on the planning information, in particular the information on the positioning of the planned path, and the current positioning of the first defined arrangement, such that the light fan illuminates the planned path, and specifically that the planned path is located within the layer illuminated by the light fan. The rotation of the second defined arrangement can advantageously occur simultaneously with, or after, the repositioning of the first defined arrangement.

[0050] The proposed embodiment can advantageously enable a particularly flexible and efficient positioning of the first defined arrangement, whereby the rotation of the second defined arrangement ensures, in particular, continuous illumination of the planned path by the light fan.

[0051] In a further advantageous embodiment of the method, the medical object can be arranged along the planned path. X-rays can be emitted from the X-ray source to illuminate the medical object. The X-rays can be detected by the X-ray detector, and a signal can be generated based on the detected X-ray radiation. X-ray image data can then be generated based on this signal.

[0052] Advantageously, the medical object, in particular a longitudinal axis of the medical object, can be arranged along the planned path, especially on the planned path. Advantageously, X-rays, in particular a beam of X-rays, can be emitted by means of the X-ray source to illuminate the medical object. The X-rays can be detected, in particular after interaction with the medical object, by means of the X-ray detector, in particular the radiopaque surface of the X-ray detector. The X-ray detector can provide a signal depending on the detected X-rays. Advantageously, the signal can contain information about the detected X-rays, in particular with spatial or spatiotemporal resolution. The signal can advantageously be provided by the X-ray detector.Advantageously, the X-ray image data can be provided depending on the signal.

[0053] The X-ray image data can comprise a representation, in particular an image, of the medical object, especially the medical object and the object under examination. 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 be temporally resolved. The X-ray image data can contain multiple image points, in particular pixels and / or voxels, each with at least one image value, in particular multiple image values, for example, time-intensity curves, each representing a partial volume.

[0054] Providing the X-ray image data can 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 representation of the X-ray image data can be displayed using the display unit.

[0055] The proposed embodiment can enable improved guidance of medical objects under X-ray imaging control.

[0056] According to a further advantageous embodiment of the method, an image of the medical object can be identified in the X-ray image data, particularly manually or automatically, for example by means of segmentation and / or pattern recognition and / or annotation. In this process, a longitudinal axis of the medical object, particularly a momentary one, can be identified based on the identified image of the medical object in the X-ray image data. A momentary orientation of the medical object and its virtual continuation can then be adopted as the planned path.

[0057] Advantageously, in this embodiment, the light fan, after the second defined arrangement has rotated, can illuminate the current longitudinal direction of the medical object as the planned path. This can assist medical personnel, for example, in maintaining the current orientation of the medical object when positioning and / or moving it forward.

[0058] In another advantageous embodiment of the method, the planning information can be registered with a coordinate system of the X-ray device.

[0059] Registering the planning information with the coordinate system of the X-ray machine can involve applying a transformation rule to the planning information. This transformation rule can specify a translation and / or rotation and / or scaling and / or deformation that minimizes the deviation between corresponding spatial points of the planning information, particularly a coordinate system of the planning information, and the coordinate system of the X-ray machine. If the planning information is registered with a coordinate system of the object under investigation, the coordinate systems of the object under investigation and the X-ray machine can advantageously be registered together.

[0060] The proposed embodiment can advantageously enable particularly precise guidance of medical objects under X-ray imaging control.

[0061] In a further advantageous embodiment of the method, providing the X-ray image data can include providing a graphical representation of the X-ray image data by means of a display unit. The graphical representation of the X-ray image data can be rotated in such a way that any momentary rotation of the second defined arrangement with respect to the planned path is compensated for.

[0062] The display unit can, for example, comprise a monitor and / or a display and / or a projector, which is configured to show the graphical representation of the X-ray image data. Providing the graphical representation of the X-ray image data can include displaying the graphical representation of the X-ray image data using the display unit. Advantageously, the graphical representation of the X-ray image data can be rotated, particularly digitally. The graphical representation of the X-ray image data can be rotated depending on the current positioning, particularly the current rotation, of the second defined arrangement with respect to the planned path. This advantageously enables a consistent representation of the image of the medical object, particularly independent of the current rotation of the second defined arrangement.

[0063] In a second aspect, the invention relates to an X-ray device comprising an X-ray source, an X-ray detector, a light guidance device, and a control unit. The X-ray source and the X-ray detector are arranged opposite each other in a first defined arrangement. The first defined arrangement is movably mounted. The light guidance device is arranged in a second defined arrangement relative to the X-ray detector. The second defined arrangement is at least rotatably mounted. A virtual reference beam is defined by a first and a second reference point. Furthermore, the first reference point is located at the X-ray source, and the second reference point is located between the X-ray source and the X-ray detector as part of the first defined arrangement.

[0064] The light guidance device is designed to emit a light fan such that the virtual reference beam is positioned within this light fan. The control unit is configured to receive planning information for a planned path for positioning a medical object imageable by the X-ray device, to reposition the first defined arrangement from an initial position to a further position, whereby the virtual reference beam intersects the planned path in both the initial and the further positions of the first defined arrangement. The control unit is further configured to detect the further position as the instantaneous position of the first defined arrangement.Furthermore, the control unit is designed to rotate the second defined arrangement based on the planning information and the current positioning of the first defined arrangement in such a way that the light fan illuminates the planned path.

[0065] The advantages of the proposed X-ray device essentially correspond to the advantages of the proposed method for controlling an X-ray device. Features, advantages, or alternative embodiments mentioned here can likewise be transferred to the other claimed items and vice versa.

[0066] The control unit can advantageously comprise an interface, a processing unit, and / or a storage unit. The control unit can be configured to control the repositioning of the first defined arrangement by providing a first control signal via the interface. Furthermore, the control unit can be configured to control the rotation of the second defined arrangement by providing a second control signal via the interface.

[0067] In a further advantageous embodiment of the X-ray device, the light guiding device can be arranged in the second defined arrangement on the X-ray detector, the X-ray source or a guiding unit.

[0068] The light guidance device can advantageously be attached to the X-ray detector, the X-ray source, or the guidance unit in the second defined arrangement. Alternatively or additionally, the light guidance device can be at least partially, and in particular completely, integrated into the X-ray detector, the X-ray source, or the guidance unit in the second defined arrangement. The guidance unit can, for example, comprise a bracket and / or a stand designed to position the light guidance device in the second defined arrangement and to rotate it with the second defined arrangement.

[0069] In a further advantageous embodiment of the X-ray device, the first defined arrangement can be mounted in a translatable and / or rotatable manner.

[0070] In a further advantageous embodiment of the X-ray device, the X-ray source can be configured to emit X-rays for illuminating the medical object. The X-ray detector can be configured to detect the X-rays and provide a signal to the control unit based on the detected X-ray radiation. The control unit can then provide X-ray image data based on this signal.

[0071] In a further advantageous embodiment of the X-ray device, the first and second defined arrangements can each be configured to be moved by a motor. The X-ray device can include a motion unit with at least one motor, in particular an electric motor, configured to reposition the first defined arrangement and rotate the second defined arrangement. The control unit can be configured to control the respective motor movement of the first and second defined arrangements. For this purpose, the control unit can provide the first and second control signals to the motion unit via the interface. The motion unit can be configured to control the first and second defined arrangements depending on the respective control signal.

[0072] In a third aspect, the invention relates to a computer program product comprising a computer program that can be directly loaded into a memory of a control unit, with program sections to execute all steps of a proposed method for controlling an X-ray device when the program sections are executed by the control unit.

[0073] The computer program product can, for example, comprise software with source code that still needs to be compiled and bound or only interpreted, or executable software code that still needs to be loaded into the control unit for execution. The computer program product enables the method for controlling an X-ray device by means of a control unit to be executed quickly, identically, and robustly. The computer program product is configured such that it can execute the process steps according to the invention by means of the control unit.

[0074] The computer program product is, for example, stored on a computer-readable storage medium or on a network or server, from where it can be loaded into the processor of a control unit, which may be directly connected to the control unit or be designed as part of the control unit. Furthermore, control information of the computer program product can be stored on an electronically readable data carrier. The control information of the electronically readable data carrier can be designed such that, when the data carrier is used in a control unit, it performs a method according to the invention. Examples of electronically readable data carriers are a DVD, a magnetic tape, or a USB flash drive on which electronically readable control information, in particular software, is stored.If this control information is read from the data carrier and stored in a control unit, all embodiments of the methods described above according to the invention can be carried out.

[0075] A largely software-based implementation has the advantage that existing control units can be easily retrofitted via a software update to operate according to the invention. Such a computer program product may, in addition to the computer program itself, 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.

[0076] Exemplary embodiments of the invention are shown in the drawings and are described in more detail below. The same reference numerals are used for identical features in different figures. The figures show: Fig. 1, Fig. 2, Fig. 3 to Fig. 4 schematic representations of various advantageous embodiments of a proposed method for controlling an X-ray device, Fig. 5, Fig. 6 to Fig. 7 schematic representations of various advantageous embodiments of a proposed X-ray device, Fig. 8 and Fig. 9 schematic representations of different positionings of the second defined arrangement, Fig. 10 a schematic representation of an exemplary embodiment of a proposed X-ray device as a medical C-arm X-ray device.

[0077] Fig. Figure 1 shows a schematic representation of an advantageous embodiment of a method for controlling an X-ray device. The X-ray device can comprise an X-ray source, an X-ray detector, and a light guidance device. Furthermore, the X-ray source and the X-ray detector can be arranged opposite each other in a first defined arrangement. The first defined arrangement can also be movably mounted. In addition, the light guidance device can be arranged in a second defined arrangement relative to the X-ray detector. The second defined arrangement can also be rotatably mounted. Furthermore, a virtual reference beam can be defined by a first and a second reference point. The first reference point can be located at the X-ray source, and the second reference point can be located between the X-ray source and the X-ray detector as part of the first defined arrangement.In one step of the process, planning information (PI) for a planned path for arranging a medical object imageable by the X-ray device can be received (REC-PI). In a further step, a light fan can be emitted by the light guidance device (TR-LF) such that the virtual reference beam is positioned within the light fan. In a further step, the first defined arrangement can be repositioned from an initial position to a further position (REPOS). The virtual reference beam can intersect the planned path in both the initial and the further positions of the first defined arrangement. In a further step, the further position can be captured as the current position (POS) of the first defined arrangement (CAP-POS).In a further step, the second defined arrangement can be rotated based on the planning information PI and the current positioning POS of the first defined arrangement in such a way that the light fan illuminates the planned path.

[0078] Advantageously, the repositioning REPOS of the first defined arrangement can be restricted to a rotation about an intersection of the virtual reference ray with the planned path or a combination comprising a rotation about the intersection and a translation parallel to the planned path.

[0079] Advantageously, the first defined arrangement can be repositioned into several further positions, particularly continuously (REPOS). The virtual reference beam can intersect the planned path in the initial and subsequent positions of the first defined arrangement. Furthermore, the current position (POS) of the first defined arrangement can be captured (CAP-POS). Additionally, the second defined arrangement can be rotated (ROT) based on the planning information (PI) and the current position (POS) of the first defined arrangement so that the light fan illuminates the planned path.

[0080] Advantageously, the second reference point can be located at a center of rotation of the first defined arrangement, in particular an isocenter, at a center of rotation of the second defined arrangement, or at a geometric center of a beam exit window of the X-ray source. Furthermore, the virtual reference beam can be arranged along an axis of rotation of the second defined arrangement.

[0081] Fig. Figure 2 shows a schematic representation of another advantageous embodiment of a method for controlling an X-ray device. In this method, a change CH in the relative positioning of the first and second reference points can be identified (DET-CH). Furthermore, the emission of the light fan TR-LF by the light guidance device can be adjusted based on the identified change CH in the relative positioning.

[0082] Fig. Figure 3 shows a schematic representation of another advantageous embodiment of a method for controlling an X-ray device. The medical object can be arranged along the planned path. Furthermore, X-rays can be emitted by the X-ray source TR-XR to illuminate the medical object. In addition, the X-rays can be detected by the X-ray detector DET-XR, and a signal can be provided depending on the detected X-ray radiation. Furthermore, X-ray image data BD can be provided depending on the signal PROV-BD.

[0083] Advantageously, providing PROV-BD of the X-ray image data BD can include providing a graphical representation of the X-ray image data BD using a display unit. The graphical representation of the X-ray image data BD can be rotated in such a way that any momentary rotation of the second defined arrangement with respect to the planned path is compensated for.

[0084] Fig. Figure 4 shows a schematic representation of another advantageous embodiment of a method for controlling an X-ray device. In this method, the planning information PI can be registered with a coordinate system of the X-ray device.

[0085] Fig. Figure 5 shows a schematic representation of an advantageous embodiment of a proposed X-ray device. The X-ray device can comprise an X-ray source 33, an X-ray detector 34, a light guidance device LFE, and a control unit CU. The X-ray source 33 and the X-ray detector 34 can be arranged opposite each other in a first defined arrangement. Advantageously, the first defined arrangement can be movably mounted. The light guidance device LFE can be arranged in a second defined arrangement relative to the X-ray detector 34. The second defined arrangement can be at least rotatably mounted. Furthermore, a virtual reference beam RS can be defined by a first reference point R1 and a second reference point R2.

[0086] The first reference point R1 can be located at the X-ray source 33, and the second reference point R2 can be located between the X-ray source 33 and the X-ray detector 34 as part of the first defined arrangement. Furthermore, the light guidance device LFE can be configured to emit the light fan LF (TR-LF) such that the virtual reference beam RS is positioned within the light fan LF. The control unit CU can be configured to control the light guidance device LFE by means of a signal S to emit the light fan LF. The control unit CU can be configured to receive the planning information PI for the planned path for the arrangement of the medical object MO, which can be imaged by the X-ray device (REC-PI). Furthermore, the control unit CU can be configured to reposition the first defined arrangement from the initial positioning to the subsequent positioning (REPOS).The virtual reference beam RS can advantageously intersect the planned path P in the initial and subsequent positioning of the first defined arrangement. Furthermore, the control unit CU can be configured to capture the subsequent positioning as the instantaneous position POS of the first defined arrangement (CAP-POS). Additionally, the control unit CU can be configured to rotate the second defined arrangement based on the planning information PI and the instantaneous position POS of the first defined arrangement (ROT) such that the light fan LF illuminates the planned path P.

[0087] Advantageously, the light guidance device LFE can be arranged on the X-ray detector 33 in the second defined arrangement. Alternatively, the light guidance device LFE can be arranged on the X-ray source or a guidance unit in the second defined arrangement (not shown here).

[0088] Advantageously, the first defined arrangement can be mounted in a translatable and / or rotatable manner.

[0089] In Fig. Figure 5 schematically illustrates that the second reference point R2 can be located at a center of rotation of the second defined arrangement, for example a geometric center of the X-ray detector 34, in particular an X-ray-sensitive surface of the X-ray detector 34.

[0090] Fig. Figure 6 shows a schematic representation of an advantageous embodiment of a proposed X-ray device. The second reference point R2 can be located at a center of rotation of the first defined arrangement, in particular an isocenter. The virtual reference beam can be arranged along an axis of rotation of the second defined arrangement.

[0091] Fig. Figure 7 shows a schematic representation of an advantageous embodiment of a proposed X-ray device. The second reference point R2 can be arranged at a geometric center point of a beam exit window of the X-ray source 33.

[0092] Fig. 8 and Fig. Figure 9 shows schematic representations of different positions of the second defined arrangement. Fig. Figure 8 schematically depicts the second defined arrangement in an initial operating state in its initial position. In the first operating state, the first defined arrangement may, for example, have been repositioned (REPOS). The second defined arrangement may then have an initial relative position with respect to the first defined arrangement. In particular, the light fan (LF) may be positioned such that it does not illuminate the planned path (P) in the first operating state.

[0093] In Fig. Figure 9 schematically depicts the second defined arrangement in a second operating state in a further positioning. Based on the planning information PI and the current positioning POS of the first defined arrangement, the second defined arrangement may have been rotated (RED) such that the light fan LF illuminates the planned path P.

[0094] Fig. Figure 10 shows a schematic representation of an exemplary embodiment of a proposed X-ray device as a medical C-arm X-ray unit 37. The X-ray source 33 and the X-ray detector 34 can be arranged in a defined configuration on a C-arm 38. The C-arm 38 can be movably mounted about one or more axes.

[0095] The control unit CU can send a signal 24 to the X-ray source 33. Subsequently, the X-ray source 33 can emit X-rays, depending on the signal 24, to illuminate, in particular transmit, the medical object MO and the examination object 31 positioned on a patient positioning device 32. When the X-rays strike a radiopaque surface of the X-ray detector 34 after interacting with the medical object MO and the examination object 31, the X-ray detector 34 can send a signal 21 to the control unit CU. The control unit CU can be configured to acquire the X-ray image data BD based on the signal 21.

[0096] The X-ray device can further comprise an input unit 42, for example a keyboard and / or a joystick, and a display unit 41, for example a monitor and / or a display and / or a projector. The input unit 42 can preferably be integrated into the display unit 41, for example in the case of a capacitive and / or resistive input display. The display unit 41 can be configured to display a graphical representation of the X-ray image data BD. For this purpose, the control unit CU can send a signal 25 to the display unit 41. Furthermore, the input unit can be configured to detect user input. The detection unit 42 can also be configured to provide a signal 26 to the control unit CU depending on the detected user input.The control unit CU can be configured to control the X-ray device, in particular the repositioning of the first defined arrangement, depending on user input, especially signal 26. For example, the repositioning of the first defined arrangement and / or the rotation of the second defined arrangement can be controlled by the input unit, for example, a joystick or joysticks. The repositioning of the first defined arrangement can be limited to a rotation about an intersection point of the virtual reference beam RS and the planned path P, or a combination comprising a rotation about the intersection point and a translation parallel to the planned path. This can be achieved by adjusting the control degrees of freedom of the input unit. The rotation of the second defined arrangement can be controlled by a joystick. Furthermore, it can be collimated along the planned path.Furthermore, the repositioning of the first defined arrangement parallel to the planned path can be controlled using another joystick. In this process, a center of rotation, in particular an isocenter, of the first defined arrangement can shift along the planned path.

[0097] Advantageously, the first and second defined arrangements can each be configured to be moved by a motor. The control unit (CU) can then be configured to control the respective motor movement of the first and second defined arrangements.

[0098] The schematic representations contained in the described figures do not depict any scale or size ratios.

[0099] Finally, it should be noted once again that the methods described in detail above and the devices shown are merely exemplary embodiments which can be modified in various ways by a person skilled in the art without departing from the scope of the invention. Furthermore, the use of the indefinite articles "a" or "an" does not preclude the possibility that the features in question may be present multiple times. Likewise, the terms "unit" and "element" do not preclude the possibility that the components in question consist of several interacting sub-components, which may also be spatially distributed.

[0100] The expression "based on" can, in the context of the present application, be interpreted in particular as "using". In particular, a formulation according to which a first feature is generated (alternatively: determined, ascertained, etc.) based on a second feature does not preclude the possibility that the first feature may be generated (alternatively: determined, ascertained, etc.) based on a third feature.

Claims

[1] Method for controlling an X-ray machine, wherein the X-ray device comprises an X-ray source (33), an X-ray detector (34) and a light guidance device (LFE), wherein the X-ray source (33) and the X-ray detector (34) are arranged opposite each other in a first defined arrangement, wherein the first defined arrangement is movably mounted, wherein the light guidance device (LFE) is arranged in a second defined arrangement with respect to the X-ray detector (34), where the second defined arrangement is at least rotatably mounted, where a virtual reference ray (RS) is defined by a first (R1) and a second reference point (R2), wherein the first reference point (R1) is located at the X-ray source (33) and the second reference point (R2) is located between the X-ray source (33) and the X-ray detector (34) as part of the first defined arrangement, the procedure includes the following steps: - Receiving (REC-PI) planning information (PI) for a planned path (P) for the arrangement of a medical object (MO) that can be imaged by means of the X-ray device, - Emitting (TR-LF) a light fan (LF) by means of the light guiding device (LFE) such that the virtual reference beam (RS) is arranged within the light fan (LF), - Repositioning (REPOS) of the first defined array from an initial positioning to a further positioning, wherein the virtual reference ray (RS) intersects the planned path (P) in the initial and the further positioning of the first defined array, - Capturing (CAP-POS) the further positioning as the current positioning (POS) of the first defined arrangement, - Rotating (ROT) the second defined arrangement based on the planning information (PI) and the current positioning (POS) of the first defined arrangement such that the light fan (LF) illuminates the planned path (P). [2] Method according to claim 1, wherein the second reference point (R2) is arranged at a center of rotation, in particular an isocenter, of the first defined arrangement, at a center of rotation of the second defined arrangement or at a geometric center of a beam exit window of the X-ray source (33). [3] Method according to one of claims 1 or 2, wherein the virtual reference beam (RS) is arranged along a rotation axis of the second defined arrangement. [4] Method according to any of the preceding claims, wherein the repositioning (REPOS) of the first defined arrangement is limited to a rotation about an intersection of the virtual reference ray (RS) with the planned path (P) or a combination comprising a rotation about the intersection and a translation parallel to the planned path (P). [5] Method according to any of the preceding claims, where a change (CH) in the relative positioning of the first and second reference points (R1, R2) is identified (DET-CH), wherein the emission (TR-LF) of the light fan (LF) is adjusted by the light guidance device (LFE) based on the identified change (CH) of the relative positioning. [6] Method according to any of the preceding claims, wherein the first defined arrangement is repositioned into several further positionings, in particular continuously (REPOS), where the virtual reference ray intersects the planned path (P) in the initial and subsequent positionings of the first defined arrangement, where the current position (POS) of the first defined arrangement is recorded (CAP-POS), wherein the second defined arrangement is rotated (ROT) based on the planning information (PI) and the respective current positioning (POS) of the first defined arrangement such that the light fan (LF) illuminates the planned path (P). [7] Method according to any of the preceding claims, wherein the medical object (MO) is arranged along the planned path (P), wherein X-ray radiation is emitted by means of the X-ray source (33) to illuminate the medical object (MO) (TR-XR), wherein the X-ray radiation is detected by means of the X-ray detector (34) (DET-XR) and a signal (21) is provided depending on the detected X-ray radiation, where X-ray image data (BD) are provided depending on the signal (21) (PROV-BD). [8] Method according to claim 7, wherein the provision (PROV-BD) of the X-ray image data (BD) comprises providing a graphical representation of the X-ray image data (BD) by means of a display unit (41), wherein the graphical representation of the X-ray image data (BD) is rotated in such a way that an instantaneous rotation of the second defined arrangement with respect to the planned path (P) is compensated. [9] Method according to any of the preceding claims, wherein the planning information (PI) is registered with a coordinate system of the X-ray device. [10] X-ray apparatus comprising an X-ray source (33), an X-ray detector (34), a light guidance device (LFE) and a control unit (CU), wherein the X-ray source (33) and the X-ray detector (34) are arranged opposite each other in a first defined arrangement, wherein the first defined arrangement is movably mounted, wherein the light guidance device (LFE) is arranged in a second defined arrangement with respect to the X-ray detector (34), where the second defined arrangement is at least rotatably mounted, where a virtual reference ray (RS) is defined by a first (R1) and a second reference point (R2), wherein the first reference point (R1) is located at the X-ray source (33) and the second reference point (R2) is located between the X-ray source (33) and the X-ray detector (34) as part of the first defined arrangement, wherein the light guidance device (LFE) is designed to emit (TR-LF) a light fan (LF) such that the virtual reference beam (RS) is arranged within the light fan (LF), the control unit (CU) is designed to: - to receive planning information (PI) for a planned path (P) for the arrangement of a medical object (MO) that can be imaged using the X-ray device (REC-PI), - to reposition the first defined arrangement from an initial positioning to a further positioning (REPOS), wherein the virtual reference ray (RS) intersects the planned path (P) in the initial and the further positioning of the first defined arrangement, - to capture the further positioning as the current positioning (POS) of the first defined arrangement (CAP-POS), - to rotate (ROT) the second defined arrangement based on the planning information (PI) and the current positioning (POS) of the first defined arrangement in such a way that the light fan (LF) illuminates the planned path (P). [11] X-ray device according to claim 10, wherein the light guidance device (LFE) is arranged in the second defined arrangement on the X-ray detector (34), the X-ray source (33) or a guidance unit (38). [12] X-ray apparatus according to claim 10 or 11, wherein the first defined arrangement is mounted in a translatable and / or rotatable manner. [13] X-ray apparatus according to any one of claims 10 to 12, wherein the X-ray source (33) is designed to emit (TR-XR) X-ray radiation to illuminate the medical object (MO), wherein the X-ray detector (34) is designed to detect (DET-XR) the X-ray radiation and to provide a signal (21) to the control unit (CU) depending on the detected X-ray radiation, wherein the control unit (CU) is designed to provide (PROV-BD) X-ray image data (BD) depending on the signal (21). [14] X-ray apparatus according to any one of claims 10 to 13, wherein the first and the second defined arrangement are each designed to be moved by a motor, wherein the control unit (CU) is designed to control the respective motor movement of the first and the second defined arrangement. [15] Computer program product comprising a computer program which can be directly loaded into a memory of a control unit (CU), comprising program sections to execute all steps of a 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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