Method for controlling an X-ray machine, X-ray machine and computer program product

Abstract

The present invention relates to a method for controlling an X-ray device, wherein the X-ray device comprises an X-ray source (33), an X-ray detector (34), and two spaced-apart light guidance devices (LFE1, LFE2). The light guidance devices are configured to emit light fans (LF1, LF2) which are rotatably mounted about rotational axes (RA1, RA2). The method comprises receiving planning information (PI) for a planned path (P), positioning the arrangement, and moving the light fans based on the planning information and current positioning, such that the light fans illuminate the planned path. The invention further relates to an X-ray device and a computer program.

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 or instruments, is often crucial. This is especially true for minimally invasive procedures like biopsies, pain management, or catheter placement. Typically, the medical object must be guided along a planned trajectory to a target location or aligned along a planned spatial direction. To support such interventions, imaging techniques like X-rays are frequently used to visualize the position of the medical object relative to the patient's anatomy.

[0003] Conventional methods for guiding medical objects under X-ray guidance have several disadvantages. Optical or electromagnetic tracking systems are often complex to use, can be prone to interference, and require regular calibration. Furthermore, their accuracy can be affected by external influences such as metallic objects or electromagnetic fields. While laser needle guidance systems on C-arm X-ray machines provide visual support, their flexibility is limited. Often, pre-calculated views must be selected from the system menu, which slows down the workflow. In addition, the provided needle guidance information is often only two-dimensional, making spatial orientation difficult.

[0004] These limitations result in a more difficult and less efficient management of medical objects under X-ray imaging control.

[0005] German patent application DE 10 2008 013 615 A1 describes a method for marking a guide line of a penetration instrument in an object along a penetration channel by means of an intersection line of two fan-shaped light beams emitted from different directions. Furthermore, German patent application DE 10 2022 205 662 B3 describes a system for positioning a medical object, in particular a predefined section of the medical object, at a target depth, wherein a marker of the medical object, having a predefined relative position with respect to the predefined section, is illuminated by a light distribution when the predefined section is positioned at the target depth. It is therefore the object of the present invention to enable improved three-dimensional guidance of medical objects under X-ray imaging control.

[0006] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

[0007] The problem is solved according to the invention by the subject matter of the independent claims. Advantageous embodiments with expedient further developments are the subject matter of the dependent claims.

[0008] 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 and an X-ray detector positioned opposite each other, and two spaced-apart light guidance devices arranged in a first defined arrangement. The first defined arrangement is movably mounted. A first light guidance device of the two light guidance devices is configured to emit a first light fan, and a second light guidance device of the two light guidance devices is configured to emit a second light fan. The first and the second light fans are each rotatable about at least one axis of rotation. The axis of rotation of the first light fan intersects the axis of rotation of the second light fan and a detector surface of the X-ray detector.The first light guidance device is arranged in a second defined configuration relative to the X-ray detector. Furthermore, the second defined configuration is rotatably mounted. The axis of rotation of the first light fan corresponds to the axis of rotation of the second defined configuration. In a first step, planning information regarding a planned path for positioning a medical object, particularly one imageable using a medical X-ray device, is received. In a further step, the first light fan is emitted by the first light guidance device. In a further step, the second light fan is emitted by the second light guidance device. In a further step, the first defined configuration is positioned such that the axis of rotation of the first light fan intersects the planned path.In a further step, the first and / or the second light fan are moved based on the planning information and the current position of the first defined arrangement so that the first and second light fans illuminate the planned path. Moving the first and / or the second light fan includes at least one rotation of the first and / or the second light fan around its respective axis of rotation.

[0009] The X-ray device can comprise the X-ray source and the X-ray detector. 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 detect incident X-rays, especially at a radiopaque layer. The X-ray detector can be designed, in particular, as a flat-panel detector.

[0010] 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 the X-ray-sensitive layer of the X-ray detector. Furthermore, the X-ray source, the X-ray detector, and the two light guide devices 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, the X-ray detector, and the two light guide devices.Furthermore, the X-ray source, the X-ray detector, and the two light guidance devices 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.

[0011] The first defined arrangement is mounted in a movable manner, in particular in a translatable and / or rotatable way.

[0012] The X-ray device comprises two spaced-apart light guidance devices. Advantageously, each light guidance device can include a light source, for example, a laser light source and / or a laser module, configured to emit the respective light fan. For this purpose, the light guidance devices can each include, for example, an optical aperture, lenses, mirrors, prisms, light guides, or combinations thereof.

[0013] The first of the two light-guiding devices is configured to emit the first light fan. The second of the two light-guiding devices is configured to emit the second light fan. A light fan can comprise a planar propagation of light emanating from the light source and spreading in a specific direction. The light fans can each be generated, for example, by a lens, an aperture, a slit, or another optical device. The two light-guiding devices, in particular laser modules, can each be configured, for example, as line lasers, with the light emitted by the line lasers each spanning a light fan in space, which in each case lies within a plane.

[0014] The first and second light fans are rotatable about at least one axis of rotation. In particular, the first and second light fans can be mounted so that they can rotate about at least one axis of rotation. The rotatability of the light fans can be achieved by mountings, for example, mechanical devices, especially joints, bearings and / or motorized systems, and / or electromagnetic devices.

[0015] The axis of rotation of the first light fan intersects the axis of rotation of the second light fan and a detector surface of the X-ray detector, particularly simultaneously. The detector surface of the X-ray detector can be configured as a surface, in particular a plane, of the X-ray detector, which runs along or parallel to a flat side of the X-ray-sensitive layer of the X-ray detector. In particular, the detector surface can adjoin the X-ray-sensitive layer of the X-ray detector, in particular touch the X-ray-sensitive layer, or at least partially, in particular completely, extend within the X-ray-sensitive layer. If the X-ray detector, in particular the X-ray-sensitive layer of the X-ray detector, is curved, the detector surface can be correspondingly curved, in particular following a curvature of the X-ray detector, in particular a curvature of the X-ray-sensitive layer.The fact that the rotation axis of the first light fan intersects the detector surface of the X-ray detector can involve the intersection of a virtual extension of the detector surface, in particular the plane, by the rotation axis of the first light fan. This virtual extension of the detector surface can be located outside the X-ray detector, in particular directly adjacent to the X-ray detector.

[0016] Receiving planning information can involve acquiring and / or reading data from a computer-readable 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 one or more medical imaging devices, particularly those with the same or different imaging modalities. Planning information can also be received by a control unit of the X-ray device. The control unit can include, for example, a processing unit, a storage unit, and / or an interface designed to receive and process the planning information.

[0017] The planning information can advantageously include spatially, and in particular spatially and temporally, resolved information about a planned path, especially a planned needle 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, especially a pre-procedural 3D dataset, of an examination object. The planning of the planned path can, for example, be carried out in an image dataset acquired using an X-ray device. Alternatively or additionally, the planning of the planned path can be carried out in a registered image dataset. A planned path, especially a needle path, can have a start point and an end point.The planned path here includes both the planned path itself and a linear extension of the planned path in both spatial directions.

[0018] The medical device may be designed, for example, as a surgical and / or diagnostic instrument, particularly an elongated one. In particular, the medical device may be flexible and / or rigid, at least in part. The medical device may be designed, for example, as a needle, particularly a puncture needle, and / or a catheter and / or an endoscope and / or a guide wire.

[0019] The object of study can be, for example, a human and / or animal patient and / or a study phantom.

[0020] The emission of the first light fan by the first light guide and the emission of the second light fan by the second light guide can be understood as separate steps, in which the respective light guide is activated to generate and project the corresponding light fan into the room. The emission of the two light fans need not necessarily occur in this sequence. The emission of the first and second light fans can occur simultaneously at least some of the time, or in a temporally interleaved manner. In the case of temporally interleaved emission of the first and second light fans, the interleaving frequency can advantageously lie outside the perception threshold of a viewer, particularly above 25 Hz. The emission of the first and second light fans can be controlled by the respective light guides.

[0021] The emission of the two light fans can also be spatially nested. For example, the first and second light fans can each be emitted as a light pattern, in particular a striped and / or dotted pattern, wherein the projected light patterns of the first and second light fans interlock along the planned path, in particular being spatially nested appropriately.

[0022] The first and / or the second light guiding device can further be configured to emit a light pattern, for example a dot pattern, and / or optically distinguishable angular ranges, for example with different light colors and / or brightness and / or intensity, within the respective light fan. Alternatively or additionally, the first and / or the second light guiding device can further be configured to emit a predefined angular range, in particular within a predefined fan angle, within the respective light fan.The predefined light pattern, the optically distinguishable angular ranges, and / or the predefined angular range of the first and / or second light fan can, for example, indicate a target positioning for a planned arrangement of the medical object, in particular a marker structure of the medical object, along the planned path, such as a planned insertion depth of the medical object. Advantageously, the predefined light pattern, the optically distinguishable angular ranges, and / or the predefined angular range of the first and / or second light fan can be adjusted depending on the planning information and / or the current positioning of the first defined arrangement.In particular, the first and / or the second light guidance device can be designed to adapt the predefined light pattern, the optically distinguishable angular ranges and / or the predefined angular range of the first and / or second light fan depending on the planning information and / or the current positioning of the first defined arrangement.

[0023] Positioning the first defined arrangement can involve movement, in particular translation and / or rotation, of the first defined arrangement. The positioning of the first defined arrangement can be such that the rotation axis of the first light fan intersects the planned path. Positioning of the first defined arrangement can be achieved using a motion unit of the X-ray machine. The motion unit can include motorized axes or other mechanisms that enable precise movement and alignment of the X-ray source, the X-ray detector, and the two light guide devices.

[0024] Positioning the first defined arrangement can be achieved, for example, by means of a calibrated motion unit, such as a calibrated motor. The calibrated motion unit can be configured to position the first defined arrangement and to provide its instantaneous position. For this purpose, the calibrated motion unit can, for example, include a sensor, in particular an encoder, which is configured to detect the instantaneous configuration, especially the instantaneous position, of the calibrated motion unit. Advantageously, providing the instantaneous position of the first defined arrangement can be dependent on the instantaneous configuration of the calibrated motion unit.

[0025] Alternatively or additionally, the acquisition of the instantaneous position of the first defined arrangement can include measuring and / or recording and / or detecting an instantaneous spatial position, orientation, and / or pose of the first defined arrangement, in particular the X-ray source, the X-ray device, and the two light guide devices. The acquisition of the instantaneous position of the first defined arrangement can be performed by a sensor, encoder, and / or a position detection system. The sensor, encoder, and / or the position detection system can be located on the X-ray device, in particular on moving parts of the X-ray device, and / or at a distance from the X-ray device.

[0026] Detecting the current position of the first defined arrangement can be done by one or more of the following elements: - Optical sensors, for example cameras and / or laser scanners, which may be designed to detect markings and / or reference points on the first defined arrangement, - Inertial measurement units (IMUs) that can be configured to measure accelerations and / or rotation rates and derive the instantaneous positioning of the first defined arrangement from these measurements, - (Electro-)magnetic sensors that can be designed to detect changes in a magnetic field and thereby record the current positioning, - Rotation encoders that can be configured to precisely measure rotational movements of axes and / or joints of the first defined arrangement, - Encoders that can be trained to detect translational movements and instantaneous positioning along defined axes, - Ultrasound-based position detection systems that can be trained to use time-of-flight measurements of sound waves for position determination, - Optical tracking systems comprising one or more infrared cameras and reflective markers, wherein the at least one infrared camera or the markers may be attached to the first defined arrangement, wherein the at least one infrared camera may be configured to detect the position of the markers and thereby the instantaneous positioning of the first defined arrangement, - Radar-based sensors that can be trained to use electromagnetic waves to detect instantaneous positioning, for example by detecting changes in a reflection and travel time of the emitted radar waves reflected by the first defined arrangement, - Electromagnetic tracking systems which may be configured to generate a weak magnetic field and determine the position of sensors in this field, wherein the sensors may be arranged at the first defined arrangement, - Hybrid systems that can be trained to combine several of the aforementioned technologies to achieve higher accuracy and / or robustness.

[0027] These sensors, encoders and systems can be used individually or in combination to ensure the most accurate and reliable detection of the instantaneous positioning of the first defined arrangement.

[0028] Moving the first and / or second light fan based on the planning information and the current positioning of the first defined arrangement can include adjusting the orientation and / or position of the light fans. Moving the first and / or second light fan can include at least a rotation of the first and / or second light fan around their respective axis of rotation. The movement of the light fans, in particular the rotation of the light fans, can be enabled by a respective movement element. This movement element can, for example, include a motorized system, in particular an electromagnetic actuator, a piezoelectric drive, and / or a hydraulic system, and / or an adjustable optical element, in particular a mirror and / or a prism. This advantageously allows for precise control of the light fan orientation.The movement of the first and / or second light fan can be controlled by the control unit. The control unit can calculate the required rotation angles based on the planning information and the current position, and provide corresponding control signals to the respective movement element.

[0029] The axis of rotation of the first light fan can lie within the layer, in particular the plane, illuminated by the first light fan. Alternatively or additionally, the axis of rotation of the first light fan can pass through the first light guiding device, in particular an exit point of the first light fan. Alternatively, the axis of rotation of the first light fan can intersect the first light fan, in particular not be arranged parallel to the first light fan.

[0030] The axis of rotation of the second light fan can lie within the layer, in particular the plane, illuminated by the second light fan. Alternatively or additionally, the axis of rotation of the second light fan can pass through the second light guiding device, in particular an exit point of the second light fan. Alternatively, the axis of rotation of the second light fan can intersect the second light fan, in particular not be arranged parallel to the second light fan.

[0031] The rotation axis of the first light fan intersects the detector surface of the X-ray detector and the rotation axis of the second light fan.

[0032] The first and / or second light fan is moved based on the planning information and the current position of the first defined arrangement such that the first and second light fans illuminate the planned path, particularly simultaneously. The two light fans may share a common intersection line along the planned path, especially due to the spaced arrangement of the two light guides. This intersection line, particularly a crossing line, of the two light fans may be aligned along the planned path. Because of the spaced arrangement of the light guides, the light fans may strike the planned path from different angles. If the light fans are aligned so that they intersect along the planned path, a clearly visible intersection line may result.While a single light fan may only represent a two-dimensional projection of the planned path, combining two light fans from different directions can support three-dimensional orientation. Advantageously, the light intensity along the intersection line can be higher than in the areas where the light fans do not intersect. This difference in intensity can beneficially improve the visibility and / or recognizability of the planned path, especially in environments with varying lighting conditions.

[0033] Illuminating the planned path with the two light fans can involve aligning and positioning the light fans so that they project light, particularly a predefined light pattern, onto the planned path. The intersection of the two light fans can advantageously provide precise visual guidance for the placement and / or movement of the medical device.

[0034] The proposed method advantageously enables full 3D guidance of the medical object, particularly 3D needle guidance, for any angulation of the X-ray device, especially a C-arm X-ray unit, relative to the planned path, particularly a needle path. Furthermore, the proposed method is well-suited to common clinical workflows. Moreover, the proposed method is expected to offer significant clinical advantages, such as faster and safer needle guidance, less frequent repositioning, a lower radiation dose, and / or a simpler workflow. By combining the instantaneous positioning of the first defined arrangement, a minimal number of mechanical degrees of freedom for the light guidance devices, and the use of a projection geometry, the simplest and most cost-effective guidance of the medical object, particularly laser needle guidance, can be achieved.

[0035] Furthermore, the proposed method can provide a user with visual guidance for placing and / or moving the medical object along the planned path. The illumination from the light fans can help the user recognize the three-dimensional orientation and position of the planned path in space without the need for continuous X-ray imaging. Using two light fans from different directions can improve spatial orientation. Thus, illuminating the planned path with the light fans can support precise and low-radiation guidance of the medical object.

[0036] The relative positioning of the X-ray source, the X-ray detector, and the two light guides in the first defined arrangement can change, for example, due to mechanical deformations of a common support structure. In particular, the relative positioning of the X-ray source, the X-ray detector, and the two light guides can change depending on the instantaneous position of the first defined arrangement. Advantageously, the change in the relative positioning of the X-ray source, the X-ray detector, and the two light guides can be identified, especially automatically. Identifying the change in the relative positioning of the X-ray source, the X-ray detector, and the two light guides can, for example, involve detecting the instantaneous relative position of the X-ray source, the X-ray detector, and the two light guides, for example, by means of a sensor.Alternatively or additionally, the change in the relative positioning of the X-ray source, the X-ray detector and the two light guidance devices can be identified based on a momentary positioning of the first defined arrangement, for example based on a look-up table and / or a physical model of the X-ray device.

[0037] Advantageously, the emission of the first and / or second light fan, in particular its projection direction and / or angle, can be adjusted, especially automatically, depending on the identified change in the relative positioning of the X-ray source, the X-ray detector, and the two light guidance devices. Advantageously, the first and / or second light guidance device can adjust the emission of the respective light fan depending on the identified change in relative positioning such that the respective light fan illuminates the planned path.

[0038] This advantageously allows compensation for changes in the relative positioning of the X-ray source, the X-ray detector and the two light guiding devices when emitting the light fans.

[0039] In a further advantageous embodiment of the proposed method, the first and / or the second light fan can additionally be designed to be tiltable. The movement of the first and / or the second light fan can further include tilting the first and / or second light fan based on the planning information and the current position of the first defined arrangement.

[0040] Tilting the first and / or second light fan can involve changing the orientation and / or inclination of the respective light fan relative to a reference plane and / or reference axis. This tilting capability can be achieved through mechanical, optical, and / or electro-optical means. For example, tilting the first and / or second light fan can be accomplished by a tiltable mounting of the respective light guide device, an adjustable projection mechanism, and / or an adjustable projection matrix. Tilting the respective light fan can advantageously enable precise alignment of the light fan with the planned path.

[0041] The first and / or second light fan can each be tilted about a tilting axis, wherein the tilting axis runs parallel to the layer, in particular plane, illuminated by the respective light fan, and wherein at least one, virtual or real, fan beam of the respective light fan has an angle with respect to the tilting axis between 45 and 90 degrees. The respective tilting axis of the first and / or second light fan can advantageously be arranged perpendicular to the rotational axis of the respective light fan.

[0042] Tilting the first and / or second light fan based on the planning information and the current positioning can include adjusting the orientation and / or inclination of the first and / or second light fan to the spatial positioning of the planned path and the current spatial positioning of the first defined arrangement, in particular such that the first and second light fans illuminate the planned path. Tilting the first and / or second light fan can also be performed in addition to rotation around their respective axis of rotation.

[0043] The tilting of the first and / or second light fan can, for example, occur within an angle range of -45° to +45° relative to the initial position of the respective light fan. This tilting can be performed incrementally or continuously. With incremental tilting, predefined angular positions can be reached. With continuous tilting, the tilt angle can be adjusted steplessly.

[0044] The control unit of the X-ray machine can be configured to control the tilting of the first and / or second light fan. The planning information and the current position of the first defined arrangement can be used by the control unit to calculate an optimal tilt angle for the respective light fan. This calculation can take into account how the planned path is oriented relative to the current or a future, particularly planned, position of the first defined arrangement.

[0045] The additional tilting capability of the first and / or second light fan allows for greater flexibility in illuminating the planned path. This can be particularly advantageous if the planned path runs at a complex angle to the first defined arrangement and / or if the planned path lies outside a predefined distance range relative to the first defined arrangement, especially if a predefined minimum distance is not maintained or a predefined maximum distance is exceeded. The combination of rotation and tilting of the first and / or second light fan enables precise three-dimensional alignment of the respective light fan with the planned path. In particular, this can allow for more precise illumination of the planned path, especially if the path does not run parallel to the rotation axis of the respective light fan.

[0046] Advantageously, the additional tilting capability of the first and / or second light fan allows for more precise needle guidance, even in challenging anatomical situations. The increased flexibility in aligning the light fans can lead to improved visualization of the planned path, thus increasing precision and safety during medical procedures.

[0047] In addition to rotation, the second light fan can also be freely tilted in all spatial directions. This allows for even more flexible adaptation of the second light fan to different positions and orientations of the planned path.

[0048] In a further advantageous embodiment of the proposed method, the focusing of the first and / or the second light fan can be adjusted based on the planning information and the current positioning of the first defined arrangement such that the respective light fan has a predefined geometry in an area of ​​the planned path.

[0049] Adjusting the focus of the first and / or second light fan can involve modifying the optical properties of the respective light fan. For example, adjusting the focus of the first and / or second light fan can include changing the width, in particular the line width of a projected line, the sharpness, and / or the intensity of the respective light fan within a specific area. This adjustment can be achieved using various technical means. For instance, the focus, in particular the focal point, of the first and / or second light fan can be adjusted using adjustable optics. Alternatively or additionally, the focus of the first and / or second light fan can be adjusted using adaptive optics, in particular dynamically.

[0050] Adjusting the focus of the first and / or second light fan can involve modifying the focusing optics of the respective light guidance device. The focusing optics can be adjusted so that the respective light fan, within the planned path, has a width, layer thickness, and / or path indication accuracy appropriate to the required precision of the needle guidance task. This adjustment can, for example, involve motorized adjustment of optical elements, such as lenses and / or mirrors, within the respective light guidance device.

[0051] The planning information can additionally include information about a predefined geometry of the first and / or second light fan in the area of ​​the planned path. This information can, for example, include a predefined width, sharpness, and / or intensity of the first and / or second light fan at predefined points along the planned path.

[0052] The area of ​​the planned path can denote a specific spatial section and / or a specific region along the planned path. This area can, for example, be defined by a distance from the intersection of the planned path with the rotation axis of the first light fan.

[0053] The predefined geometry of the first and / or second light fan can include a specific shape, width, and / or intensity distribution. The predefined geometry can be designed to provide improved visibility, visualization, and / or guidance for the medical device along its planned path.

[0054] Adjusting the focus of the first and / or second light fan can be done, particularly automatically, by a control unit of the X-ray machine. The control unit can be configured to process the planning information and the current positioning and send corresponding control signals to the respective light guidance device to adjust the focus of the respective light fan.

[0055] Adjusting the focus of the first and / or second light fan based on the planning information can, for example, take into account the length of the planned path, its orientation in space, and / or the type of medical object being guided. The current position of the first defined arrangement can also be incorporated into the adjustment of the focus of the first and / or second light fan to, for example, account for a distance between the respective light guidance device and the planned path.

[0056] By adjusting the focus of the first and / or second light fan, improved visualization and guidance of the medical object along the planned path can be achieved. This can lead to increased accuracy in the placement of the medical object and thus improve the safety and efficiency of medical procedures. Furthermore, flexible adaptation of the light fans to different clinical scenarios and requirements is possible, which can particularly increase the versatility of the X-ray unit.

[0057] In a further advantageous embodiment of the proposed method, the axis of rotation of the first light fan can be arranged within the layer illuminated by the first light fan. Alternatively or additionally, the axis of rotation of the second light fan can be arranged within the layer illuminated by the second light fan.

[0058] A layer can be defined as a thin, planar structure or plane. The respective layer illuminated by the first or second light fan can encompass a spatial area within which the light from that fan travels.

[0059] The respective axis of rotation of the first and / or second light fan can be located within the layer illuminated by the respective light fan if the axis of rotation runs essentially within the spatial area illuminated by the respective light fan.

[0060] The arrangement of the rotation axis of the first light fan within the layer illuminated by the first light fan can be achieved by a suitable, in particular rotatable, mounting of the first light guiding device. For example, the first light guiding device can be designed such that one origin of the first light fan lies on the rotation axis of the first light fan. This can be achieved by a precise alignment of the light source and / or the optical components within the first light guiding device.

[0061] Similarly, the arrangement of the rotation axis of the second light fan within the layer illuminated by the second light fan can be achieved by a corresponding, in particular rotatable, mounting of the second light guiding device. The second light guiding device can be designed such that one origin of the second light fan lies on the rotation axis of the second light fan. This can be achieved by a precise alignment of the light source and / or the optical components within the second light guiding device.

[0062] Advantageously, arranging the axis of rotation of the first light fan within the layer illuminated by the first light fan allows the planned path to be illuminated by rotating the first light fan around its axis of rotation after the first defined arrangement has been positioned. Furthermore, arranging the axis of rotation of the second light fan within the layer illuminated by the second light fan can advantageously simplify moving the second light fan to illuminate the planned path, especially since the axes of rotation of the first and second light fans intersect.

[0063] In a further advantageous embodiment of the proposed method, repositioning the first defined arrangement into a further positioning can be limited to a rotation about an intersection point of the rotation axis of the first light fan with the planned path, a combination comprising a rotation about the intersection point and a translation parallel to the planned path, or a combination comprising a rotation about the intersection point and a translation parallel to the rotation axis of the first light fan. The further positioning can be predefined as the instantaneous positioning of the first defined arrangement. The first and / or the second light fan can be moved based on the planning information and the instantaneous positioning of the first defined arrangement such that the first and the second light fan illuminate the planned path.The movement of the first and second light fan can include at least a rotation of the first and / or the second light fan around the respective axis of rotation.

[0064] Specifying a future position beyond the current one can involve updating the current position with the future position. This future position may have been previously recorded. Recording the future position of the first defined arrangement can be analogous to recording the current position of the first defined arrangement.

[0065] Repositioning can involve repositioning the first defined arrangement. The first defined arrangement can be moved to a further spatial position, orientation, and / or pose, which can be referred to as further positioning.

[0066] The repositioning of the first defined arrangement can be controlled by a control unit of the X-ray machine. The control unit can be configured to restrict the movements of the first defined arrangement to the specified combinations. This can enable precise and controlled positioning of the X-ray machine relative to the planned path.

[0067] According to one approach, repositioning the first defined arrangement into its further positioning can be limited to a rotation around the intersection of the first light fan's axis of rotation with the planned path. An intersection can be defined as a point where two or more lines, surfaces, or objects cross or meet. In this case, the intersection can be the point where the first light fan's axis of rotation intersects the planned path. A rotation can be defined as a turning motion around an axis or pivot point. In this context, the rotation of the first defined arrangement can occur around the intersection of the first light fan's axis of rotation with the planned path, with the intersection serving as the pivot point.In particular, rotating the first defined array around the intersection of the rotation axis of the first light fan with the planned path can enable an isocentric rotation of the first defined array around the intersection point. This can be advantageous for obtaining different views of the planned path while maintaining the intersection point as a reference point.

[0068] According to another variant, repositioning the first defined arrangement into its further positioning can be limited to a combination comprising a rotation about the intersection point and a translation parallel to the planned path. The translation parallel to the planned path allows the first defined arrangement to be moved along the planned path. In this process, the intersection point of the rotation axis of the first light fan with the planned path can move along the path. The combination of rotation about the intersection point and translation parallel to the planned path can include a compound rotation about the intersection point and translation parallel to the planned path, particularly one that is sequential and / or nested, and / or simultaneous. This can be especially useful for longer planned paths or when different areas along the path are of interest.Furthermore, this embodiment can be advantageous if another area of ​​the object under investigation is to be imaged using the X-ray device.

[0069] According to another variant, the repositioning of the first defined arrangement into the further positioning can be limited to a combination comprising a rotation about the intersection point and a translation parallel to the rotation axis of the first light fan. The translation of the first defined arrangement parallel to the rotation axis of the first light fan can allow for an adjustment of the distance between the first defined arrangement and the planned path. The combination of the rotation about the intersection point and the translation parallel to the rotation axis of the first light fan can comprise a compound, in particular temporally sequential and / or temporally nested, and / or simultaneous rotation about the intersection point and translation parallel to the rotation axis of the first light fan.This can be advantageous in order to find the improved imaging position and / or to create space for other medical instruments and / or equipment.

[0070] The combination of the respective rotation and translation of the first defined arrangement can enable a more complex movement in which both a rotation and a linear displacement occur. This combined movement can allow for more precise positioning of the first defined arrangement.

[0071] Advantageously, this embodiment of the method allows for precise and flexible control of the X-ray device, enabling illumination of the planned path from various angles and positions while maintaining a consistent reference. This can improve the accuracy and efficiency of medical procedures that require precise guidance of medical objects, particularly instruments, along a planned path.

[0072] In a further advantageous embodiment of the proposed method, the axis of rotation of the first light fan can pass through a center of rotation, in particular an isocenter, of the first defined arrangement, a geometric center of the X-ray detector, the X-ray source and / or a geometric center of a beam exit window of the X-ray source.

[0073] The center of rotation of the first defined arrangement can be defined as a point in space around which the first defined arrangement is rotatably mounted. The center of rotation can, for example, be configured as the isocenter of the first defined arrangement. The isocenter can be defined as a point in space that remains stationary during all rotations of the first defined arrangement. This can be particularly advantageous when the second light guidance device is arranged in the second defined arrangement with the X-ray detector. Any arbitrarily oriented planned path, especially a needle path, which passes through the isocenter of the first defined arrangement, can be illuminated by rotating the X-ray detector, especially the second defined arrangement, and rotating the second light fan through the intersecting light fans to achieve three-dimensional light guidance (3D light guidance).

[0074] Furthermore, a user, such as a physician, can rotate the first defined arrangement isocentrically as desired, for example, using a joystick and / or via automatic isocentric rotations between stored angulations, with the two light fans, and in particular the laser needle guide, continuously illuminating the planned path with full 3D information. This can enable very flexible use of the laser needle guide in the clinical workflow. Isocentric rotation is mechanically very easy and quick to perform with common arc X-ray units, such as a C-arm or O-arm unit. The arc X-ray unit can also be floor-mounted and / or ceiling-mounted.

[0075] The geometric center of an X-ray detector can be defined as a point on a detector surface, particularly the X-ray-sensitive layer of the X-ray detector, that is equidistant from all edges and / or corners of the X-ray detector. For example, in a rectangular X-ray detector, the geometric center can be the intersection of the rectangle's diagonals.

[0076] The radiation exit window of the X-ray source can be defined as a region of the X-ray source through which the generated X-rays exit. The radiation exit window can, for example, be an opening in a shielding of the X-ray source. The geometric center of the radiation exit window of the X-ray source can be defined as a point on the surface of the radiation exit window that is equidistant from all edges and / or corners of the radiation exit window.

[0077] The axis of rotation of the first light fan can pass through one or more of the points or components mentioned above. For example, the axis of rotation of the first light fan can pass through the center of rotation of the first defined arrangement and the geometric center of the X-ray detector. Alternatively, the axis of rotation of the first light fan can pass through the X-ray source and the geometric center of the X-ray source's exit window. This may involve the axis of rotation of the first light fan intersecting these points or passing very close to them.

[0078] This arrangement of the rotation axis of the first light fan can offer several technical advantages. Firstly, it allows for precise alignment of the first light fan relative to the key components of the X-ray unit. This can improve the accuracy of the needle guidance. Secondly, this arrangement can simplify system calibration and maintenance, as the rotation axis of the first light fan is related to easily identifiable points on the X-ray unit. Furthermore, this configuration can facilitate the integration of the light guidance system into existing X-ray units, as it is based on the fundamental geometric properties of the X-ray unit.

[0079] In a further advantageous embodiment of the proposed 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. In a further step, the X-rays can be detected by the X-ray detector, and a signal can be generated based on the detected X-ray radiation. In a further step, X-ray image data can be generated based on this signal.

[0080] 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, the medical object can be arranged along the planned path before the start of the procedure.

[0081] The emission of X-rays to illuminate the medical object can involve the emission of X-ray photons by the X-ray source. The emission of the X-rays can be controlled by the control unit of the X-ray machine. The X-rays can be directed so that they penetrate the medical object and strike the X-ray detector.

[0082] The detection of X-rays by means of an X-ray detector can include detecting and converting the incident X-ray photons into electrical signals. The X-rays, particularly after interaction with the medical object, can be detected by means of the X-ray detector, especially the X-ray-sensitive layer of the X-ray detector.

[0083] The X-ray detector can be configured to convert the incident X-ray radiation into electrical and / or digital signals. The X-ray detector can provide a signal dependent on the detected X-ray radiation. This signal can be provided to the control unit of the X-ray machine. Providing the signal dependent on the detected X-ray radiation can involve generating and transmitting electrical and / or digital signals that contain information about the detected X-ray radiation. These signals can, for example, represent intensity values ​​for different detector areas.

[0084] Providing X-ray image data based on the signal can include processing and preparing the signals provided by the X-ray detector into digital image data, in particular reconstructing the X-ray image data based on the signal. 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. The X-ray image data can be provided based on the signal.The control unit can provide the X-ray image data. Providing the X-ray image data can include storing it on a computer-readable storage medium, displaying it on a display unit, and / or transmitting it to a delivery unit. In particular, a graphical representation of the X-ray image data can be displayed using the display unit.

[0085] The X-ray image data can provide information about the position and orientation of the medical object along the planned path, particularly its current position. This information can be used to verify and, if necessary, correct the positioning of the medical object.

[0086] Combining laser needle guidance using light fans and X-ray imaging can offer several advantages. Firstly, laser needle guidance allows for precise alignment of the medical object along the planned path without the need for continuous X-ray radiation. Secondly, the X-ray image data allows for verification of the actual position of the medical object relative to the patient. This can reduce radiation exposure for both the patient and medical personnel, as fewer X-rays may be required for positional verification. Furthermore, combining both methods can increase accuracy and safety in positioning the medical object.

[0087] In a further advantageous embodiment of the proposed method, the planning information can be registered with a coordinate system of the X-ray device.

[0088] The coordinate system of the X-ray machine can, for example, be a three-dimensional Cartesian coordinate system whose origin lies at a defined point on the X-ray machine. This defined point can be, for example, the isocenter of the X-ray machine, the center point of the X-ray detector, or another suitable reference point.

[0089] Registering the planning information with the X-ray machine's coordinate system can involve spatially mapping the data contained in the planning information to the X-ray machine's coordinate system. Furthermore, registering the planning information with the X-ray machine's coordinate system can involve transforming the planning information into the X-ray machine's coordinate system. This can include, for example, coordinate transformation, rotation, scaling, deformation, and / or translation of the planning information.

[0090] Registration can be done in various ways, for example: - By using markers and / or reference points that are known in both the planning information and the coordinate system of the X-ray device. - Through image registration, in which image data from the planning information is compared with image data from the X-ray device, for example anatomical landmarks of the object under examination. - By manually entering registration points by a user. - By using an external tracking system that records both the current position of the object being examined and the current position of the X-ray machine. - By providing planning information, in particular planning the planned path, based on image data which were taken using the X-ray device, especially immediately beforehand.

[0091] Registration can be used to relate the information contained in the planning information, such as the planned path, to the current position of the X-ray unit, especially the first defined arrangement. This can enable precise alignment of the light fields and accurate positioning of the X-ray unit.

[0092] The registration of the planning information with the coordinate system of the X-ray machine can be performed by the X-ray machine's control unit. The control unit can be configured to carry out the necessary calculations and transformations.

[0093] By registering the planning information with the coordinate system of the X-ray machine, precise alignment of the light beams to the planned path can be achieved. This can lead to improved accuracy in the positioning of the medical object.

[0094] By registering the planning information with the X-ray machine's coordinate system, a seamless integration of preoperative planning and intraoperative support can be achieved. This can increase the efficiency and safety of the medical procedure and simplify workflows for medical staff.

[0095] In a second aspect, the invention relates to an X-ray device comprising an X-ray source and an X-ray detector positioned opposite each other, and two spaced-apart light guidance devices. The X-ray source, the X-ray detector, and the light guidance devices are arranged in a first defined arrangement. The first defined arrangement is movably mounted. A first light guidance device of the two light guidance devices is configured to emit a first light fan, and a second light guidance device of the two light guidance devices is configured to emit a second light fan. The first and the second light fans are each rotatable about an axis of rotation. The axis of rotation of the first light fan intersects a detector surface of the X-ray detector, and the axis of rotation of the second light fan intersects the same area as the axis of rotation of the second light fan in an operating state of the X-ray device.Furthermore, the X-ray device, in particular its components, is designed to carry out a proposed method for controlling an X-ray device.

[0096] 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.

[0097] Advantageously, the X-ray device can also include a control unit. This control unit can be designed to operate in the following state: - to receive planning information for a planned path for the arrangement of a medical object, in particular one that can be imaged using a medical X-ray device, - to position the first defined arrangement such that the rotation axis of the first light fan intersects the planned path, - to move the first and / or the second light fan based on the planning information and the current positioning of the first defined arrangement in such a way that the first and the second light fan illuminate the planned path, - wherein the movement of the first and / or the second light fan includes at least a rotation of the first and / or the second light fan around the respective axis of rotation.

[0098] In particular, the proposed X-ray device can advantageously represent a solution that is cheaper and can be implemented with comparatively less installation space and reduced complexity than a solution with two laser modules that are fully tiltable and movable in all spatial axes, especially freely, on the X-ray detector.

[0099] The control unit can advantageously include an interface, a processing unit, and / or a storage unit. The interface of the control unit can be configured to receive planning information and send control signals to the light guidance devices and other components of the X-ray machine. The control unit can be configured to control the positioning of the first defined arrangement and the movement of the first and / or second light fan by providing a respective control signal via the interface.

[0100] The control unit's processing unit can be configured to process the received planning information and perform calculations for positioning the first defined arrangement and moving the light fans. It can execute algorithms to determine the optimal orientation of the light fans based on the planned path and the current position.

[0101] The control unit's storage unit can be configured to store planning information, intermediate calculation results, and / or configuration data for the X-ray machine. The storage unit can also include pre-programmed motion sequences and calibration data for the light guidance devices.

[0102] The control unit can also include software modules that implement specific functions such as registering the planning information with the coordinate system of the X-ray device, recording the current positioning and / or controlling the rotational movements of the light fans.

[0103] A real-time operating system of the control unit can ensure time-critical coordination of the various process steps to enable precise and synchronized execution of the light fan movements with the positioning of the X-ray device.

[0104] The components of the control unit can be interconnected via an internal data bus to enable rapid data exchange and efficient processing. This allows for seamless integration of the various process steps and responsive adjustment of the light fan orientation to changes in positioning or the planned path.

[0105] In a further advantageous embodiment of the proposed X-ray device, the first and second light fan can each be rotatable by means of a rotating bearing of the respective light guiding device, in particular by a motor, and / or an adjustable projection mechanism, in particular by a motor, and / or an adjustable projection matrix.

[0106] The rotatable mounting of the respective light guiding device can be designed as a mechanical device that enables a rotational movement of the light guiding device around a defined axis, in particular the axis of rotation of the respective light fan.

[0107] The rotating bearing can be designed, for example, as a ball bearing, plain bearing, and / or roller bearing. A motorized version of the rotating bearing can include an electric motor that drives the rotation of the light guide device. The electric motor can be, for example, a stepper motor and / or servo motor. A motorized version can enable precise and automated control of the rotation.

[0108] The adjustable projection mechanism can be designed as a mechanical and / or optomechanical device that allows for a change in the projection direction of the respective light fan. The adjustable projection mechanism can, for example, include a movable mirror, prism, and / or lens whose position and / or orientation can be changed to adjust the direction of the respective light fan. The projection mechanism can also be motor-driven to ensure precise positioning.

[0109] An adjustable projection matrix can be designed as an electronic and / or optoelectronic device that allows for changes to the projection direction and / or shape of the light fan. The adjustable projection matrix can, for example, be implemented as a digital micromirror (DMD), a liquid crystal light modulator (LCoS), and / or as a matrix of individually controllable light sources. The adjustable projection matrix can be designed as an arrangement of individually controllable light elements that allows the shape and / or direction of the respective light fan to be dynamically adjusted without requiring mechanical movements.

[0110] The rotation of the first and / or second light fan can be achieved through a combination of a rotatable bearing, an adjustable projection mechanism, and / or an adjustable projection matrix. For example, the rotatable bearing can allow for coarse alignment of the light guidance device, while the adjustable projection mechanism and / or projection matrix allows for fine-tuning of the light fan direction.

[0111] The motorized design of the rotatable bearing, the adjustable projection mechanism, and / or the adjustable projection matrix can enable precise and automated control of the light fan alignment. Advantageously, a respective plane and / or layer of the first and / or second light fan can be modified, and in particular moved, relative to the X-ray detector via at least one motorized axis of movement. Other types of variable optical imaging for changing the respective light fan plane are also conceivable.

[0112] The control unit can be designed to control the rotating, in particular motorized, bearing of the respective light guidance device and / or the adjustable, in particular motorized, projection mechanism and / or the adjustable projection matrix.

[0113] Advantageously, the described embodiment of the X-ray device allows for flexible and precise needle guidance. The various options for adjusting and positioning the light fans make it possible to find an improved configuration for different clinical requirements and patient anatomies. The ability to control the light fans independently can enable improved 3D visualization of the planned path, thus increasing the accuracy and safety of needle placement.

[0114] In a further advantageous embodiment of the proposed X-ray device, the first and / or the second light fan can each be additionally tiltable, in particular by means of a tiltable mounting of the respective light guiding device, and / or a projection mechanism that is adjustable, in particular by means of a motor, and / or an adjustable projection matrix.

[0115] The tiltable mounting of the first and / or second light fan can be designed as a means of changing the inclination and / or orientation of the respective light fan relative to a reference plane. The tiltable mounting can be implemented by mechanical joints, ball joints, and / or other devices that allow rotation about at least one axis that does not correspond to the axis of rotation of the respective light fan.

[0116] A motorized tilting mount can be designed as a device that allows the inclination of the respective light fan to be automatically changed by means of a motor and / or actuator. The motorized tilting mount can, for example, include stepper motors, servo motors, and / or linear motors that enable precise movements and can be controlled by the control unit of the X-ray machine.

[0117] An adjustable projection mechanism can be designed as a device that allows the projection of the respective light fan to be changed. The adjustable projection mechanism can, for example, include a movable mirror, an adjustable lens system, and / or an electronically controlled optical element. By adjusting the projection mechanism, the orientation, shape, and / or size of the respective light fan can be modified.

[0118] An adjustable projection matrix can be configured as an array of optical elements that can be individually controlled to influence the projection of the light fan. The adjustable projection matrix can, for example, comprise a variety of micromirrors, liquid crystal cells, and / or other controllable optical elements. By selectively controlling these elements, the projection of the light fan can be precisely adjusted.

[0119] The tiltable mounting of the respective light guidance device can provide a mechanical basis for adjusting the tilt of the light fan.

[0120] The adjustable projection mechanism allows the tilting of each light fan through optomechanical means. For example, a movable mirror and / or an adjustable prism system can be used to change the direction of the light fan without having to move the entire light guidance system. This allows for finer and faster adjustment of the light fan's orientation.

[0121] The adjustable projection matrix can represent an electronic method for changing the orientation of the respective light fan. By selectively activating or deactivating individual elements of the projection matrix, the shape and / or direction of the respective light fan can be adjusted. This can enable very precise and flexible control of the light fan orientation without moving parts.

[0122] In combination, these technologies enable multi-stage adjustment of the light fan alignment. The tilting mounting of the respective light guide device can be used for coarse adjustments, while the projection mechanism and / or the projection matrix allow for finer tuning. This can provide improved accuracy and flexibility in aligning the respective light fans with the planned path.

[0123] The motorized design of these components can enable automated and precise control of the tilting movements.

[0124] By combining these technologies, the X-ray machine can be trained to align the light beams across a wide range of angles with high precision. This can improve the X-ray machine's ability to navigate complex anatomical structures and enable precise needle guidance in various clinical scenarios.

[0125] Furthermore, the first light guidance device is arranged in a second defined configuration relative to the X-ray detector. This second defined configuration is rotatably mounted. The axis of rotation of the first light fan corresponds to an axis of rotation of the second defined configuration.

[0126] The first light guiding device is arranged in a second defined arrangement relative to the X-ray detector. This second defined arrangement can describe a fixed, in particular rigid, spatial relationship between the first light guiding device and the X-ray detector, especially a detector housing of the X-ray detector. This arrangement can, for example, include a specific spatial position, orientation, and / or pose of the first light guiding device relative to the X-ray detector.

[0127] The second defined arrangement is rotatably mounted. This means that the first light guide assembly, together with the X-ray detector, can rotate around a rotational axis. The rotatable mounting can be achieved, for example, by a rotary bearing, a ball bearing, and / or another suitable rotating element. In particular, the X-ray detector can be motorized for rotation. Rotation of the X-ray detector allows the first light guide assembly to rotate along with it.

[0128] The axis of rotation of the first light fan corresponds to an axis of rotation of the second defined arrangement. This means that the axis of rotation around which the first light fan is rotatably mounted can coincide with the axis of rotation around which the second defined arrangement is rotatably mounted. This allows for precise alignment of the first light fan, as its rotation is directly coupled to the rotation of the second defined arrangement. Consequently, the first light fan can be rotated by rotating the X-ray detector, for example, at a predetermined position, particularly an angulation, of the X-ray device, especially the first defined arrangement and / or a C-arm of the X-ray device.

[0129] For example, the first and second light guiding devices can be arranged at different edges and / or corners of the X-ray detector.

[0130] This can provide a simple and reliable method for aligning the first light fan, as no separate rotation mechanism is required for the first light guiding device.

[0131] In a further advantageous embodiment of the proposed X-ray device, the first and / or the second light guiding device can each be arranged on the X-ray detector, the X-ray source or a guiding unit.

[0132] The guidance unit can be designed as a mechanical structure intended to hold and / or position the components of the X-ray device. The guidance unit can be, for example, a C-arm, O-arm, bracket, stand, and / or other suitable support structure. The guidance unit, on which a light guidance device may be mounted, can, for example, include a separate arm and / or bracket that can be positioned independently of the X-ray source and detector. This can provide additional flexibility in aligning the light fields.

[0133] The arrangement of the first and / or second light guidance device on the X-ray detector, the X-ray source, or the guidance unit can involve a fixed or detachable connection. A fixed connection can be achieved, for example, by screwing, gluing, and / or welding. A detachable connection can be achieved, for example, by clamps, magnets, and / or quick-release fasteners. Alternatively or additionally, the first and / or the second light guidance device can each be at least partially, and in particular completely, integrated into the X-ray detector, the X-ray source, or the guidance unit.

[0134] The arrangement of the lighting guidance devices can be chosen to enable improved illumination of the planned path. The position of the lighting guidance devices can be adapted to the specific requirements of the respective medical application.

[0135] Arranging the light guides on different components of the X-ray machine can be advantageous to achieve improved coverage of a work area. For example, one light guide can be located on the X-ray detector and another on the X-ray source to emit the light from different directions.

[0136] Advantageously, the flexible arrangement and alignment of the light guidance devices allows for precise three-dimensional light guidance for various medical procedures, while simultaneously enabling X-ray images to be taken from different angles. This can improve the accuracy and efficiency of medical procedures while reducing the radiation exposure for the patient.

[0137] The plane of the second light fan can be changed relative to the X-ray detector via at least one motorized axis of movement. The change in the respective light fan plane can be achieved, for example, by moving and / or rotating the respective light guidance device and / or via a moving mirror mechanism.

[0138] At least one of the light guiding devices, for example the second light guiding device, can be located in the center of the C-arm.

[0139] In a further advantageous embodiment of the proposed X-ray device, the first defined arrangement can be mounted in a translatable and / or rotatable manner.

[0140] Translating the first defined arrangement can involve moving the first defined arrangement along one or more spatial directions. For example, the first defined arrangement can be moved along a horizontal and / or vertical axis. In particular, the first defined arrangement can be translated manually or by motor.

[0141] Rotating the first defined arrangement can involve turning it around one or more axes of rotation. For example, the first defined arrangement can be rotatable around a vertical, horizontal, and / or diagonal axis. In particular, the first defined arrangement can be rotated manually or by motor.

[0142] The translatable and / or rotatable mounting of the first defined arrangement allows for flexible positioning of the X-ray unit. This makes the X-ray unit adaptable to different examination situations and object positions.

[0143] According to 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. Furthermore, 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 also be configured to provide X-ray image data based on this signal.

[0144] In a third aspect, the invention relates to a computer program product comprising a computer program that can be directly loaded into the memory of a control unit. The computer program product includes program sections for executing all steps of a method for controlling an X-ray device when the program sections are executed by the control unit.

[0145] The computer program product can comprise software with source code that still needs to be compiled and bound or that only needs to be interpreted, or executable software code that only 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 can be configured to execute the process steps according to the invention by means of the control unit.

[0146] The computer program product can, for example, be 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 can be directly connected to the control unit or 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 include a DVD, a magnetic tape, or a USB flash drive, on which electronically readable control information, in particular software, can be 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.

[0147] A largely software-based implementation can have 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.

[0148] Program sections can be parts or modules of a computer program that perform specific functions or tasks. These program sections can be written in various programming languages ​​and can include instructions, functions, classes, and / or objects that can be executed or processed by the control unit.

[0149] 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. They show: Fig. 1 a schematic representation of a method for controlling an X-ray device; Fig. 2 a schematic representation of a method for controlling an X-ray device with adjustment of the focus; Fig. 3 a schematic representation of a procedure for controlling an X-ray device with recording of the planning information; Fig. 4 a schematic representation of a method for controlling an X-ray device with provision of X-ray image data; Fig. 5, Fig. 6, Fig. 7 to Fig. 8 schematic representations of various advantageous embodiments of a proposed X-ray device, Fig. 9 and Fig. 10 schematic representations of different positionings of a second defined arrangement, Fig. 11 a schematic representation of a further advantageous embodiment of a proposed X-ray device.

[0150] 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 and an X-ray detector opposite each other and two spaced-apart light guide devices, which can be arranged in a first defined arrangement. The first defined arrangement can be movably mounted. A first light guide device of the two light guide devices can be configured to emit a first light fan, and a second light guide device of the two light guide devices can be configured to emit a second light fan. The first and the second light fans can each be rotatable about an axis of rotation. The axis of rotation of the first light fan can intersect the axis of rotation of the second light fan and a detector surface of the X-ray detector.In a first step, planning information (PI) for a planned path for arranging a medical object (MO), particularly one imageable using a medical X-ray device, can be received (REC-PI). In a further step, the first light fan can be emitted using the first light guide (TR-LF1). In a further step, the second light fan can be emitted using the second light guide (TR-LF2). In a further step, the first defined arrangement can be positioned (POS) such that the axis of rotation of the first light fan intersects the planned path. In a further step, the first and / or the second light fan can be moved (MOV) based on the planning information (PI) and the current position (MPOS) of the first defined arrangement such that the first and second light fans illuminate the planned path.Moving the MOV of the first and / or second light fan can include at least one rotation of the first and / or second light fan around the respective axis of rotation.

[0151] In a further embodiment, the first and / or the second light fan can additionally be designed to be tiltable. Moving the MOV of the first and / or the second light fan can further include tilting the first and / or second light fan based on the planning information PI and the current positioning MPOS of the first defined arrangement.

[0152] Repositioning the first defined arrangement to a further position can be restricted to a rotation about an intersection point of the rotation axis of the first light fan with the planned path, a combination comprising a rotation about the intersection point and a translation parallel to the planned path, or a combination comprising a rotation about the intersection point and a translation parallel to the rotation axis of the first light fan. The further position can be specified as the current position MPOS of the first defined arrangement. The first and / or the second light fan can be moved MOV based on the planning information PI and the current position MPOS of the first defined arrangement such that the first and second light fans illuminate the planned path.Moving the MOV of the first and second light fan can include at least one rotation of the first and / or second light fan around the respective axis of rotation.

[0153] The axis of rotation of the first light fan can pass through a center of rotation, in particular an isocenter, of the first defined arrangement, a geometric center of the X-ray detector, the X-ray source and / or a geometric center of a radiation exit window of the X-ray source.

[0154] Furthermore, the axis of rotation of the first light fan can be located within the layer illuminated by the first light fan. Alternatively or additionally, the axis of rotation of the second light fan can be located within the layer illuminated by the second light fan.

[0155] Fig. Figure 2 shows a schematic representation of another advantageous embodiment of a method for controlling an X-ray device. This method can further include adjusting the focus ADJ-F of the first and / or second light fan. Based on the planning information PI and the current positioning MPOS of the first defined arrangement, the focus of the first and / or second light fan can be adjusted ADJ-F such that the respective light fan has a predefined geometry in a region of the planned path.

[0156] Furthermore, the procedure can include capturing the current positioning of the first defined arrangement using CAP-MPOS.

[0157] Fig. Figure 3 shows a schematic representation of another advantageous embodiment of a method for controlling an X-ray device. The method can further include registering the planning information PI with a coordinate system of the X-ray device (REG-PI). This allows the planned path, in particular a planned needle path, to be represented in a coordinate system registered with the X-ray device.

[0158] Fig. Figure 4 shows a schematic representation of another advantageous embodiment of a method for controlling an X-ray device. In this method, X-rays can be emitted by means of the X-ray source to illuminate the medical object MO (TR-XR). Furthermore, the X-rays can be detected by means of the X-ray detector (DET-XR), which can provide a signal depending on the detected X-rays. Based on the provided signal, X-ray image data (BD) can be provided (PROV-BD).

[0159] 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 and an X-ray detector 34 opposite each other and two spaced-apart light guidance devices LFE1, LFE2. The X-ray source 33, the X-ray detector 34, and the light guidance devices LFE1, LFE2 can be arranged in a first defined arrangement. The first defined arrangement can be movably mounted. A first light guidance device LFE1 of the two light guidance devices can be configured to emit a first light fan LF1, and a second light guidance device LFE2 of the two light guidance devices can be configured to emit a second light fan LF2. The first light fan LF1 and the second light fan LF2 can each be rotatable about an axis of rotation RA1, RA2.The rotational axis RA1 of the first light fan LF1 can intersect a detector area of ​​the X-ray detector 34 and the rotational axis RA2 of the second light fan LF2 in an operating state of the X-ray device. Advantageously, the X-ray device can be configured to execute a proposed method for controlling an X-ray device.

[0160] Advantageously, the X-ray device can also include a control unit CU, which can be designed to operate in the following state: - to receive planning information PI for a planned path P for the arrangement of a medical object MO, in particular one that can be imaged by means of a medical X-ray device, REC-PI, - to position the first defined arrangement POS such that the rotation axis RA1 of the first light fan LF1 intersects the planned path P, - to move the first light fan LF1 and / or the second light fan LF2 based on the planning information PI and the current positioning MPOS of the first defined arrangement in such a way that the first light fan LF1 and the second light fan LF2 illuminate the planned path P.

[0161] The control unit CU can also be configured to detect the current positioning MPOS of the first defined arrangement CAP-MPOS in the operating state.

[0162] Moving the first light fan LF1 and / or the second light fan LF2 can include at least one rotation of the first light fan LF1 and / or the second light fan LF2 about the respective axis of rotation RA1, RA2. The X-ray source 33 can be configured to emit X-rays to illuminate the medical object MO. For this purpose, the control unit CU can be configured to send a signal 24 to the X-ray source 33. Furthermore, the control unit CU can be configured to send a signal S.LFE1 to the first light guide LFE1 and a signal S.LFE2 to the second light guide LFE2, whereby the respective signals S.LFE1 and S.LFE2 can control the respective light guide LFE1 and LFE2 to emit the respective light fan LF1 and LF2.The X-ray detector 34 can be configured to detect X-ray radiation and to provide a signal 21 to the control unit CU depending on the detected X-ray radiation. The control unit CU can further be configured to provide X-ray image data depending on the signal 21.

[0163] An intersection point SP can be defined by the intersection of the rotation axis RA1 of the first light fan LF1 with the planned path P. This intersection point SP can be located at a rotation center RZ of the first defined arrangement.

[0164] This arrangement allows for flexible positioning of the light fans LF1 and LF2 to guide the placement of a medical object MO along the planned path P. The X-ray unit can provide three-dimensional laser guidance for various medical procedures, while simultaneously enabling the acquisition of X-ray images from different angles.

[0165] The first and second light fans LF1 and LF2 can each be rotatable by means of a rotatable bearing for the respective light guidance device LFE1 and LFE2, and / or an adjustable projection mechanism and / or an adjustable projection matrix. The rotatable bearing, the adjustable projection mechanism, and / or the adjustable projection matrix can, in particular, be motorized.

[0166] The first defined arrangement can be mounted in a translatable and / or rotatable manner.

[0167] Advantageously, a virtual reference beam RS can be defined as an imaginary line between the X-ray source 33 and the X-ray detector 34. The virtual reference beam RS can pass through the center of rotation RZ of the first defined arrangement, in particular an isocenter of the first defined arrangement. In the Fig. In the embodiment shown in Figure 5, the virtual reference beam RS can be arranged along the rotation axis RA1 of the first light fan LF1. The arrangement of the virtual reference beam RS along the rotation axis RA1 of the first light fan LF1 can be a slightly different arrangement from the first rotation axis RA1.

[0168] The virtual reference beam RS can serve as a reference line for positioning and aligning the light fans LF1 and LF2. For example, the planned path P can intersect the virtual reference beam RS at a point, particularly at point SP. This point SP can be used as a reference point for aligning the light guidance devices LFE1 and LFE2. Alternatively (not shown here), the point SP can be located anywhere along the virtual reference beam RS between the X-ray detector 34 and the X-ray source 33, depending on the requirements of the specific medical procedure, the adjustability of the light guidance devices LFE1 and LFE2, and / or mechanical accessibility. This positioning allows for flexible adaptation of the laser needle guidance to different clinical situations.

[0169] The control unit CU can be configured to calculate the position of the intersection point SP along the virtual reference ray RS and to use this information to control the light fans LF1 and LF2. In particular, the control unit CU can align the rotation axes RA1 and RA2 of the light fans LF1 and LF2 so that they intersect at the intersection point SP.

[0170] The control unit CU can be configured to position the first defined arrangement such that the virtual reference beam RS intersects the planned path P at a fixed intersection point SP relative to the X-ray detector 34. This intersection point SP can be located at any point between the X-ray detector 34 and the X-ray source 33, and its positioning can be determined, in particular instantaneously, by the orientation of the rotation axis RA2 of the second light fan LF2. In particular, the positioning of the intersection point SP can be fixedly preset by the orientation, in particular instantaneously, of the rotation axis RA2 of the second light fan LF2.Advantageously, the rotation axis RA2 of the second light fan LF2 can be configured as a connecting line between the center point of a light emission surface of the second light guiding device LFE2 and the intersection point SP where the planned path P intersects the virtual reference beam RS, in particular the rotation axis RA1 of the first light fan. This configuration allows for flexible adaptation of the second light fan LF2 to different path geometries.

[0171] Fig. Figure 6 shows a schematic representation of an advantageous embodiment of a proposed X-ray device. The rotation axis RA1 of the first light fan LF1 can be arranged within the layer illuminated by the first light fan LF1. Furthermore, the rotation axis RA2 of the second light fan LF2 can be arranged within the layer illuminated by the second light fan LF2.

[0172] Fig. Figure 7 shows a schematic representation of another advantageous embodiment of a proposed X-ray device. In this embodiment, the first light guidance device LFE1 can be arranged in a second defined arrangement relative to the X-ray detector 34. The second defined arrangement can be rotatably mounted. The axis of rotation RA1 of the first light fan LF1 can correspond to an axis of rotation of the second defined arrangement.

[0173] 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. In particular, the C-arm 38 can be movable in its orientation and / or angulation and / or translatable in space and / or displaceable. Advantageously, the first light guidance device LFE1 can be arranged on the X-ray source 33. The second light guidance device LFE2 can be arranged on a guidance unit, in particular the C-arm 38.

[0174] The rotation axis RA2 of the second light fan LF2 can, for example, be configured as a connecting line between the center point of a light-emitting surface of the second light-guiding device LFE2 and an isocenter of the first defined arrangement, in particular a C-arm rotation. The C-arm 38 of the X-ray device can be positioned such that the virtual reference beam RS intersects the planned path at an intersection point SP that is fixed relative to the X-ray detector 34. This can provide a consistent reference for positioning the X-ray device with respect to the planned path P. In the Fig. In the embodiment shown in Figure 7, the virtual reference beam RS can be arranged along the rotation axis RA1 of the first light fan LF1.

[0175] After receiving the planning information PI (REC-PI), the control unit CU can position the first defined arrangement, in particular the C-arm 38, such that a point along the planned path is located at the isocenter of the first defined arrangement, in particular the C-arm rotation, and on the virtual reference beam RS. The arrangement at the isocenter or on the virtual reference beam RS can include an arrangement near the isocenter or the virtual reference beam RS, depending on system inaccuracies and the definition of the virtual reference beam RS. Furthermore, the control unit CU can be configured to set a desired angulation of the first defined arrangement, in particular according to user specifications.By appropriately rotating the X-ray detector 34, the first light fan LF1 can illuminate the planned path P, or the planned path can be arranged in the layer, in particular the plane, illuminated by the first light fan. By appropriately rotating the second light fan LF2 about its axis of rotation RA2, the second light fan LF2 can be oriented such that the planned path P is illuminated by the second light fan LF2, or is arranged in the layer, in particular the plane, illuminated by the second light fan. The axis of rotation RA2 of the second light fan LF2 can, for example, be a line connecting the center point of a light-emitting surface of the second light-guiding device LFE2 to the isocenter of the first defined arrangement, in particular the C-arm rotation.The rotation axis RA2 of the second light fan LF2 can lie within the layer of the second light fan LF2.

[0176] Fig. Figure 8 shows a schematic representation of a further advantageous embodiment of a proposed X-ray device. In this embodiment, the first and second light fans LF1, LF2 can each be tilted by means of a tiltable mounting of the respective light guiding device LFE1, LFE2 and / or an adjustable projection mechanism and / or an adjustable projection matrix. The tiltable mounting, the adjustable projection mechanism, and / or the adjustable projection matrix can, in particular, be motorized. The first and / or the second light guiding device LFE1, LFE2 can each be arranged on the X-ray detector 34.

[0177] The rotation axis RA1 of the first light fan LFE1 can intersect the rotation axis of the second light fan at the intersection point SP and the detector surface. By tilting both light fans, the intersection point SP can be shifted along the rotation axis of the first light fan. This allows the intersection point SP to be positioned precisely until the planned path P is illuminated.

[0178] In the Fig. In the embodiment shown in Figure 8, the virtual reference beam RS can be arranged along the rotation axis RA1 of the first light fan LF1. The control unit CU can be configured to position the first defined arrangement POS such that the planned path P intersects the intersection point SP on the rotation axis RA1 of the first light fan LF1, in particular on the virtual reference beam RS. By tilting the first and / or second light fan LF1, LF2, in particular by means of a motor, automatically and / or adjustable mechanism, the intersection point SP can be freely selected, in particular positioned, within a range along the virtual reference beam RS. The tilting of the second light fan LF2, in particular by means of a motor, can be carried out such that the rotation axis RA2 of the second light fan LF2, in particular by means of a motor, intersects the desired intersection point SP along the planned path P, in particular a needle axis.For any selection, in particular positioning, of the intersection point SP in a region along the virtual reference beam RS, only a tilt axis of the second light fan LF2, fixed relative to the X-ray detector, is required. If the tilt is set so that the rotation axis RA2 of the second light fan LF2 intersects the intersection point SP, the second light fan LF2 can then be rotated back to the planned path P. This allows the first defined arrangement to be positioned more freely, since the planned path P does not have to intersect a fixed point relative to the X-ray detector 34, but merely a line.

[0179] The ability to move the intersection point SP by tilting the light fans LF1 and LF2 along the rotation axis RA1 of the first light fan LF1 allows for dynamic adjustment of the light guidance. In particular, as shown in Fig. Figure 8 schematically illustrates that the intersection point SP is located closer to the X-ray detector 34 than in an arrangement at the center of rotation RZ of the first defined arrangement. An advantage of this embodiment is that in many clinical applications, the intersection point SP of the planned path with the virtual reference beam RS is located closer to the X-ray detector 34 than the center of rotation RZ, particularly the isocenter, also due to space constraints when positioning the C-arm around a table, an examination object, and / or the medical device MO. A further advantage in this case is that the angle between the two light fans LF1 and LF2 becomes less acute, in particular obtuse and / or larger, which can enable improved 3D needle guidance through the crossed light fans LF1 and LF2.

[0180] Fig. 9 and Fig. Figure 10 shows schematic representations of different positions of the second defined arrangement. Fig. Figure 9 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, be positioned POS such that the rotation axis RA1 of the first light fan LF1 intersects the planned path P. The second defined arrangement may have an initial relative position with respect to the first defined arrangement. The first light fan LF1 may initially be positioned such that it does not illuminate the planned path P in the first operating state.

[0181] In Fig. Figure 10 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 moved, in particular rotated, such that the first light fan LF1 illuminates the planned path P. Advantageously, the second light fan LF2 (not shown here) may also have been moved, at least in the second operating state, such that it illuminates the planned path P.

[0182] Fig.Figure 11 shows a schematic representation of another advantageous embodiment of a proposed X-ray device. The control unit CU can send the 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 an examination object 31 positioned on a patient positioning device 32. When the X-rays strike an X-ray-sensitive layer 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 based on the signal 21.

[0183] 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 42 can be configured to detect user input. The input 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 positioning of the first defined arrangement and / or the movement of the first and / or second light fan LF1 and LF2, depending on the user input, in particular the signal 26.

[0184] In particular, repositioning the first defined arrangement into a further positioning can be restricted to a rotation about an intersection point SP of the rotation axis RA1 of the first light fan LF1 with the planned path P, a combination comprising a rotation about the intersection point SP and a translation parallel to the planned path P, or a combination comprising a rotation about the intersection point SP and a translation parallel to the rotation axis RA1 of the first light fan LF1. This can be achieved by adjusting the control degrees of freedom of the input unit 42.

[0185] The schematic representations contained in the described figures do not depict any scale or size ratios.

[0186] 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.

[0187] In the context of this application, the expression "based on" can be understood in particular as meaning "using". Specifically, a formulation stating that 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) and an X-ray detector (34) opposite each other and two spaced-apart light guiding devices (LFE1, LFE2) which are arranged in a first defined arrangement, wherein the first defined arrangement is movably mounted, wherein a first light guiding device (LFE1) of the two light guiding devices is designed to emit a first light fan (LF1) and a second light guiding device (LFE2) of the two light guiding devices is designed to emit a second light fan (LF2), wherein the first and second light fans (LF1, LF2) are at least rotatable about one rotation axis (RA1, RA2), wherein the rotation axis (RA1) of the first light fan (LF1) intersects the rotation axis (RA2) of the second light fan (LF2) and a detector surface of the X-ray detector (34), wherein the first light guiding device (LFE1) is arranged in a second defined arrangement with respect to the X-ray detector (34), wherein the second defined arrangement is rotatably mounted, wherein the rotation axis (RA1) of the first light fan (LF1) corresponds to a rotation axis of the second 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), - Emitting (TR-LF1) the first light fan (LF1) by means of the first light guiding device (LFE1), - Emitting (TR-LF2) the second light fan (LF2) by means of the second light guiding device (LFE2), - Positioning (POS) the first defined arrangement such that the rotation axis (RA1) of the first light fan (LF1) intersects the planned path (P), - Moving (MOV) the first and / or second light fan (LF1, LF2) based on the planning information (PI) and a momentary positioning (MPOS) of the first defined arrangement such that the first and second light fans (LF1, LF2) illuminate the planned path (P), wherein the movement (MOV) of the first and / or the second light fan (LF1, LF2) includes at least a rotation of the first and / or the second light fan (LF1, LF2) around the respective axis of rotation (RA1, RA2). [2] Method according to claim 1, wherein the first and / or second light fan (LF1, LF2) are additionally designed to be tiltable, wherein the movement (MOV) of the first and / or second light fan (LF1, LF2) further includes a tilting of the first and / or second light fan (LF1, LF2) based on the planning information (PI) and the current positioning (MPOS) of the first defined arrangement. [3] Method according to claim 1 or 2, wherein a focusing of the first and / or the second light fan (LF1, LF2) is adapted based on the planning information (PI) and the current positioning (MPOS) of the first defined arrangement such that the respective light fan (LF1, LF2) has a predefined geometry in an area of ​​the planned path (P). [4] Method according to any of the preceding claims, wherein the axis of rotation (RA1) of the first light fan (LF1) is arranged within the layer illuminated by the first light fan (LF1), and / or wherein the axis of rotation (RA2) of the second light fan (LF2) is arranged within the layer illuminated by the second light fan (LF2). [5] Method according to any of the preceding claims, where repositioning the first defined arrangement into a further positioning is restricted to a rotation about an intersection point (SP) of the rotation axis (RA1) of the first light fan (LF1) with the planned path (P), a combination comprising a rotation about the intersection point (SP) and a translation parallel to the planned path (P), or a combination comprising a rotation about the intersection point (SP) and a translation parallel to the rotation axis (RA1) of the first light fan (LF1). where the subsequent positioning is specified as the current positioning (MPOS) of the first defined arrangement, wherein the first and / or the second light fan (LF1, LF2) are moved based on the planning information (PI) and the current positioning (MPOS) of the first defined arrangement such that the first and the second light fan (LF1, LF2) illuminate the planned path (P), wherein the movement (MOV) of the first and second light fan (LF1, LF2) includes at least a rotation of the first and / or second light fan (LF1, LF2) around the respective axis of rotation (RA1, RA2). [6] Method according to one of the preceding claims, wherein the axis of rotation (RA1) of the first light fan (LF1) passes through a center of rotation (RZ), in particular an isocenter, of the first defined arrangement, a geometric center of the X-ray detector (34), the X-ray source (33) and / or a geometric center of a beam exit window of the X-ray source (33). [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, wherein the X-ray radiation is detected by means of the X-ray detector (34) and a signal is provided depending on the detected X-ray radiation, where X-ray image data (BD) is provided depending on the signal (PROV-BD). [8] Method according to one of the preceding claims, wherein the planning information (PI) is registered with a coordinate system of the X-ray device. [9] X-ray apparatus comprising an X-ray source (33) and an X-ray detector (34) opposite each other and two spaced-apart light guidance devices (LFE1, LFE2), wherein the X-ray source (33), the X-ray detector (34) and the light guiding devices (LFE1, LFE2) are arranged in a first defined arrangement, wherein the first defined arrangement is movably mounted, wherein a first light guiding device (LFE1) of the two light guiding devices is designed for emitting (TR-LF1) a first light fan (LF1) and a second light guiding device (LFE2) of the two light guiding devices is designed for emitting (TR-LF2) a second light fan (LF2), wherein the first and second light fans (LF1, LF2) are at least rotatable about one rotation axis (RA1, RA2), wherein the rotation axis (RA1) of the first light fan (LF1) intersects a detector area of ​​the X-ray detector (34) and the rotation axis (RA2) of the second light fan (LF2) in an operating state of the X-ray device, wherein the first light guiding device (LFE1) is arranged in a second defined arrangement with respect to the X-ray detector (34), wherein the second defined arrangement is rotatably mounted, wherein the rotation axis (RA1) of the first light fan (LF1) corresponds to a rotation axis of the second defined arrangement, wherein the X-ray device is configured to perform a method according to any one of claims 1 to 8. [10] X-ray device according to claim 9, wherein the first and second light fan (LF1, LF2) are each rotatable by means of a, in particular motorized, rotating bearing of the respective light guiding device (LFE1, LFE2) and / or a, in particular motorized, adjustable projection mechanism and / or an adjustable projection matrix. [11] X-ray device according to claim 9 or 10, wherein the first and second light fan (LF1, LF2) are each additionally tiltable by means of a tiltable, in particular motorized, mounting of the respective light guiding device (LFE1, LFE2) and / or a projection mechanism that is adjustable, in particular motorized, and / or an adjustable projection matrix. [12] X-ray device according to one of claims 9 to 11, wherein the first and / or the second light guidance device (LFE1, LFE2) are each arranged on the X-ray detector (34), the X-ray source (33) or a guidance unit (38). [13] X-ray device according to one of claims 9 to 12, wherein the first defined arrangement is mounted in a translatable and / or rotatable manner. [14] 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 8 when the program sections are executed by the control unit (CU).

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