X-ray apparatus with camera

Abstract

Some embodiments include an accessory rail configured to be mounted to an x-ray apparatus, the accessory rail comprising at least one camera. The accessory rail may be configured to be mounted on a collimator of the x-ray apparatus. The collimator shapes the x-ray beam emitted from the x-ray apparatus. The at least one camera may be housed within the accessory rail.

Description

X-RAY APPARATUS WITH CAMERABACKGROUND

[0001] X-ray sources (or x-ray generating devices) are used in a wide variety of applications, both industrial and medical. Such devices are commonly employed in medical diagnostic examination and therapeutic radiology, these being example medical applications.

[0002] In general, x-ray devices produce x-rays when electrons are emitted, accelerated and then impinged upon a target material of an appropriate composition, such as tungsten (W), which occurs within an evacuated enclosure on an x-ray tube. A cathode, or electron source, is disposed within the evacuated enclosure and an anode is positioned to receive electrons emitted by the cathode.

[0003] For example, in operation of a thermionic emitter x-ray tube, an electric current is applied to a filament portion of the cathode, which causes electrons to be emitted by thermionic emission. A high voltage potential between the cathode and anode causes the electrons to form a stream and accelerate towards a focal spot on a target surface of the anode. When the electrons strike the target surface, some of the kinetic energy of the electrons is released as x-rays. The target surface of the anode is positioned and oriented so that the x-rays are emitted through a window in the evacuated enclosure and any outer housing. The emitted x-rays are then directed towards an x-ray subject, such as a medical patient.

[0004] The x-rays that are emitted do not form a uniform or consistent beam. Electrons that do not strike the focal spot of the anode generally do not result in the production of x- rays that follow the desired path and are commonly referred to as “off-focal” radiation.

[0005] An x-ray beam control apparatus, such as a collimator, can be used to limit the diagnostic x-ray field (e.g., control the shape and position of the x-ray beam) and reduce off- focal radiation.

[0006] A collimator may comprise a number of moveable collimator members (or shutters) formed of x-ray attenuating material, such as lead. The collimator members define an openingthrough which radiation can pass. The opening can be arranged to block off-focal radiation and / or to control the size of the x-ray beam that reaches the patient.BRIEF DESCRIPTION OF SEVERAL VIEWS OF THE DRAWINGS

[0007] For a better understanding of the present disclosure, embodiments will now be described by way of example with reference to the accompanying drawings, in which:

[0008] FIG. 1 shows an x-ray imaging system.

[0009] FIG. 2A shows a perspective view of a collimator as viewed from below, illustrating the surface of the collimator that faces the patient during imaging, and the accessory rails.

[0010] FIG. 2B illustrates a perspective view of a corner part of the collimator, showing the accessory rail in closer detail.

[0011] FIG. 3A shows a block diagram view of an accessory rail mounted on a collimator as well as possible accessories or components mounted in the accessory rail.

[0012] FIG. 3B shows a camera module in accordance with some embodiments of the present disclosure.

[0013] FIG. 4 illustrates a perspective assembly view of parts of an accessory rail mounted on a collimator.

[0014] FIG. 5 shows how a component (such as an x-ray filter) may be mounted within accessory rails of a collimator.

[0015] FIG. 6 is a flowchart illustrating a method of installation of the accessory rails and associated cameras.

[0016] FIG. 7 shows various possible locations for the camera as well as the corresponding view from each location.

[0017] FIGS. 8A-8B show a camera mounted on the collimator that is aligned with a centreline of the patient.

[0018] FIG. 9 shows the use of two physical cameras to provide a virtual view of a patient as seen by a virtual camera.

[0019] FIG. 10 shows a side view of a collimator and aperture with a pair of cameras mounted in accessory rails of the collimator.

[0020] FIG. 11 is a flowchart showing a method for obtaining a virtual image from a virtual camera by means of two physical cameras.

[0021] FIG. 12 is a flowchart showing an algorithm to obtain a virtual image from two physical cameras.DETAILED DESCRIPTION

[0022] The present disclosure relates to devices and methods for providing an improved view of a patient during x-ray imaging or treatment.

[0023] In some embodiments, one or more collimator accessory rails is equipped with one or more physical cameras to provide a remote centralized view of a patient during imaging or treatment.

[0024] During an x-ray examination, the posture and location of the patient is important for obtaining a correct x-ray image of a desired anatomical location. The patient may be carefully positioned by the operator before the examination, but the operator usually moves behind a shielded screen in a different room for the operator’s own safety to reduce the operator radiation exposure during the actual x-ray irradiation.

[0025] To allow the operator to monitor the patient location and posture from the shielded (remote) location, a camera may be mounted to the collimator which can then send digital images of at least a part of the patient under examination to the remote operator. This way, the operator may use the image generated by the camera to see the patient surface being irradiated with x-rays. The camera provides a visual image for operator information whereas the x-rays impinging on an imaging detector provide an x-ray image for imaging purposes. While the example references diagnostic x-ray imaging, the x-rays used may also comprise therapeutic radiation.

[0026] However, this camera cannot be mounted directly in the centre of the x-ray beam because then the camera would obstruct the x-rays directed toward the patient. Thus, such a camera can be mounted on the side of the collimator opening, to avoid obstructing the x-ray beam. Unfortunately, side mounted cameras result in a camera angle different from the x-ray angle. The camera’s different angle of view makes judging the exact location and posture of the patient more difficult for the (e.g., remote) operator and it may not be possible to see via the camera image the patient surface from the point of view of the x-ray beam. This difference in location of the camera from the x-ray beam complicates the remote check performed by the operator via the remote console.

[0027] X-ray system

[0028] FIG. 1 is a block diagram of an x-ray apparatus 100 according to some embodiments. The x-ray apparatus 100 includes an x-ray source 110, such as an x-ray tube, and detector 140. The x-ray source 110 includes housing 115 to shield from off -focal radiation. The x-ray source 110 is disposed relative to the detector 140 such that an x-ray beam 120 may be generated to pass through a specimen or patient 130 and be detected by the detector 140. In some embodiments, the detector 140 is part of a medical imaging system, non-destructive testing system, or the like.

[0029] The x-ray apparatus 100 may include a collimator device 105, which is configured to shape the x-ray beam 120 during irradiation of a specimen or patient 130 by the x-ray beam 120.

[0030] Although the foregoing primarily discusses applications in diagnostic x-ray systems, the embodiments of the present disclosure may be used to provide a centralized view of the patient in diagnostic x-ray systems, therapeutic x-ray systems or systems capable of both x-ray diagnosis and x-ray therapy.

[0031] Camera in collimator accessory rail

[0032] Referring now to FIG. 1 and FIG. 2A, in order to provide an improved view of the patient 130, a camera 250 may be mounted on a component of the x-ray source 110. Thecamera 250 may be located so that the camera 250 does not obstruct the x-ray beam 120 during imaging or treatment of the patient 130. To provide a more centralised view of the patient 130 rather than a view from the side, the camera 250 may be located as close as possible to the central axis 170 of the x-ray beam 120.

[0033] In some embodiments, the camera 250 is mounted on an accessory rail 220 configured to be mounted on the x-ray source 110. An accessory rail 220 is a structure configured to house or secure one or more components useful for the x-ray apparatus 100. In an embodiment, the accessory rail 220 is a rectangular or cuboid structure (e.g., regular cuboid) with length (i.e., along direction X) that is greater than the other two dimensions (e.g., width along direction Y and height along direction Z). In some examples the length is 5 times or 10 times greater than the width and / or the height. The accessory rail 220 will be discussed in detail below.

[0034] In some embodiments, and as shown in FIG. 2A, the camera 250 is mounted on an accessory rail 220 that is mounted on a collimator 105 of the x-ray source 110. Two accessory rails 220a, 220b are shown in FIG. 2A. The camera 250 is shown as being mounted on the right accessory rail 220b (as viewed from the front — with the knobs 230). The camera may be mounted on either accessory rail 220a, 220b. Each accessory rail 220a, 220b may contain various components or accessories that are useful to a radiographer. As used herein the radiographer can include the operator, user, or professional imaging the patient using the x- ray apparatus 100. FIG. 2A also shows knobs 230 to control the opening of the collimator 105 to shape the x-ray beam, and the collimator aperture or window 240 for the maximum allowable collimation. The collimator aperture 240 is the opening via which the x-rays leave the collimator 105.

[0035] In some embodiments, the accessory rails 220a, 220b extend perpendicularly (i.e., along direction X) to a longitudinal axis of the patient 130 or patient support 145 (the longitudinal axis of the patient 130 is parallel to axis Y). The camera 250 may be located withinthe accessory rail so that during imaging of the patient 130, the camera 250 is aligned with a center 270 of the collimator 105, or is aligned with the central axis 170 of the x-ray beam 120.

[0036] In some embodiments, the accessory rail 220a, 220b may be of increased height in comparison with conventional or industry-standard accessory rails. The increased thickness or height (along the Z direction) of the accessory rail 220a, 220b may prevent the camera 250 view from being obstructed, for example by accessories that are attached to or located within the accessory rail 220a, 220b and / or the increased height may allow room for the camera or other components within the accessory rail 220a, 220b.

[0037] Locating the camera 250 within the accessory rail 220a, 220b of a collimator 105 is the closest, for practical purposes, that a mounted camera 250 can be to a central axis of the x- ray beam 120, without obstructing the x-ray beam 120. FIG. 2A shows the offset 245 of the camera from the centre 270 of the collimator 105. Further, installing a camera 250 within the accessory rail 220a, 220b provides for a discreet or invisible camera 250 which improves the aesthetics and usability of the collimator 105 and can protect the camera.

[0038] Referring now to FIG. 2B, in some embodiments one or both the accessory rails 220a, 220b may have at least one respective groove 222a, 222b that runs along at least part of the length of the accessory rail 220a, 220b (only the left accessory rail 220a and corresponding groove 222a (as viewed from the rear — opposite the side with the knobs 230) are shown in FIG. 2B; a different view of the grooves is illustrated in FIG. 4). The accessory rail groove 222a, 222b may be configured to receive one or more components that may slide into the groove 222a, 222b and be secured to the collimator 105. Each accessory rail may include one or multiple grooves 222a, 222b. Such components may comprise, without limitation, x-ray filters, dose meters, and a bracket or spacer to prevent patient collision. In alternative embodiments the accessory rails 220a, 220b do not have a groove for receiving components such as x-ray filters, dose meters, brackets or spacers. In other embodiments the accessory rails 220a, 220b may use different features, like protrusions, indents, holes, or the like, for receiving components such as x-ray filters, dose meters, brackets or spacers.

[0039] FIG. 2B also illustrates a power or communication interface 232, for example, a wire interface, such as universal serial bus (USB) interface, suitable for connecting the camera 250 with a remote operator console or workstation. The power or communication interface 232 may use a wired, wireless or optical interface as will be described in greater detail below.

[0040] Locating the camera 250 within the accessory rail 220 has a number of advantages over locating the camera 250 in other locations of the x-ray apparatus 100, or in another location of the collimator 105. Firstly, in the present arrangement the camera 250 is closer to the collimator aperture 240 (providing a better view) than if the camera 250 were located outside the accessory rails 220. As the accessory rails 220 generally run alongside the collimator aperture 240, locating the camera 250 within the accessory rails 220 is the closest the camera 250 can practically get to the collimator aperture 240 without obstructing the x- ray beam. Secondly, installing the camera 250 in the accessory rail 220 may be more expedient than attaching the camera 250 to the collimator 105 via another attachment mechanism (e.g., adhesion). Thirdly, accessory rails may already be used with collimators for other purposes, like supporting x-ray filters. Fourthly, the camera 250 or accessory rail 220 can easily be removed or mounted on the collimator 105, permitting easy installation and / or retrofitting to legacy collimators.

[0041] FIG. 3A shows a collimator 105 and an accessory rail 220 as viewed from the side. In some embodiments, in addition to the camera 250 on a camera module 390, the accessory rail may include other components, such as a microphone 308, a speaker 309, a distance sensor 302, patient measuring module 306, an electromagnetic compatibility (EMC) filter 304, and a communication module 310.

[0042] In particular, the accessory rail 220 may include a microphone 308 and / or a speaker 309. A microphone 308 enables the patient 130 to communicate with the radiographer, whereas a speaker 309 enables the radiographer to communicate with the patient 130. When used together, the microphone 308 and speaker 309 enable the radiographer to have a two- way audio communication with the patient 130. In some embodiments, the microphone 308and / or the speaker 309 may be integrated into the camera 250. In alternative embodiments, the microphone 308 and / or the speaker 309 may be components distinct from the camera 250.

[0043] The accessory rail 220 may include a distance sensor 302. In some embodiments, the distance sensor 302 is configured to measure the distance between the x-ray source 110 and a patient 130 being irradiated. The distance sensor 302 may also be used to measure the distance between the collimator 105 and the patient 130 being irradiated. The distance sensor 302 can use a time-of-flight sensor, such as light amplification by stimulated emission of radiation (laser), laser detection and ranging (lidar), ultrasound, infrared, electronic distance meter, radio detection and ranging (radar), or the like.

[0044] In some embodiments, the accessory rail 220 may include a patient measuring module 306. The patient measuring module 306 may be used to calculate a source image distance (SID) by measuring the distance between the collimator 105 and the plate (e.g., a patient support 145) behind / below the patient and / or calculate the source object distance (SOD) by measuring the distance between the collimator and the patient. The difference between the SOD and the SID is an indication for the patient thickness. The patient measuring module 306 may generate the thickness, such as a maximum thickness, of a patient 130. The patient measuring module 306 may include a retractable tape measure or measuring tape that can be read electronically or by the radiographer. The SOD and / or the SID may also be generated by the distance sensor 302. The patient measuring module 306 and / or the distance sensor 302 may transmit distance measurements or patient thickness values to the communication module 310. The distance measurements of the distance sensor 302 and / or the patient thickness values of the patient measuring module 306 may be used to calculate the exposure parameters for the x-ray source 110 (e.g., voltage or kilovolts (kV) and / or current milliamperes (mA)).

[0045] In some embodiments, the accessory rail 220 may contain an electromagnetic compatibility (EMC) filter 304 that is operable to ensure that electrical and electronic equipment do not generate, and are not affected by, electromagnetic interference (EMI) orother electrical disturbances. For example, the EMC filter 304 may protect the camera 250 and other electronic components within the accessory rail 220 from EMI. The EMC filter 304 is described in detail below.

[0046] In some embodiments, the accessory rail 220 also comprises a communication module 310, such as a USB external connector board, for communication with an x-ray system console or workstation 340 that may be external to the x-ray apparatus 100. The communication module 310 may be adapted, without limitation, for wired, wireless or optical communication. In some embodiments, the communication module 310 may comprise one or more of a wired, wireless or optical communication interface and / or protocol. The wired protocols and / or interface can include USB, ethernet (Institute of Electrical and Electronics Engineers (IEEE) 802.3), FireWire (IEEE 1394; Lynx; i.LINK), and the like. The wireless protocols can include Bluetooth (IEEE 802.15.1), WiFi (IEEE 802.11 wireless network protocol), and the like. The communication module 310 using a wired or optical protocol can use cabling and have an electrical connection with the x-ray system console 340. When the communication module 310 uses a wireless protocol the x-ray system console 340 may have a corresponding wireless communication module for communication with the communication module 310.

[0047] The accessory rail 220 is mounted on the collimator 105 by means of mounting interface 380, which can include permanent or semi-permanent fasters, such as bolts, nuts, screws, rivets, and the like, which will be described further below.

[0048] FIG. 3B shows a camera module 390 in more detail. The camera module 390 may be mounted on the accessory rail 220 in a similar fashion to the other components as described in relation to FIG. 3A. In particular, the camera module 390 may be mounted on the accessory rail along with none, or one or more of a distance sensor 302, an EMC filter 304, a patient measuring module 306, a microphone 308 and / or a speaker 309. The camera module 390 may comprise a printed circuit board (PCB) 392 and / or a microprocessor 394. The microprocessor394 may control the operation of the camera 250 and the PCB 392 may connect various auxiliary components that support the operation and function of the camera 250.

[0049] As shown in FIG. 4, in some embodiments, the accessory rail 220b may include an upper part 410 and a lower part 415 of the accessory rail 220b housing. The upper part 410 and the lower part 415 may have three walls along the long or longitudinal portion of the accessory rail 220b and may be at least partially hollow to house the components described in relation to FIG. 3A. For example, the camera 250 may be disposed between the upper part 410 of the accessory rail 220b and the lower part 415 of the accessory rail 220b. FIG. 4 shows the accessory rail upper part 410, accessory rail lower part 415, attachment means 430 for coupling the upper part 410 and the lower part 415, and fixing means 420 for installing and securing the accessory rail 220b to the collimator 105 (the collimator is not shown in this figure). The attachment means 430 and / or the fixing means 420 can include permanent or semi -permanent fasters, such as bolts, nuts, screws, rivets, and the like. In particular, the camera 250 may first be located between the separated upper part 410 and lower part 415 of the accessory rail 220b and the attachment means 430 may then be used to couple the lower part 415 to the upper part 410 of the accessory rail 220b, which conceals the camera 250 within the gap formed by the joined lower part 415 and upper part 410 of the accessory rail 220b. The fixing means 420 can secure both the lower part 415 and the upper part 410 to the collimator 105.

[0050] Although FIG. 4 shows the camera being installed in the right accessory rail 220b, a similar procedure may be performed with the left accessory rail 220a.

[0051] In some embodiments, in addition to securing the camera 250 within the accessory rail 220 as described above, one or more additional components may be secured within the accessory rail 220 as described in relation to FIG. 3A, such as the above-described distance sensor 302, EMC filter module 304, patient measuring module 306, microphone 308 and / or speaker 309.

[0052] With reference to FIG. 5, a groove 222a of the first accessory rail 220a and the groove 222b of the second accessory rail 220b are shown from a perspective view. The grooves222a, 222b of the accessory rails 220a, 220b work together to receive one or more groove components 550 that are configured to slide or are slidable into the grooves 222a, 222b. In some embodiments, the groove components 550 can be placed in the path of the x-ray imaging beam 120 (only one groove component 550 is illustrated in FIG. 5).

[0053] In particular, components that may slide into the grooves 222a, 222b of the accessory rail 220a, 220b may be none, or one or more of an x-ray filter, a dose meter, or a bracket or spacer to prevent patient collision. For example, an x-ray filter may be configured to be an appropriate size to slide into and be received by the grooves in the accessory rails. Similarly, the dose meter or the bracket / spacer may be configured to be an appropriate size to slide into and be received by the groove in the accessory rail. In other embodiments, other types of components may be slid into the accessory rail grooves 222a, 222b. The x-ray filter may attenuate the x-rays emitted from the x-ray source 110. The dose meter may measure the x-rays emitted from the x-ray source 110 for an exposure or series of exposures with a patient 130.

[0054] In some embodiments, one of the accessory rails 220a or 220b may have a groove 222a or 222b, while the other of the accessory rails 220a or 220b may not have a groove. In some embodiments, the accessory rails 220a, 220b do not have any grooves for sliding components, such as an x-ray filter, dose meter or bracket / spacer into the accessory rail 220a, 220b. In such embodiments, the x-ray filter, dose meter or bracket / spacer may be mounted on the collimator 105 or x-ray apparatus using an alternative mechanism. For example, the x- ray filter, dose meter or bracket / spacer may be clamped to the collimator 105 bottom surface. In some embodiments, the x-ray apparatus 100 does not have components such as x-ray filters, dose meters, brackets or spacers.

[0055] Some embodiments provide for a “kit of parts” that comprises elements that can be mounted or installed on a new x-ray apparatus 100, or retro-fitted to existing legacy x-ray apparatus 100. The kit of parts may comprise a camera 250 configured to be mounted in or retro-fitted to an accessory rail 220a, 220b. The kit of parts may also include the accessory rail220a, 220b itself. In the kit of parts, the accessory rail 220a, 220b and camera 250 may be configured so that the camera 250 is mountable on the accessory rail 220a, 220b in such manner than when the accessory rail 220a, 220b is mounted on the collimator 105, the camera 250 is in line with the centre of the collimator 105.

[0056] In some embodiments, the kit of parts may include other components necessary for installing the camera 250 in the accessory rail 220a, 220b, or for mounting the accessory rail 220a, 220b on the collimator 105, such as means for performing the installation or mounting process. The kit of parts may also include cabling for connecting the camera 250 to an operator console, for example to provide a remote radiographer with a video of the patient 130.

[0057] In some embodiments, the kit of parts may also include other components as described above, including one or more of, a distance sensor 302, an EMC filter module 304, a patient measuring module 306, a microphone 308, a speaker 309, an x-ray filter, a dose meter, and / or a bracket or spacer to prevent patient collision.

[0058] With reference to FIG. 6, in some embodiments, there is provided a method 600 of installing, mounting or retro-fitting one or both of the accessory rails 220a, 220b to an x-ray apparatus 100. As described above, the accessory rails 220a, 220b may contain a camera 250. In addition, the accessory rails may contain one or more of a distance sensor 302, an EMC filter module 304, a patient measuring module 306, a microphone 308, and / or a speaker 309.

[0059] With reference to the installation process, mounting the camera 250 inside of the accessory rails 220 and then installing the accessory rails 220 in an existing collimator 105 enables the addition of cameras to existing collimator models without the need to change the collimator 105. In some embodiments the accessory rails 220 are first mounted on the collimator 105 and the cameras and / or other components are then mounted in the accessory rail 220.

[0060] The kit of parts described above may be provided at the start of the installation process. A new camera 250 may then be installed in an existing accessory rail 220a, 220b, wherein the existing accessory rail 220a, 220b is already attached to a collimator 105.Alternatively or additionally, the existing accessory rail may be replaced by a new accessory rail 220 from e.g., the above described kit of parts; the new accessory rail 220 may comprise the camera 250. Practically, such a replacement of the accessory rail 220a, 220b may be performed by a simple process such as removing a screw, in contrast with other less advantageous approaches which would require replacement of the entire collimator 105. Other less advantageous approaches include roughly mounting the camera 250 e.g., using adhesion onto an arbitrary location on the collimator. The present installation process allows the accessory rail 220 with camera 250 to be easily installed on existing collimators 105 without modifying the structure of the collimator and / or without modifying another part of the x-ray apparatus.

[0061] Collimator models designed for a camera 250 and communication module 310, in contrast with legacy collimator models, may be configured with a predefined electrical connection to allow easy mounting or dismounting of the accessory rail 220a, 220b with camera 250 and coupling a connector to the x-ray system or apparatus. Collimator models designed for a camera 250 may further increase the ease of future retro-fitting of accessory rails 220a, 220b to e.g., replace malfunctioning cameras with working or upgraded cameras 250.

[0062] The exemplary installation method shown in FIG. 6 may start by removing or unscrewing 605 a first existing accessory rail from an x-ray apparatus 100. This accessory rail may be a legacy accessory rail without any provision to house a camera within the accessory rail. Then, a first new accessory rail 220a, 220b may be mounted 610 on the x-ray apparatus 100. In some embodiments, the first new accessory rail 220a, 220b is mounted on a collimator 105 of the x-ray apparatus 100. The installation method of an accessory rail with a camera 250 is superior to methods which roughly mount a camera on the x-ray apparatus by adhesion or similar mechanism. (The optional methods 620, 630 of FIG. 6 will be discussed in view of the “virtual camera” embodiment, below).

[0063] Advantageously, by placing a camera 250 in an accessory rail 220 of a collimator 105, the present disclosure provides a centralised view of the patient 130 that is as close as practically possible to the beam’s eye view of the x-ray imaging beam 120. This allows the radiographer to have a view of the patient 130 that corresponds to the view as seen by the x- ray imaging beam 120.

[0064] FIG. 7 shows three different views of the patient 130 from the point of view of a camera at different locations on the collimator 105a, 105b and 105c. A first view 720a is taken from a camera 250a located near a corner of the collimator 105a towards the left side of the patient 130. A second view 720b is taken from a camera 250b located between accessory rails on a backside of the collimator 105b (opposite the knobs) towards the right side of the patient 130. Each imaging circle view 730a and 730b together with their respective crosshairs and imaging directions 740a and 740b illustrate the imaging angle from each camera location. As can be seen, the resulting views of the patient 720a and 720b as represented by 730a and 730b have angular distortion and the patient is not viewed from the center. This distortion means that a radiographer (in, for example, a remote location) viewing the camera image showing side views 720a, 720b will not see the patient 130 from the same angle from which the patient 130 is being imaged using diagnostic x-rays or being treated using therapeutic x-rays.

[0065] In contrast, as shown in FIG. 7, when the camera is located in an accessory rail 220 of the collimator 105c so that the camera 250c is in line with the centre of the collimator 105c (along the Y axis), the resulting patient view 720c is along the centreline 790 of the patient 130 (along the Y axis). The imaging circle view 730c together with its crosshairs and imaging direction 740c illustrate the imaging angle according to one embodiment. The camera 250c is in line with the centre of the collimator 105c with only a slight offset 245 (in the Y direction), avoiding angular distortion and the camera view angle is similar to the angle from which the patient 130 is being imaged using diagnostic x-rays or being treated using therapeutic x-rays. The offset without angular distortion is illustrated by 245 (see FIG. 2A).

[0066] FIGS. 8A-8B show the view from the camera 250 mounted on the accessory rail 220 of the collimator 105 according to embodiments of the present disclosure. As shown, the camera 250 is in line with the centre of the collimator 105 (along the Y axis), which provides a view 720c of the patient 130 that is aligned with a central axis 790 of the patient 130. This alignment of the camera 250 avoids any optical distortion that may occur due to viewing a patient 130 from a position to the side of the patient 130 but may still have an offset 245 (in the Y direction from the collimator centre 270). As shown, the radiographer may view the patient 130 from above, rather than from an angle. This top view provides an image to the radiographer from a point of view that is close to the angle of the imaging or treatment x-ray beam 120.

[0067] Single camera configuration: locations and orientations

[0068] In some embodiments, as shown in FIG. 2A and FIG. 2B, the collimator aperture 240 is square or rectangular. The accessory rail 220a, 220b may be mounted on the collimator 105 in a location adjacent to the collimator aperture or window 240. The accessory rail 220a, 220b may be linear and may extend parallel to a side (e.g., first side) of the collimator aperture 240. The accessory rail 220a, 220b may be at least as long as the side of the collimator aperture 240.

[0069] As shown in FIG. 10 below (which will be explained in detail below) the camera 250, 950a, 950b may be located in the accessory rail 220a, 220b at an intersection between the accessory rail and a central axis 1030 of the collimator aperture 240, the central axis of the collimator aperture comprising an axis that is perpendicular to the accessory rail and perpendicular to a central axis that would be formed, during operation, by a central axis of an x-ray beam (i.e., the central axis of the collimator aperture is parallel to axis Y, see for example the intersection between the accessory rail 220a and the axis 1030 shown in FIG. 10, explained below).

[0070] In some embodiments, the x-ray source 110 along with the collimator 105 can be rotated relative to the patient so the accessory rail 220 extends perpendicular (i.e., parallel toaxis X) to a longitudinal centreline 790 (i.e., parallel to axis Y) of the patient 130 or patient support 145.

[0071] In some embodiments, the camera 250 is located in the accessory rail 220 so that, during use, the camera 250 lies in a plane 870 (e.g., Y-Z plane; see FIG. 8A) formed by (i) a longitudinal axis (parallel to axis Y) of the patient 130 or patient support 145 and (ii) the central axis (parallel to axis Z) that would be formed, during operation, by the central axis 170 of the x-ray imaging or treatment beam 120.

[0072] Advantageously, the camera 250 lying within the plane 870 provides a view of the patient 130 or patient support 145 that has less angular distortion than if the camera 250 was located in some other location and provides the remote operator a better view from which to control the imaging or treatment of the patient 130.

[0073] In other embodiments, the collimator aperture may have a different shape, and the camera may be at a different location.

[0074] Virtual camera

[0075] Referring back to FIG. 1, FIG. 1 illustrates an x-ray imaging system equipped with a camera 150, the camera 150 being used to capture images of a patient 130 during x-ray imaging. When mounting a single fixed camera 150 on the x-ray apparatus, the camera 150 is by necessity away from the central axis 170 of the x-ray beam 120, in order for the camera 150 to avoid obstructing the x-ray beam 120. Thus, the image provided by the camera 150 will be of the patient 130 as viewed from an angle, rather than as viewed from along the central axis of the x-ray beam 120. This angular view results in an optically distorted view of the patient 130 and the patient is not viewed from the view of the imaging x-ray beam 120, which is imaged on the detector 140.

[0076] FIG. 9 illustrates the use of two cameras 950a, 950b to provide a centralized virtual view of the patient 130. The patient 130 is located in between the collimator 105 and the detector 140. In particular, the present disclosure provides for the use of two physical cameras 950a, 950b which may have two physically separate lenses and / or sensors located offset andin line with a central axis of the x-ray beam 120. A first camera 950a provides a first image from a first field of view 960a and the second camera 950b provides a second image from a second field of view 960b. The first image and the second image may be computationally processed to determine a virtual image from a virtual camera 970. The virtual camera 970 comprises a virtual lens and / or sensor located along a central axis of the x-ray beam 120. The virtual image is the image that would have been captured by a physical camera with a lens and / or sensor located along the central axis of the beam 120. For example, the virtual image may be an image that would have been captured by a physical camera (illustrated as a “virtual camera” 970) if a camera were actually located at the centre of the collimator 105. The virtual camera has a third field of view 980.

[0077] The virtual camera 970 provides a radiographer with a (remote) view of patient 130 as if the image was taken from the centre of the collimator 105. The radiographer sees the patient posture and position from a beam’s eye view, without obstructing the path of the x-ray beam 120.

[0078] FIG. 10 illustrates a view of a surface of the collimator 105 facing the patient 130, as seen from side view. A first camera 950a is installed in a first accessory rail 220a, and the first accessory rail 220a is mounted along a first side of the collimator aperture or window 240 on a window side the of collimator 105. A second camera 950b is installed in a second accessory rail 220b, and the second accessory rail 220b is mounted along a second side of the collimator aperture or window 240 on the window side of the collimator 105, the collimator aperture or window 240 is between the first side and the second side, and the first side being opposite the second side relative to the collimator aperture or window 240. A first image from the first camera 950a and a second image from the second camera 950b are computationally processed to provide a virtual image from a virtual camera 970, where the virtual camera 970 corresponds to a physical camera that would have been located at the centre 270 of the collimator 105 (and which would have blocked the x-ray beam 120). By providing a virtual camera 970 instead of a physical camera at the collimator centre 270, a centralized view of thepatient 130 is achieved by the virtual camera 970 without blocking the x-ray beam 120 or using movable components, like a movable camera, that is moved or retracted from the path of the x-ray beam during an x-ray exposure.

[0079] In some embodiments, the first camera 950a and the second camera 950b are installed in the respective accessory rails 220a and 220b so that the first camera 950a and the second camera 950b are in line with the centre 270 of the collimator. In other words, the first camera 950a and the second camera 950b may be located along a central axis 1030 (i.e., parallel to the Y axis shown in FIG. 10) of the collimator 105 that is perpendicular to the direction of travel of the x-ray beam 120 (the x-ray beam travels parallel to the Z axis shown in FIG. 10). This central axis 1030 may be parallel to the front or back sides of the collimator 105 corresponding to the sides of the collimator as viewed from the front or back of the collimator. Herein, a “front side” of collimator 105 refers to the side of the collimator 105 comprising the knobs 230, as shown in FIG. 2A, whereas the “back side” refers to the side opposite the “front side”. In other embodiments, the first camera 950a and the second camera 950b may be located along a central axis 1020 (i.e., parallel to the X axis shown in FIG. 10) of the collimator 105 that is perpendicular to the direction of travel of the x-ray beam 120 (parallel to the Z axis) and which is also perpendicular to the front or back sides of the collimator 105 (which are aligned parallel to the Y axis). In other examples, the two cameras can be placed elsewhere on the window side of the collimator 105, but computationally, generating a virtual camera view is easier when cameras are opposite each other and the centre 270 of the collimator aperture 240 is along the same plane. A more detailed explanation of the positioning and orientation of the two cameras 950a, 950b is provided below.

[0080] By aligning the first camera 950a and the second camera 950b with the centre 270 of the collimator 105 in this manner, a disparity map may be used to determine a 3D image of the patient 130 and then determine a frontside image of the patient 130 from the 3D image, wherein the frontside image shows the patient 130 from the point of view of the x-ray beam. Additional details will be explained below.

[0081] In some embodiments, rather than locating the two cameras 950a, 950b in respective accessory rails 220a, 220b, the cameras may be attached to the sides of the collimator aperture or window 240 on the window side of the collimator 105, or to another surface of the collimator 105 that has a view of the patient 130. In some embodiments, the two physical cameras 950a and 950b may be located on a part of the x-ray apparatus other than the collimator 105, wherein such a part of the x-ray apparatus has an unobstructed view of the patient 130.

[0082] FIG. 11 illustrates a method of determining a virtual image from two physical cameras 950a and 950b, wherein the virtual image is an image that would have been produced by a physical camera had the physical camera been located at the centre 270 of the collimator 105.

[0083] The method comprises receiving 1110 a first image from a first camera 950a and a second image from a second camera 950b, the first camera 950a and the second camera 950b having physically separate positions (with different views) located offset from and in line with a central axis of an x-ray beam 120 produced by an x-ray source 110. The method then comprises computationally processing 1120 the first image and the second image to produce a virtual image from a virtual camera, where the virtual camera comprises a virtual lens and / or sensor located along the central axis of the x-ray beam 120.

[0084] FIG. 12 is a flowchart that illustrates in more detail how to calculate the virtual image from the physical image. First, the method 1200 may comprise receiving 1210 a first image from the first camera 950a and a second image from the second camera 950b. Next, a disparity map may be calculated 1220 between the first image and the second image. Then, a point cloud may be calculated 1230 from the disparity map. The point cloud may then be converted 1240 into a three-dimensional (3D) image. The 3D image may then be virtually rotated 1250. The rotated 3D image may then be converted 1260 to a 2D frontside image. The frontside image is the image of the patient which would be seen from the point of view of the x-ray beam 120. The frontside image may then be used 1270 as the virtual image.

[0085] In optional embodiments, the two cameras 950a, 950b may be used in a triangulation process to determine the distance from the cameras 950a, 950b to objects of interest, such as a distance from the cameras 950a, 950b to the surface of the patient 130. Triangulation involves the principles of geometry and trigonometry to determine the distance to an object or location by measuring the angles from two (or more) known points to the object. In the present case, the “known” points would be the location of the two physical cameras.

[0086] In some embodiments, a kit of parts is provided, that includes at least two cameras 950a, 950b. The cameras 950a, 950b may be mounted or retro-fitted to a collimator 105 of an x-ray apparatus. Alternatively, the cameras 950a, 950b may be mounted or retro-fitted to respective accessory rails 220a, 220b already mounted on the collimator 105. In some embodiments, the kit of parts further includes at least two accessory rails 220a, 220b. The two cameras 950a, 950b and the two accessory rails 220a, 220b may be installed or retro-fitted onto new or existing collimators 105.

[0087] The accessory rails 220a, 220b and cameras 950a, 950b contained in the kit of parts may be configured so that each camera 950a, 950b is mountable on a respective accessory rail 220a, 220b so that when the respective accessory rails 220a, 220b are mounted on the collimator 105, the cameras 950a, 950b are in line with the centre of the collimator 105, as described above in relation to FIG. 10.

[0088] In some embodiments, the kit of parts may include other components necessary for installing the cameras 950a, 950b to their respective accessory rails 220a, 220b, or for mounting the respective accessory rails 220a, 220b on a collimator 105, such as means for performing the installation or mounting process. For instance, the kit of parts may include cabling for connecting the two cameras 950a, 950b to an operator console, so that a computer system may process images from the two cameras 950a, 950b to provide a remote radiographer with a virtual video of the patient 130.

[0089] In some embodiments, the kit of parts may also include other components mountable in an accessory rail 220 as described above. In particular, the kit of parts mayinclude none, one, or more than one of a distance sensor 302, an EMC filter module 304, a patient measuring module 306, a microphone 308, a speaker 309, an x-ray filter, a dose meter or a bracket / spacer to prevent patient collision.

[0090] In addition to processes 605 and 610 described above in relation to the singlecamera embodiment, FIG. 6 shows a method 600 of installation or retro-fitting the accessory rails 220a, 220b and cameras 950a, 950b to an x-ray apparatus for the dual-camera embodiment. In particular, mounting the cameras 950a, 950b inside of the accessory rails 220a, 220b makes it possible to add cameras 950a, 950b to existing collimators 105 without the need to change the collimator 105. The kit of parts may be provided at the start of the installation process 600. A first new camera 950a may then be installed in a first existing accessory rail 220a, and a second new camera 950b may be installed on a second existing accessory rail 220a, wherein the first and second existing accessory rails 220a, 220b are already attached to a collimator 105.

[0091] Alternatively or additionally, the existing accessory rails may be replaced by new accessory rails 220a, 220b from the above described kit of parts; the new accessory rails 220a, 220b may comprise the first and second cameras 950a, 950b.

[0092] In addition to the steps 605 and 610 described above, in the dual camera embodiment the method 600 involves unscrewing 620 and / or removing by some other mechanism a second existing accessory rail from the x-ray apparatus. The method then involves mounting 630 a second new accessory rail 220b on the x-ray apparatus, wherein the second new accessory rail 220b comprises a second camera 950.

[0093] Practically, such a replacement of the accessory rails 220a, 220b may be performed by a similar process to that described above and with the above mentioned advantages. The present installation process allows the accessory rails 220a, 220b with cameras 950a, 950b to be easily installed on existing collimators 105 without modifying the structure of the collimators 105.

[0094] Dual camera configuration: locations and orientations

[0095] In some embodiments, the first accessory rail 220a may be linear and may extend along a first side of the collimator aperture 240. The second accessory rail 220b may be linear and may extend along a second side of the collimator aperture 240, the second side being opposite the first side. The first and second accessory rails 220a, 220b may extend for at least the length of the collimator aperture 240.

[0096] In some embodiments, the first camera 950a is located in the first accessory rail 220a. The second camera 950b is located in the second accessory rail 220b. The cameras 950a, 950b may be located in their respective accessory rails 220a, 220b at an intersection between (i) the respective accessory rail and (ii) a central axis (parallel to the Y axis) of the collimator aperture that is perpendicular to the accessory rails 220a, 220b (see for example the intersection of the accessory rails 220a, 220b and the axis 1030 shown in FIG. 10).

[0097] In some embodiments, the two cameras 950a, 950b may be equidistant to the centre 270 of the collimator aperture 240.

[0098] In some embodiments, the two cameras 950a, 950b may be located so that, during use, the cameras 950a, 950b are equidistant to the central axis of the imaging or therapeutic beam 120.

[0099] Advantageously, by locating the two cameras 950a, 950b in the above described exemplary locations, it is possible to calculate a disparity map between the first image and the second image as described above in relation to FIG. 12.

[0100] In other embodiments, the collimator aperture may have a different shape, and the cameras may be at different locations, provided they are capable of calculating a disparity map for use in the method 1200 described above in view of FIG. 12.

[0101] Camera characteristics

[0102] In both the single camera embodiment and the virtual camera embodiment, the cameras 250, 950 can be coupled to the communication module using a Universal Serial Bus (USB) interface and / or protocol. In some embodiments, at least one of the cameras 250, 950 isa fixed focus camera. In some embodiments, at least one of the cameras 250, 950 is an adjustable lens camera.

[0103] In some embodiments, the one or more cameras 250, 950 comprise 90-degree rotated cameras which are now briefly described. Some cameras have a field of view (FOV) that is not generally square, but rectangular with one dimension greater than the other. Some camera modules have a landscape orientation with respect to the printed circuit board (PCB) of the camera module. In some embodiments, the camera 250, 950 in the accessory rail 220 of the present disclosure may, in contrast to camera modules using a landscape orientation, have a portrait orientation with the PCB 392 of the camera module 390 (see FIG. 3B), so the camera 250, 950 of the present disclosure is rotated 90-degrees as compared to other types of camera modules. These are referred to as “90-degree rotated cameras”.

[0104] In some embodiments, the camera 250, 950 may have a transparent glass covering to provide protection from general wear and tear. The transparent glass covering may be replaceable. The camera 250, 950 may have an integral transparent glass covering, or the glass covering may be fitted after the camera 250, 950 has been mounted or retro-fitted to an accessory rail 220.

[0105] EMC filter

[0106] In some embodiments, the physical cameras 250, 950 described above may be small, discreet and installable within a collimator accessory rail 220 as an internal component. Such cameras 250, 950 are generally not intended to be directly connected to long wiring or cables and as such the electromagnetic interference (EMI) immunity level that the cameras 250, 950 can withstand without performance interference may be limited.

[0107] In some embodiments, a cable, such as a USB cable, may be routed through the x- ray machine to the operator console. Inside the x-ray apparatus, the cable may be routed alongside other cabling to various motors and other high-power equipment that may emit higher levels of EMI at close range.

[0108] The EMI levels picked up by the USB-cable near the x-ray apparatus and thereby transferred to the cameras 250, 950 can be considerably higher than such cameras are designed for. To mitigate the increased levels of EMI expected to be directed at the cameras 250, 950 in the collimator 105, in some embodiments, an electromagnetic compatibility (EMC) filter 304 may be added on both data lines and a power line. This reduces the EMI load on the camera 250, 950 significantly and increases allowable electromagnetic disturbances on the cables while still delivering good performance.

[0109] In some embodiments, the EMC filter 304 may consist of a low pass filter on the power line and a common mode low pass filter on the data lines. Additionally, or alternatively, Transient voltage suppression filters may be placed on one or at least some of the lines to reduce high voltage spikes from electro static discharge (ESD) and / or electrical fast transients (EFT) noise picked up by the cables. In some embodiments, at least one of these filters 304 operates in two directions, so that any possible EMI disturbances from the camera module 390 onto the USB cable are reduced as well, limiting any impact on the x-ray apparatus 100.

[0110] For cameras using the USB communication module, the USB 2.0 specification limits the maximum cable length to 5 meters, which may be too short for the present application. Standard and commonly used third party solutions for the application of longer USB cables exist. These include active USB-cables, where active signal amplifiers are embedded in the connectors at both ends, and optic USB-cables, where the data lines are replaced by optic fibers and the signal is converted in the connectors at both ends. These options ensure good data quality through the long cables, but the supply lines are still connected electrically. Any EMI disturbances picked up by the power lines are still transferred to the cameras 250, 950. In embodiments, additional EMC filters 304 are used to mitigate these EMI disturbances. Also, in overlapping embodiments, additional EMC filters 304 may be used at the other end of the cable (e.g., at the operator console).

[0111] Computer system

[0112] The method of FIG. 11 and FIG. 12 may be performed by a computer system. The computer system may be located at an operator control room remote from the x-ray apparatus; alternatively, the computer system may be located within or proximate to the x-ray apparatus, or in some other location. The algorithm may be performed by a distributed networked computer system or by a stand-alone computing platform.

[0113] Examples

[0114] Some embodiments include an accessory rail 220a, 220b configured to be mounted to an x-ray apparatus 100, the accessory rail comprising at least one camera 250.

[0115] In some embodiments, the accessory rail 220a, 220b is configured to be mounted on a collimator 105 of the x-ray apparatus 100.

[0116] In some embodiments, the at least one camera 250 is housed within the accessory rail 220a, 220b.

[0117] In some embodiments, the accessory rail 220a, 220b includes one or more of: a microphone 308; a speaker 309; a distance sensor 302; and a patient measuring module 306.

[0118] In some embodiments, the accessory rail 220a, 220b includes an electromagnetic compatibility (EMC) filter module 304.

[0119] In some embodiments, the at least one camera 250 comprises one or more of a wired interface a wireless interface; a fixed focus camera; and an adjustable lens camera.

[0120] In some embodiments, the accessory rail 220a, 220b comprises at least one groove 222a, 222b configured to secure one or more of: an x-ray filter; a dose meter; and a bracket or spacer to prevent patient collision.

[0121] In some embodiments, the accessory rail 220a, 220b further comprises protective glass to shield the at least one camera.

[0122] Some embodiments include an x-ray apparatus 100 comprising: an x-ray source 110 configured to produce an x-ray beam 120; a collimator 105; a patient support 145; and one or more accessory rails 220a, 220b mounted on the x-ray apparatus 100, wherein at least oneaccessory rail 220a, 220b comprises at least one camera 250 and wherein the at least one accessory rail 220a, 220b is configured as defined above.

[0123] In some embodiments, the at least one accessory rail 220a, 220b is mounted on the collimator 105.

[0124] In some embodiments, the at least one accessory rail 220a, 220b is in a substantially perpendicular orientation to a longitudinal axis of the patient support 145.

[0125] In some embodiments, the at least one camera 250 is located along a centerline of the collimator 105.

[0126] In some embodiments, the at least one camera 250 is located so that, during use, the at least one camera 250 is aligned with a central axis 170 of an x-ray beam 120.

[0127] In some embodiments, the collimator 105 comprises a collimator aperture 240; and the at least one accessory rail 220a, 220b is mounted on the collimator 105 so that the at least one camera 250 is located at an intersection between the at least one accessory rail 220a, 220b and a central axis 1030 of the collimator aperture 240, the central axis 1030 of the collimator aperture 240 comprising an axis that is perpendicular to the at least one accessory rail 220a, 220b and perpendicular to a central axis that would be formed, during operation, by a central axis 170 of the x-ray beam 120.

[0128] In some embodiments, the at least one accessory rail 220a, 220b is mounted on the collimator 105 so that during use, the at least one camera 250 of the at least one accessory rail 220a, 220b lies in a plane 870 formed by a longitudinal axis of the patient support 145 and a central axis that would be formed, during operation, by a / the central axis 170 of the x-ray beam 120.

[0129] Some embodiments include an x-ray apparatus 100 comprising: an x-ray source 110 configured to produce an x-ray beam 120; at least two cameras comprising a first camera 950a and a second camera 950b, the first camera 950a and the second camera 950b having physically separate lenses and / or sensors located offset from a central axis 170 of the x-ray beam 120; and a computer system configured to: receive 1110 a first image from the first camera 950a and asecond image from the second camera 950b; and computationally process 1120 the first image and the second image to produce a virtual image from a virtual camera 970, wherein the virtual camera 970 comprises a virtual lens and / or sensor located along a central axis 170 of the x-ray beam 120.

[0130] In some embodiments, the computer system is configured to produce the virtual image by: calculating 1220 a disparity map between the first image and the second image; calculating 1230 a point cloud from the disparity map; converting 1240 the point cloud into a three dimensional (3D) image; virtually rotating 1250 the 3D image; and converting 1260 the rotated 3D image to a frontside image; wherein the virtual image comprises the frontside image.

[0131] In some embodiments, the x-ray apparatus further comprises at least one accessory rail 220a, 220b; wherein at least one of the at least two physical cameras 950a, 950b is / are mounted on respective accessory rails 220a, 220b; and preferably: wherein the at least one accessory rail 220a, 220b comprises an accessory rail as defined above.

[0132] Some embodiments include a method 1100 comprising: receiving 1100 a first image from a first camera 950a and a second image from a second camera 950b, the first camera 950a and the second camera 950b having physically separate lenses and / or sensors located offset from a central axis 170 of an x-ray beam 120 produced by an x-ray source 110; and computationally processing 1120 the first image and the second image to produce a virtual image from a virtual camera 970; wherein the virtual camera 970 comprises a virtual lens and / or sensor located along the central axis 170 of the x-ray beam 120.

[0133] In some embodiments, producing the virtual image comprises: calculating 1220 a disparity map between the first image and the second image; calculating 1230 a point cloud from the disparity map; converting 1240 the point cloud into a three dimensional (3D) image; virtually rotating 1250 the 3D image; and converting 1260 the rotated 3D image to a frontside image; wherein the virtual image comprises the frontside image.

[0134] In some embodiments, the first camera 950a is mounted in a first accessory rail 220a of an x-ray apparatus 100, and the second camera 950b is mounted in a second accessory rail 220b of the x-ray apparatus 100, wherein the first accessory rail 220a and the second accessory rail 220b are as defined above.

[0135] Some embodiments include an x-ray apparatus 100 comprising: means for receiving a first image from a first imaging means 950a and a second image from a second imaging means 950b, the first imaging means 950a and the second imaging means 950b having physically separate lenses and / or sensors located offset from a central axis 170 of an x-ray beam 120 produced by an x-ray source 110; and means for computationally processing the first image and the second image to produce a virtual image from a virtual imaging means 970; wherein the virtual imaging means 970 comprises a virtual lens and / or sensor located along the central axis 170 of the x-ray beam 120.

[0136] An example of the means for receiving the first image and the second image, and the means for computationally processing the first image and the second image includes the computer system described above. An example of the first imaging means includes the camera 950a. An example of the second imaging means includes the camera 950b. An example of the virtual imaging means includes the virtual camera 970.

[0137] In some embodiments, the means for producing the virtual image comprises: means for calculating 1220 a disparity map between the first image and the second image; means for calculating 1230 a point cloud from the disparity map; means for converting 1240 the point cloud into a three dimensional (3D) image; means for virtually rotating 1250 the 3D image; and means for converting 1260 the rotated 3D image to a frontside image; wherein the virtual image comprises the frontside image.

[0138] An example of the means for calculating a disparity map, the means for calculating a point cloud, the means for converting the point cloud, the means for virtually rotating the 3D image, and the means for converting the rotated 3D image includes the computer system described above.

[0139] In some embodiments, the first imaging means 950a is mounted in a first accessory rail 220a of the x-ray apparatus 100, and the second imaging means 950b is mounted in a second accessory rail 220b of the x-ray apparatus 100, wherein the first accessory rail 220a and the second accessory rail 220b are as defined above.

[0140] Examples: Non-transitory computer readable medium

[0141] Some embodiments include a non-transitory computer readable medium storing instructions that, when executed by a processor, cause the processor to perform the steps of: receiving 1110 a first image from a first camera 950a mounted on a first collimator accessory rail 220a; and receiving 1110 a second image from a second camera 950b mounted on a second collimator accessory rail 220b; wherein the first camera 950a and the second camera 950b have physically separate lenses and / or sensors located offset from a central axis 170 of an x-ray beam 120 produced by an x-ray source; and the method 1100 further comprising: computationally processing 1120 the first image and the second image to produce a virtual image from a virtual camera 970; wherein the virtual camera 970 comprises a virtual lens and / or sensor located along the central axis 170 of the x-ray beam 120.

[0142] In some embodiments, producing the virtual image comprises: calculating 1220 a disparity map between the first image and the second image; calculating 1230 a point cloud from the disparity map; converting 1240 the point cloud into a three dimensional (3D) image; virtually rotating 1250 the 3D image; and converting 1260 the rotated 3D image to a frontside image; wherein the virtual image comprises the frontside image.

[0143] Examples: Kit of parts

[0144] Some embodiments include a kit of parts for an x-ray apparatus 100, the kit comprising a camera 250 and an accessory rail 220a, 220b.

[0145] In some embodiments, the accessory rail 220a, 220b is configured to be mounted to a collimator 105 of the x-ray apparatus 100.

[0146] In some embodiments, the kit of parts includes at least two cameras 950a, 950b, each camera configured to be mounted to one accessory rail 220a, 220b, and / or at least twoaccessory rails 220a, 220b, each accessory rail configured to be mounted to a / the collimator 105 of the x-ray apparatus 100.

[0147] In some embodiments, the kit of parts further comprises components mountable on the accessory rail(s) 220a, 220b, wherein the components comprise one or more of: a microphone 308; a speaker 309; a distance sensor 302; a patient measuring module 306; and an EMC filter module 304.

[0148] In some embodiments, the kit of parts further comprises components to be secured to at least one groove 222a, 222b of the accessory rail 220a, 220b, wherein the components comprise one or more of: an x-ray filter; a dose meter; a bracket or spacer to prevent patient collision.

[0149] In some embodiments, the kit of parts further comprises cabling to connect the cameras 250, 950a, 950b to an operator console. In some embodiments, the accessory rails 220a, 220b in the kit of parts are as defined in any of the embodiments listed above.

[0150] Examples: installation methods

[0151] Some embodiments include a method 600 of installation comprising: removing 605 a first existing accessory rail from an x-ray apparatus 100; mounting 610 a first new accessory rail 220a on the x-ray apparatus 100, wherein the first new accessory rail 220 comprises a first camera 250; wherein the first new accessory rail 220a is an accessory rail as defined in any of the embodiments above.

[0152] In some embodiments, the method 600 of installation further comprises: removing 620 a second existing accessory rail 220b from the x-ray apparatus 100; mounting a second new accessory rail 220b on the x-ray apparatus 100, wherein the second new accessory rail 220b comprises a second camera 950b; wherein the second new accessory rail 220b is an accessory rail as defined in any of embodiments above; and optionally wherein the installed first 220a and second 220b new accessory rails and first and second cameras 950a, 950b are configured to perform the method defined above.

[0153] Although the structures, devices, methods, and systems have been described in accordance with particular embodiments, one of ordinary skill in the art will readily recognize that many variations to the particular embodiments are possible, and any variations should therefore be considered to be within the spirit and scope disclosed herein. Accordingly, many modifications may be made by one of ordinary skill in the art without departing from the spirit and scope of the appended claims.

[0154] The claims following this written disclosure are hereby expressly incorporated into the present written disclosure, with each claim standing on its own as a separate embodiment. This disclosure includes all permutations of the independent claims with their dependent claims. Moreover, additional embodiments capable of derivation from the independent and dependent claims that follow are also expressly incorporated into the present written description. These additional embodiments are determined by replacing the dependency of a given dependent claim with the phrase “any of the claims beginning with claim [x] and ending with the claim that immediately precedes this one,” where the bracketed term “[x]” is replaced with the number of the most recently recited independent claim. For example, for the first claim set that begins with independent claim 1, claim 3 can depend from either of claims 1 and 2, with these separate dependencies yielding two distinct embodiments; claim 4 can depend from any one of claims 1, 2, or 3, with these separate dependencies yielding three distinct embodiments; claim 5 can depend from any one of claims 1, 2, 3, or 4, with these separate dependencies yielding four distinct embodiments; and so on.

[0155] Recitation in the claims of the term “first” with respect to a feature or element does not necessarily imply the existence of a second or additional such feature or element. Elements specifically recited in means-plus-function format, if any, are intended to be construed to cover the corresponding structure, material, or acts described herein and equivalents thereof in accordance with 35 U.S.C. § 112 6. Embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows.

Claims

CLAIMS1. An accessory rail configured to be mounted to an x-ray apparatus, the accessory rail comprising at least one camera.

2. The accessory rail of claim 1, wherein the accessory rail is configured to be mounted on a collimator of the x-ray apparatus.

3. The accessory rail of claim 1 or claim 2, wherein the at least one camera is housed within the accessory rail.

4. The accessory rail of any preceding claim, the accessory rail including one or more of: a microphone; a speaker; a distance sensor; and a patient measuring module.

5. The accessory rail of any preceding claim, the accessory rail including an electromagnetic compatibility (EMC) filter module.

6. The accessory rail of any preceding claim, wherein the at least one camera comprises one or more of: a wired interface; a wireless interface; a fixed focus camera; and an adjustable lens camera.

7. The accessory rail of any preceding claim, wherein the accessory rail comprises at least one groove configured to secure one or more of: an x-ray filter; a dose meter; and a bracket or spacer to prevent patient collision.

8. The accessory rail of any preceding claim, further comprising protective glass to shield the at least one camera.

9. An x-ray apparatus comprising: an x-ray source configured to produce an x-ray beam; a collimator; a patient support; and one or more accessory rails mounted on the x-ray apparatus, wherein at least one accessory rail comprises at least one camera and wherein the at least one accessory rail is configured as defined in any of claims 1 to 8.

10. The x-ray apparatus of claim 9, wherein the at least one accessory rail is mounted on the collimator.

11. The x-ray apparatus of claim 9 or claim 10, wherein the at least one accessory rail is in a substantially perpendicular orientation to a longitudinal axis of the patient support.

12. The x-ray apparatus of any of claim 9 to claim 11, wherein the at least one camera is located along a centerline of the collimator.

13. The x-ray apparatus of any of claim 9 to claim 12, wherein the at least one camera is located so that, during use, the at least one camera is aligned with a central axis of an x-ray beam.

14. The x-ray apparatus of any of claim 9 to claim 13 wherein: the collimator comprises a collimator aperture; and the at least one accessory rail is mounted on the collimator so that the at least one camera is located at an intersection between the at least one accessory rail and a central axis of the collimator aperture, the central axis of the collimator aperture comprising an axis that is perpendicular to the at least one accessory rail and perpendicular to a central axis that would be formed, during operation, by a central axis of the x-ray beam.

15. The x-ray apparatus of any of claim 9 to claim 14, wherein the at least one accessory rail is mounted on the collimator so that during use, the at least one camera of the at least one accessory rail lies in a plane formed by a longitudinal axis of the patient support and a central axis that would be formed, during operation, by a / the central axis of the x-ray beam.

16. An x-ray apparatus comprising: an x-ray source configured to produce an x-ray beam; at least two cameras comprising a first camera and a second camera, the first camera and the second camera having physically separate lenses and / or sensors located offset from a central axis of the x-ray beam; and a computer system configured to: receive a first image from the first camera and a second image from the second camera; andcomputationally process the first image and the second image to produce a virtual image from a virtual camera, wherein the virtual camera comprises a virtual lens and / or sensor located along a central axis of the x-ray beam.

17. The x-ray apparatus of claim 16 wherein the computer system is configured to produce the virtual image by: calculating a disparity map between the first image and the second image; calculating a point cloud from the disparity map; converting the point cloud into a three dimensional (3D) image; virtually rotating the 3D image; and converting the rotated 3D image to a frontside image; wherein the virtual image comprises the frontside image.

18. The x-ray apparatus of claim 16 or claim 17 further comprising at least one accessory rail; wherein at least one of the at least two physical cameras is / are mounted on respective accessory rails; and preferably: wherein the at least one accessory rail comprises an accessory rail as defined in any of claims 1 to 8.

19. A method comprising: receiving a first image from a first camera and a second image from a second camera, the first camera and the second camera having physically separate lenses and / or sensors located offset from a central axis of an x-ray beam produced by an x-ray source; and computationally processing the first image and the second image to produce a virtual image from a virtual camera;wherein the virtual camera comprises a virtual lens and / or sensor located along the central axis of the x-ray beam.

20. The method of claim 19, wherein producing the virtual image comprises: calculating a disparity map between the first image and the second image; calculating a point cloud from the disparity map; converting the point cloud into a three dimensional (3D) image; virtually rotating the 3D image; and converting the rotated 3D image to a frontside image; wherein the virtual image comprises the frontside image.

21. The method of claim 19 or claim 20, wherein the first camera is mounted in a first accessory rail of an x-ray apparatus, and the second camera is mounted in a second accessory rail of the x-ray apparatus, wherein the first accessory rail and the second accessory rail are as defined by any of claims 1 to 8.

22. An x-ray apparatus comprising: means for receiving a first image from a first imaging means and a second image from a second imaging means, the first imaging means and the second imaging means having physically separate lenses and / or sensors located offset from a central axis of an x-ray beam produced by an x-ray source; and means for computationally processing the first image and the second image to produce a virtual image from a virtual imaging means; wherein the virtual imaging means comprises a virtual lens and / or sensor located along the central axis of the x-ray beam.

23. The x-ray apparatus of claim 22, wherein the means for producing the virtual image comprises: means for calculating a disparity map between the first image and the second image; means for calculating a point cloud from the disparity map; means for converting the point cloud into a three dimensional (3D) image; means for virtually rotating the 3D image; and means for converting the rotated 3D image to a frontside image; wherein the virtual image comprises the frontside image.

24. The x-ray apparatus of claim 22 or claim 23 wherein the first imaging means is mounted in a first accessory rail of the x-ray apparatus, and the second imaging means is mounted in a second accessory rail of the x-ray apparatus, wherein the first accessory rail and the second accessory rail are as defined by any of claims 1 to 8.

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