Image acquisition system and medical imaging installation for operating room

Abstract

Image Acquisition System and Medical Imaging Installation for Operating Rooms. This image acquisition system (10) comprises at least one electron-scanning X-ray source (20), an articulated arm (24), and a mounting bracket (30). The articulated arm has a first end and a second end. The X-ray source (20) is inserted into a support structure (22). The support structure (22) is attached to the first end of the articulated arm (24). The second end of the articulated arm (24) is attached to the mounting bracket (30). The mounting bracket (30) is configured to be fixed to a fixed element in a room in which the image acquisition system is installed, or to equipment in said room. The image acquisition system (10) further comprises at least one X-ray detector (40) configured to be positioned on a flat support (38). (See Figure 1 for abbreviations.)

Description

Title of the invention: Image acquisition system and medical imaging installation for the operating room

[0001] The present invention relates to an image acquisition system and an associated operating room medical imaging installation.

[0002] The invention is in the field of medical imaging, and more particularly in the field of operating room imaging systems.

[0003] For many years, medical imaging techniques have been developed, particularly in the field of assisting surgical interventions, to provide assistance during the operative phase and to allow for the least invasive interventions possible.

[0004] Various imaging systems are used in the field of medical imaging.

[0005] Radiography is known in particular for obtaining two-dimensional (2D) or three-dimensional (3D) images, and 2D or 3D ultrasound (or sonographic imaging). During the procedure, two-dimensional or three-dimensional images of the subject's organs of interest are acquired in real time, by radiography, for example by fluoroscopy or angiography.

[0006] Image-guided surgery systems for so-called hybrid operating rooms are known, comprising a mobile image acquisition device with a support for an image acquisition device capable of rotating around a subject for image acquisition, for example, by X-ray. Such a mobile surgical device, a known example of which is the interventional C-arm, is used in hybrid operating rooms, for example, in interventional radiography. When the device is motorized, the operator can more easily change the angles of the C-arm; otherwise, the operating table must be moved.

[0007] However, the use of a motorized rotational C-arm is not practical in an operating room, and may hinder the movements of the practitioner.

[0008] An O-shaped image acquisition device, known as an O-arm, has also been proposed. This device also has the disadvantage of being cumbersome in the operating room; it needs to be moved around the operating table and then removed, as it can obstruct the surgeon's movements. Furthermore, it is necessary to reposition such a device precisely in the same position to ensure image consistency.

[0009] The invention aims to overcome the aforementioned drawbacks by providing a less bulky operating room image acquisition system that allows to obtain sufficient imaging accuracy, as well as an associated medical imaging facility.

[0010] To this end, the invention relates to an image acquisition system, said image acquisition system comprising at least one electronically scanned X-ray source, an articulated arm and a mounting bracket, the articulated arm comprising a first end and a second end, said X-ray source being inserted into a support structure, the support structure being attached to the first end of the articulated arm, the second end of the articulated arm being attached to said mounting bracket, the mounting bracket being configured to be fixed to a fixed element of a room in which the image acquisition system is installed, or to equipment of said operating room, the image acquisition system further comprising at least one X-ray detector, configured to be positioned on a flat support.

[0011] Advantageously, the articulated arm supporting at least one X-ray source of the image acquisition system according to the first modality is designed to be fixed to a fixed element in a room, particularly an operating room, such as a wall, the ceiling, or to room equipment like a surgical robot or the operating table. This allows image acquisition according to this first modality to be performed without requiring any floor space. Furthermore, the articulated arm can be easily folded away, thus freeing up space when the image acquisition system is not needed. Therefore, the proposed image acquisition system is less bulky and more ergonomic, and is much better suited to the context of an operating room, in particular.

[0012] According to other advantageous aspects of the invention, the image acquisition system according to the invention comprises one or more of the following features, taken individually or in all technically possible combinations:

[0013] - the articulated arm comprises at least two linear portions connected to each other by a pivot joint;

[0014] - the articulated arm is mobile in rotation and translation, with the output being, when said mounting support is fixed, a movement of the articulated arm allows positioning of the support structure opposite said detector in a spatial area;

[0015] - the system further comprises an electric motor associated with an actuator configured to move said articulated arm under command transmitted by a control device;

[0016] - the X-ray source is an X-ray source comprising a plurality of cold cathodes;

[0017] - the support structure has an arched or flat shape or some other type of shape, the X-ray source comprising a plurality of individually activatable X-ray emission units, said emission units being arranged in said support structure;

[0018] - said at least one X-ray detector is integrated into a housing made between said flat support and an upper surface (36) transparent to X-rays;

[0019] - said at least one X-ray detector is configured to be movable in translation on the flat surface.

[0020] According to another aspect, the invention relates to a medical imaging installation for an operating room comprising an image acquisition system according to a first image acquisition modality, said system being in conformity with the previous image acquisition system, said installation further comprising a programmable electronic device connected to said image acquisition system, the programmable electronic device comprising a human-machine interface and being configured to display, substantially in real time, first digital images, according to the first modality, obtained by said image acquisition system.

[0021] According to other advantageous aspects of the invention, the operating room medical imaging system according to the invention comprises one or more of the following features, taken individually or in any technically feasible combination

[0022] - the programmable electronic device includes a reconstruction module three-dimensional configured to produce a three-dimensional image;

[0023] - said image acquisition system according to a first modality is a first image acquisition system, the imaging installation further comprising a second image acquisition system according to a second modality, the second modality being different from the first modality, the first image acquisition system and the second image acquisition system forming a bi-modal imaging system;

[0024] - the second image acquisition system is an ultrasound system;

[0025] - said programmable electronic device is connected to the first and second image acquisition systems, said human-machine interface of the programmable electronic device being configured to display first digital images according to the first modality, and second digital images according to the second modality.

[0026] The invention will become clearer upon reading the following description, given solely by way of non-limiting example, and made with reference to the drawings in which:

[0027] [Fig.1] [Fig.1] represents a medical imaging installation for an operating room according to one embodiment;

[0028] [Fig.2] [Fig.2] is a schematic, cross-sectional representation of a first system X-ray image acquisition according to an embodiment;

[0029] [Fig.3] [Fig.3] is a block diagram of functional modules of an imaging installation for an operating room according to one embodiment.

[0030] An embodiment of a medical imaging installation is described below with reference to Figures 1 to 3, this installation comprising in particular an X-ray image acquisition system according to the invention.

[0031] Fig. 1 schematically represents a medical imaging installation 2 for an operating room 4. The elements visible on Fig. 1 are shown in perspective.

[0032] Operating room 4 comprises wall panels 6A, 6B, and a ceiling (not shown).

[0033] In addition, the operating room includes an operating table 8.

[0034] The medical imaging installation 2 comprises, in the embodiment of [Fig. 1], a first image acquisition system 10 according to a first modality, and a second image acquisition system 12 according to a second modality. The first image acquisition system 10 and the second image acquisition system 12 form a hybrid or bi-modal imaging system.

[0035] Medical imaging installation 2 is then a bi-modal imaging installation.

[0036] For example, the first image acquisition system 10 is an X-ray image acquisition system, configured to generate first three-dimensional images, also called 3D images. In particular, the first modality is tomosynthesis, the first 3D images obtained being tomosynthesis images.

[0037] Tomosynthesis has many clinical applications, such as mammography, vascular imaging, orthopedic imaging, musculoskeletal imaging or thoracic imaging.

[0038] According to variants, the first images are two-dimensional radiographic images, also called 2D images.

[0039] For example, the second image acquisition system 12 is an ultrasound image acquisition system, or echography system, configured to generate two-dimensional second images. Alternatively, the second images are 3D images.

[0040] The ultrasound system 12 is not shown in detail in [Fig. 1], although such a system is known. In particular, the ultrasound system 12 comprises a transducer, configured to emit ultrasound waves and to record the reflected ultrasound waves as echoes. In a conventional manner, the transducer is adapted to be placed against the skin of a subject and moved in such a way as to acquire waves reflected by the organic structure(s) of interest (internal organs, fluids, tissues). The reflected waves are processed by a computing unit to form digital images, for example 2D ultrasound images, which are displayed on a screen and / or recorded.

[0041] The transducer is, for example, a conventional transducer. Alternatively, the transducer is a phased-array transducer.

[0042] The first image acquisition system 10 comprises one or more electron scanning X-ray source(s) 20, inserted in an arch-shaped support structure 22 in the example shown, thus forming an emission arch 22.

[0043] Preferably, the X-ray source(s) are placed in a vacuum chamber or in several vacuum chambers.

[0044] In one embodiment, the X-ray source 20 is a multi-cold-cathode X-ray source.

[0045] According to alternative embodiments, the X-ray source referenced 20 comprises several cold-cathode X-ray sources, or several sources with a single cold cathode per source.

[0046] Thus, several embodiments are conceivable: single source with multiple cold cathodes, or multiple sources, each source being single or multiple cold cathodes.

[0047] Subsequently, the case of a multi-cold cathode X-ray source, forming an electron-scanning X-ray source 20, is described in more particular.

[0048] The electron-scanning X-ray source 20 preferably comprises a plurality of X-ray emission units 21, as seen in [Fig.2], for example regularly spaced, which can be activated individually, for a given time period, in a predefined order, for example indicated by the arrow shown in [Fig.2].

[0049] The arrow is shown as an example, it being understood that the scan can follow any predefined order.

[0050] The support structure 22 is attached to an articulated arm 24, comprising at least one linear portion. In the illustrated example, the articulated arm 24 comprises two linear portions 261, 262, connected to each other by a first connecting member 28, preferably a pivot joint allowing rotation of each linear portion of the articulated arm.

[0051] According to variants, the articulated arm 24 comprises more than two linear portions.

[0052] The support structure 22 is attached to a first end of the articulated arm 24, a second end of the articulated arm 24, opposite to the first end, being linked to a hooking support 30, via a second connecting member 28'.

[0053] For example, the second connecting member 28' is also of the pivot type.

[0054] In general, the arrangement of the support structure 22 and the articulated arm 24 allows the support structure 22, and consequently the electron scanning X-ray source(s), to be moved in space.

[0055] In the illustrated example, the mounting bracket is configured to be fixed to a fixed element of the operating room 4, for example on a wall 6A, 6B or even on the ceiling.

[0056] Alternatively, the hanging support 30 is configured to be fixed on another type of operating room element which is operating room equipment, for example a surgical robot or the operating table.

[0057] Thus, the mounting of the support structure 22 on the articulated arm 24 gives rotational and translational mobility to the support structure 22, and consequently to the electronically scanned beam source 20.

[0058] Preferably, the mounting support 30 is fixed so that, thanks to the rotational and translational mobility conferred by the articulated arm 24, the support structure 22 can be positioned above and opposite the operating table 8, at a distance from the operating table within a given range of distances.

[0059] For example, advantageously, the support structure 22 is movable in a plane parallel to the plane P of the surface of the operating table 8, at a chosen distance from the plane P.

[0060] In one embodiment, the movement of the support structure 22 is carried out manually by an operator.

[0061] In another embodiment, the articulated arm is actuated by one or more electric motors 32, for example housed in the mounting bracket 30. For example, in this embodiment, the electric motor(s) are coupled to an actuator 33, which can be remotely controlled by a control device (e.g., a remote control) via a wired or wireless communication interface (not shown). Advantageously, in this embodiment, positioning the support structure 22 is easier for an operator, and repositioning to a previous position is more precise, the previous position being, for example, stored in a dedicated position memory structure.

[0062] Advantageously, in one embodiment, the support structure 22 has an arch shape, the distance between a first end 25A and a second end 25B of the arch being substantially equal to the average width of the operating table.

[0063] Preferably, the support structure 22 is positioned at a fixed angular position in a plane parallel to the plane P of the operating table during an image acquisition phase.

[0064] The first image acquisition system 10 further comprises at least one X-ray detector 40, configured to be moved in translation on a flat support 38, parallel to the plane P of the operating table.

[0065] In the example of [Fig. 1], only one detector 40 is shown.

[0066] According to alternative embodiments, several detectors 40 are used.

[0067] For example, the operating table has a length yt, a width xt and a height zt, and the detector 40 is substantially parallelepiped in shape, with a width xd substantially equal to xt, a length yd, which in the example is less than or equal to yt and a height zd.

[0068] According to variants, the length yd is greater than yt.

[0069] For example, in one embodiment, the detector 40 is inserted into a housing 34 created in the thickness of the operating table, between an upper flat surface 36, typically intended to accommodate a subject, and a lower flat support 38.

[0070] Preferably, the upper flat surface 36 is made of a material transparent to X-rays.

[0071] In one embodiment (not shown), the translational movement of detector 40 is also carried out by motorized means, remotely controllable.

[0072] Thus, advantageously, the electron scanning X-ray source 20 and the detector 40 are easily movable, so as to achieve a face-to-face position to ensure the proper functioning of the image acquisition system 10 for any part of a subject's body.

[0073] According to one embodiment, the detector 40 is substantially parallelepiped in shape, with a width xd substantially equal to xt, a length yd substantially equal to yt, and a height zd. In this embodiment, the detector 40 does not need to be moved in translation; only the support structure of the electron-scanning X-ray source 20, moved by means of the articulated arm 24, allows positioning opposite the detector 40 to ensure the proper functioning of the image acquisition system 10.

[0074] In another embodiment, several detectors 40 are arranged side by side such that the surface area of ​​all the detectors 40 is greater than or equal to the surface area of ​​the operating table. In this variant as well, the detectors 40 do not need to be moved in translation.

[0075] Generally, when the mounting support 30 is fixed, a movement of the articulated arm 24 allows the support structure 22 to be positioned opposite said detector 40 in a given spatial area.

[0076] According to variants, the support structure 22 has a linear shape and not a curved emission arch shape.

[0077] In alternative embodiments, the support structure 22 is flat, with a distribution of X-ray sources 20 on a surface, according to chosen shapes (e.g. cross, double arch, star...).

[0078] According to another embodiment, the support structure 22 is attached to a first end of the articulated arm 24, a second end of the articulated arm 24, opposite the first end, being connected to a mounting bracket 30, the mounting bracket being fixed to equipment in the operating room, for example, to the operating table. For example, the mounting bracket is fixed to a side of the table, or to a corner of the operating table, or to a leg of the operating table.

[0079] Fig. 3 schematically represents the functional blocks of an imaging installation 2 as shown in the examples in Figures 1 and 2.

[0080] The installation 2 comprises a first image acquisition system 10 according to the first modality, a second image acquisition system 12 according to the second modality and a programmable electronic device 50.

[0081] In the illustrated embodiment, the programmable electronic device 50 is connected to the first image acquisition system 10 and to the second image acquisition system 12.

[0082] The first image acquisition system 10 comprises at least one X-ray source 20 and at least one X-ray detector 40, of the type described above with reference to Figures 1 and 2.

[0083] The second image acquisition system 12 comprises an ultrasound source 46 and a transducer 48. The transducer 48 is, for example, a conventional transducer. Alternatively, the transducer 48 is a phased-array transducer. The second image acquisition system 12 allows for the acquisition of 2D or 3D ultrasound images.

[0084] The programmable electronic device 50, for example a computer, comprises an electronic memory unit 52, a processing unit 54, and a human-machine interface 56, the human-machine interface including, in particular, one or more display screen(s) for displaying the acquired images. The electronic memory unit, the processing unit, and the human-machine interface are connected via a communication bus 55.

[0085] The programmable electronic device 50 is connected via communication interfaces, for example wired (not shown), to the first system image acquisition system 10 and the second image acquisition system 12, and is configured in particular to display the first acquired images and / or the second acquired images on the human-machine interface. For example, the display is performed in parallel.

[0086] According to embodiments, the computing processor 54 is configured to perform digital image processing, for example filtering, contrast adjustment, or even registration between the first images of the first modality and the second images of the second modality, in order to facilitate their use for operator guidance, particularly during an intervention.

[0087] Preferably, the computing processor 54 includes a three-dimensional reconstruction module configured to execute a three-dimensional reconstruction algorithm to produce a three-dimensional image from the images acquired by the first image acquisition system.

[0088] For example, the first modality is tomosynthesis, the three-dimensional reconstruction algorithm being a tomosynthesis algorithm, the first 3D images obtained being tomosynthesis images.

[0089] In various embodiments, the programmable electronic device 50 comprises several computing processors, and / or several programmable logic components, each programmable logic component being an FPGA (Field Programmable Gamut Arras), a GPU (Graphics Processing Unit) or a GPGPU (General-Purpose Graphics Processing Unit), or even in the form of a dedicated integrated circuit, such as an ASIC (Application-Specific Integrated Circuit).

[0090] According to a simplified embodiment, the imaging system 2 comprises only the first image acquisition system 10 described above, connected to the programmable electronic device 50. In this embodiment, the imaging system 2 is a single-mode imaging system, comprising an image acquisition system for acquiring X-ray images, preferably 3D images. This single-mode imaging system advantageously replaces a known C-arm type system, insofar as its footprint is significantly reduced, thus improving ergonomics in the operating room while preserving 3D imaging. In other words, the invention makes it possible to provide real-time 3D images without cluttering the medical intervention area.

[0091] Advantageously, the image acquisition system includes one or more X-ray detectors, which are disposable in the operating table, without being mechanically linked to the X-ray sources.

[0092] The absence of a mechanical link of the C-arm type allows for better integration into the operating room.

Claims

Demands

1. Image acquisition system (10), said image acquisition system comprising at least one electronically scanned X-ray source (20), an articulated arm (24) and a mounting bracket (30), the articulated arm comprising a first end and a second end, said X-ray source (20) being inserted into a support structure (22), the support structure (22) being attached to the first end of the articulated arm (24), the second end of the articulated arm (24) being attached to said mounting bracket (30), the mounting bracket (30) being configured to be fixed to a fixed element of a room in which the image acquisition system is installed, or to equipment of said operating room, the image acquisition system (2, 10) further comprising at least one X-ray detector (40), configured to be positioned on a flat support (38).

2. Image acquisition system according to claim 1, wherein the articulated arm (24) comprises at least two linear portions (26i, 262) connected to each other by a pivot joint (28).

3. Image acquisition system according to claim 1 or 2, wherein the articulated arm (24) is mobile in rotation and translation, such that, when said mounting support (30) is fixed, a displacement of the articulated arm (24) allows positioning of the support structure (22) opposite said detector (40) in a spatial area.

4. Image acquisition system according to claim 3, further comprising an electric motor (32) associated with an actuator configured to move said articulated arm (24) under control transmitted by a control member.

5. Image acquisition system according to any one of claims 1 to 4, wherein the X-ray source (20) is an X-ray source comprising a plurality of cold cathodes.

6. Image acquisition system according to any one of the preceding claims, wherein the support structure (22) has an arched or planar shape or some other type of shape, the X-ray source comprising a plurality of individually activatable X-ray emission units (21), said emission units being (21) arranged in said support structure.

7. Image acquisition system according to any one of claims 1 to 6, wherein said at least one X-ray detector (40) is integrated into a housing (34) formed between said flat support (38) and an upper surface (36) transparent to X-rays.

8. Image acquisition system according to any one of claims 1 to 7, wherein said at least one X-ray detector (40) is configured to be translationally movable on the flat support (38).

9. Medical imaging installation (2) for operating room comprising an image acquisition system (10) according to a first image acquisition modality according to any one of claims 1 to 8, said installation (2) further comprising a programmable electronic device (50) connected to said image acquisition system (10), the programmable electronic device (50) comprising a human-machine interface (56) and being configured to display, substantially in real time, first digital images, according to the first modality, obtained by said image acquisition system (10).

10. Medical imaging installation (2) according to claim 9, wherein the programmable electronic device (50) includes a three-dimensional reconstruction module configured to produce a three-dimensional image.

11. Imaging installation according to claim 9 or 10, wherein said image acquisition system according to a first modality is a first image acquisition system (10), the imaging installation (2) further comprising a second image acquisition system (12) according to a second modality, the second modality being different from the first modality, the first image acquisition system (10) and the second image acquisition system (12) forming a bi-modal imaging system.

12. Imaging installation according to claim 11, wherein the second image acquisition system (12) is an ultrasound system.

13. An imaging installation according to claims 11 or 12, wherein said programmable electronic device (50) is connected to the first (10) and second (12) image acquisition systems, said human-machine interface (56) of the electronic device programmable (50) being configured to display first digital images according to the first modality, and second digital images according to the second modality.

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