UWB-based mobile X-ray positioning

Abstract

The present invention relates to a system for positioning the X-ray source and X-ray detector of a mobile X-ray imaging apparatus. The source module and the detector module are mechanically connected to the X-ray source and X-ray detector of the mobile X-ray imaging apparatus, respectively. Each of the source module and the detector module has a plurality of ultra-wideband transceivers. By determining the relative distance between each of the plurality of ultra-wideband transceivers of the source module and each of the plurality of ultra-wideband transceivers of the detector module, the relative position of the X-ray source and X-ray detector is determined, and instructions on how to improve the relative position can be provided to the user of the mobile X-ray imaging apparatus.

Description

Technical Field

[0001] The present invention relates to a system for positioning an X-ray source and an X-ray detector of a mobile X-ray imaging device, mobile X-ray imaging having a corresponding system, and a method for positioning an X-ray source and an X-ray detector of a mobile X-ray imaging device.

Background Art

[0002] X-ray devices are one of the most common patient monitoring devices, providing rapid imaging of patients, which is an advantage especially in the case of critically ill patient conditions. The pandemic of coronavirus disease (Covid-19) has highlighted the need for mobile X-ray devices to estimate lung damage and track the progression of the disease. Performing glass transmission imaging with mobile X-ray devices in hospitals has eliminated the need to transport infected patients from isolated locations through the hospital to stationary X-ray imaging devices, thus reducing the size of the pandemic / red zone within the hospital. Since there is no need to schedule radiologist visits for infected patients, hospital costs and the risk of infection can be reduced. However, obtaining high-quality images from a mobile X-ray detector for patients in the intensive care unit is a very difficult task, and additional obstacles such as glass windows and the increased distance between the X-ray source and the detector make it more difficult to obtain high-quality images of patients. Due to the free mutual arrangement of the X-ray source and the X-ray detector, accurate control of their positions for high-quality image acquisition is required.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Therefore, the inventors of the present invention have found it advantageous to have a system and method for positioning an X-ray source and an X-ray detector of a mobile X-ray imaging device that at least partially solves these problems and provides highly reliable and accurate positioning of the X-ray source relative to the detector that can be implemented even when the source and the detector are separated from each other, for example by a glass window.

[0004] The object of the present invention is to provide improved positioning of the X-ray source and X-ray detector of a mobile X-ray imaging apparatus. [Means for solving the problem]

[0005] The object of the present invention is solved by the subject matter of the independent claim, and further embodiments are incorporated into the dependent claims.

[0006] The embodiments described also relate to systems for positioning the X-ray source and X-ray detector of a mobile X-ray imaging apparatus, mobile X-ray imaging having a corresponding system, and methods for positioning the X-ray source and X-ray detector of a mobile X-ray imaging apparatus. The embodiments described further may be combined in any possible manner. Synergistic effects may arise from different combinations of embodiments, but these do not need to be described in detail.

[0007] Furthermore, while all embodiments of the present invention relating to the method may be performed in the order of steps described, it should be noted that this is not the only and essential order of steps in the method. The methods described herein can be performed in a different order of steps without departing from the embodiments of each method, unless otherwise specified below.

[0008] According to a first aspect of the present invention, a system for positioning an X-ray source and an X-ray detector of a mobile X-ray imaging apparatus is provided. The system comprises a source module configured to be mechanically connected to the X-ray source of the mobile X-ray imaging apparatus, the source module having a plurality of ultra-wideband transceivers, and a detector module configured to be mechanically connected to the X-ray detector of the mobile X-ray imaging apparatus, the detector module having a plurality of ultra-wideband transceivers. The system further comprises a control unit configured to communicate with the ultra-wideband transceivers and determine the mutual distance between each of the plurality of ultra-wideband transceivers of the source module and each of the plurality of ultra-wideband transceivers of the detector module, and an interface unit configured to display data corresponding to the determined mutual distances.

[0009] Therefore, the proposed invention implements a mobile X-ray positioning with smart guidance, which helps a technician position the mobile X-ray collimator head relative to the detector plate to obtain appropriate high-quality X-ray images of a patient. The ultra-wideband transceivers can preferably be mounted on a removable plastic frame, with the first frame connected to the X-ray collimator head and the second frame connected to the X-ray detector. Preferably, at least three ultra-wideband transceivers are connected to the X-ray source and at least three ultra-wideband transceivers are connected to the X-ray detector. Preferably, the transceivers can be positioned at the corners of the detector to determine the position of the detector surface. A computing unit controlling the ultra-wideband transceivers determines the relative positions of the ultra-wideband transceivers with respect to each other, particularly with respect to the ultra-wideband transceivers positioned on the other side of the respective source and detector. If the relative distance between one transceiver and the other is known, geometric triangulation can be solved to calculate the precise relative position and orientation of the X-ray source with respect to the X-ray detector. Correction of the current positions of the X-ray source and collimator can be proposed by comparing them to predetermined reference positions that ensure optimal imaging and focused irradiation of the X-ray detector. An interface unit can be used to notify the technician and provide instructions on how to adjust the position of the X-ray source. For example, the proposed system can suggest to the technician to move the X-ray source head horizontally and / or vertically and / or adjust the orientation of the X-ray head to observe a desired area of ​​the body. Furthermore, the technician can be instructed to shift and / or tilt the X-ray detector of the mobile X-ray imaging device.

[0010] Therefore, the present invention makes it possible to acquire precisely adjusted X-ray images received from a mobile detector. This eliminates the need to reacquire snapshots and increases diagnostic accuracy.

[0011] In one embodiment of the present invention, each of the ultra-wideband transceivers is configured to determine the distance to at least one other ultra-wideband transceiver.

[0012] In one embodiment of the present invention, the multiple ultra-wideband transceivers of the source module have at least three ultra-wideband transceivers, and the multiple ultra-wideband transceivers of the detector module have at least three ultra-wideband transceivers. In a preferred embodiment, the X-ray detector is a rectangular detector, and one ultra-wideband transceiver is positioned at each corner of the detector. Thus, four UWB transceivers are positioned in the detector.

[0013] In one embodiment of the present invention, the source module has a source frame configured to receive a plurality of ultra-wideband transceivers, and the source frame is configured to be attached to the X-ray source of a mobile X-ray imaging device.

[0014] In one embodiment of the present invention, the detector module has a detector frame configured to receive a plurality of ultra-wideband receivers, and the detector frame is configured to receive the X-ray detector of a mobile X-ray imaging device.

[0015] In one embodiment of the present invention, a plurality of ultra-wideband transceivers in the source module are arranged at a predetermined distance apart from each other, and a plurality of ultra-wideband transceivers in the detector module are arranged at a predetermined distance apart from each other.

[0016] In embodiments of the present invention, the control unit is configured to determine the current position and / or orientation of the X-ray source of the mobile X-ray imaging apparatus relative to the X-ray detector of the mobile X-ray imaging apparatus, based on the determined mutual distance.

[0017] In one embodiment of the present invention, the data corresponding to the determined mutual distance includes the current position and / or orientation.

[0018] In one embodiment of the present invention, the control unit is configured to receive the target position and / or orientation of the X-ray source relative to the X-ray detector of the mobile X-ray imaging device, and to calculate the deviation of the current position and / or orientation from the target position and / or orientation, and the data corresponding to the determined mutual distance has the deviation of the current position and / or orientation from the target position and / or orientation, and / or instructions to the user of the mobile X-ray imaging device on how to reduce the deviation.

[0019] In one embodiment of the present invention, the source module and / or detector module have a built-in energy source for an ultra-wideband transceiver.

[0020] In one embodiment of the present invention, the source module is configured to be detachably attached to the X-ray source of a mobile X-ray imaging device, and / or the detector module is configured to be detachably attached to the X-ray detector of a mobile X-ray imaging device.

[0021] According to another aspect of the present invention, a mobile X-ray imaging apparatus is provided having a system for positioning the X-ray source and X-ray detector of the mobile X-ray imaging apparatus according to any of the embodiments described above.

[0022] According to another aspect of the present invention, a method for positioning the X-ray source and X-ray detector of a mobile X-ray imaging apparatus is provided. The method comprises the steps of: providing a mobile X-ray imaging apparatus having a system for positioning the X-ray source and X-ray detector of a mobile X-ray imaging apparatus according to any of the embodiments described above; positioning the X-ray detector of the mobile X-ray imaging apparatus near a patient to be imaged, with the detector module attached to the X-ray detector; and positioning the X-ray source of the mobile X-ray imaging apparatus in front of the patient, with the source module attached to the X-ray source. The method further comprises the steps of: correcting the position and / or orientation of the X-ray source of the mobile X-ray imaging apparatus based on data corresponding to the determined mutual distances of the multiple ultra-wideband transceivers of the source module to each of the multiple ultra-wideband transceivers of the detector module; and triggering irradiation of the X-ray detector by the X-ray source of the mobile X-ray imaging apparatus.

[0023] Therefore, the operating process of the proposed system for positioning the X-ray source and X-ray detector may be as follows: A nurse or technician positions the X-ray detector plate with the UWB transceiver attached behind the patient. A mobile X-ray imaging machine with the UWB transceiver positioned in the source head is positioned in front of the patient to acquire X-ray images of the patient. Preferably, chest X-ray images can be acquired through a window separating the patient from the X-ray source. The technician can select a desired positioning scheme in the user interface and accurately position the source head of the mobile X-ray imaging device, taking into account the determined position and orientation of the X-ray source and detector, as well as the suggestions and instructions generated by the proposed system based on the measured distance between the ultra-wideband transceivers. After the desired position is reached, the frame with the ultra-wideband transceiver can optionally be removed from the detector plate and / or the mobile X-ray source head. After the nurse and technician have moved back to a safe distance, irradiation can be triggered.

[0024] In an embodiment of the present invention, the method has steps of removing the X-ray source module from the X-ray source and / or removing the detector module from the X-ray detector before triggering the irradiation. Therefore, the advantages provided by any of the above aspects are equally applicable to all other aspects, and vice versa.

[0025] In summary, the present invention relates to a system for positioning an X-ray source and an X-ray detector of a mobile X-ray imaging device. The source module and the detector module are mechanically connected to the X-ray source and the X-ray detector of the mobile X-ray imaging device, respectively. Each of the source module and the detector module has a plurality of ultra-wideband transceivers. By determining the mutual distance of each of the plurality of ultra-wideband transceivers of the source module with respect to each of the plurality of ultra-wideband transceivers of the detector module, the relative positions of the X-ray source and the X-ray detector are determined, and an instruction on how to improve the relative position can be provided to the user of the mobile X-ray imaging device.

[0026] One advantage of an embodiment of the present invention for positioning an X-ray source and an X-ray detector of a mobile X-ray imaging device is that the operator of the mobile X-ray imaging device is supported when placing the mobile X-ray collimator head relative to the detector plate to obtain an appropriate diagnostic X-ray image of the patient. Another advantage is that it can eliminate the need for reacquisition of snapshots, reduce time delay, and improve patient throughput. Another advantage is that it can reduce the effective radiation dose applied to patients and hospital staff.

[0027] These advantages are not limiting, and other advantages may be envisioned within the context of the present application.

[0028] The above aspects and embodiments will become apparent from and will be described in reference to the exemplary embodiments described below. Exemplary embodiments of the present invention will be described below with reference to the following drawings.

Brief Description of the Drawings

[0029] [Figure 1] This diagram shows a schematic setup of a system for positioning the X-ray source and X-ray detector of a mobile X-ray imaging apparatus according to an embodiment of the present invention. [Figure 2] This diagram shows a schematic setup of a mobile X-ray imaging system having a system for positioning the X-ray source and X-ray detector of the mobile X-ray imaging system according to an embodiment of the present invention. [Figure 3] This diagram shows a block diagram of a method for positioning the X-ray source and X-ray detector of a mobile X-ray imaging apparatus according to an embodiment of the present invention. [Modes for carrying out the invention]

[0030] Figure 1 shows a schematic setup of a system 100 for positioning the X-ray source 210 and X-ray detector 220 of a mobile X-ray imaging apparatus 200 according to an embodiment of the present invention. The mobile X-ray source 210 is provided with a source module 110 connected to the X-ray source 210. The source module 110 has a source frame 111 and a plurality of ultra-wideband transceivers 130 connected to the source frame 111. In this embodiment, four ultra-wideband transceivers 130 are included in the source module. Similarly, in this embodiment, four ultra-wideband transceivers 130 are connected to the X-ray detector 220 of the mobile X-ray imaging apparatus 200 via the detector frame 121 of the detector module 120. At least three ultra-wideband transceivers 130 in each of the X-ray source and X-ray detector are sufficient, but four transceivers mounted at each corner of the source frame 11 and detector frame 121 are shown, respectively. This can improve positioning accuracy. The control unit 140 communicates with the ultra-wideband transceivers 130, preferably wirelessly, and determines the relative distance between each of the multiple ultra-wideband transceivers 130 of the source module 110 for each of the multiple ultra-wideband transceivers 130 of the detection module 120. The interface unit displays data corresponding to the determined relative distances.

[0031] Therefore, the proposed invention can implement smart guide positioning for mobile X-ray examinations, which can help the operator correctly position the mobile X-ray collimator head of the X-ray source 210 relative to the detector plate of the X-ray detector 220 to obtain high-quality X-ray images. Each of the ultra-wideband transceivers 130 may be configured to determine the relative distance to at least one other ultra-wideband transceiver 130. By considering the positions of the corners or predetermined points of the X-ray source and X-ray detector, which are spaced a predetermined distance apart from each other, the relative position and orientation of the X-ray source 210 with respect to the planar position of the X-ray detector 220 can be calculated based on the relative distance of the ultra-wideband transceivers 130. In embodiments, a wireless tablet including a data wireless streaming module can instruct the operator on how to correct the position and / or orientation of the X-ray source 210 to properly illuminate the X-ray detector 220. This can eliminate the need to reacquire snapshots, which saves time, prevents overdose to the patient, and improves diagnostic accuracy.

[0032] An advantage lies in determining the relative distance between pairs of ultra-wideband transceivers 130 in the case of glass-through chest radiography, i.e., when the X-ray source 210 and X-ray detector are separated from each other by a glass window. This may also apply when the infected patient is in an isolated room. Camera-based approaches, including infrared depth cameras, ultrasonic rangefinders, and laser rangefinders, cannot function correctly in the presence of obstacles such as glass windows. Accordingly, a new approach based on ultra-wideband technology is proposed. This technology can achieve a standard deviation of less than 3 cm in distance estimation at distances up to 10 meters.

[0033] Referring to Figure 2, which shows a schematic setup of a mobile X-ray imaging device 200 having a system 100 for positioning an X-ray source 210 and an X-ray detector 220, the patient 160 may be placed in an isolated room (not shown). Thus, a glass-transmitted chest X-ray screening pipeline for the mobile X-ray device is shown. The distance from the X-ray source 210 to the X-ray detector 220 that produces the image typically varies between 2 and 4 meters in the mobile X-ray imaging device 200, which is greater than the approximately 1.8 meters in conventional X-ray imaging methods. This can be due to the position of the patient 160, such as sitting or lying down, the length of the stretcher, and the depth of the glass wall. Thus, at a distance of 3 meters, a slight tilt of 1 degree in the mobile X-ray emitter provides a vertical shift of 5.2 cm, which is a significant part of the overall height of the detector, and this can lead to the capture of incorrect body regions and the production of misplaced X-ray images. Equipment readjustment and new image acquisition are required, which is even inconvenient compared to conventional pipelines due to the higher output of the X-ray source 210 required for mobile X-ray imaging. For example, with glass obstructions, the intensity of the X-ray source may need to be increased by 2 to 6 times compared to conventional X-ray observations using a stationary X-ray system.

[0034] The control unit 140 communicates with the ultra-wideband transceiver and determines the current position and / or orientation of the X-ray source 210 of the mobile X-ray imaging device 200 relative to the X-ray detector 220 of the mobile X-ray imaging device 200, based on the determined mutual distance. Therefore, the data corresponding to the determined mutual distance provided by the interface unit 150 may preferably include the current position and / or orientation of the source and detector relative to each other.

[0035] The control unit may be configured to receive the target position and / or orientation of the X-ray source 210 relative to the X-ray detector 220 of the mobile X-ray imaging device. By comparing the target position with the determined current position, the deviation of the current position and / or orientation from the target position and / or orientation can be calculated. Therefore, the data provided by the interface unit may include the calculated deviation. In addition, or instead, instructions can be provided to the user of the mobile X-ray imaging device 200 on how to reduce the deviation.

[0036] Direct and precise positioning of the X-ray source and X-ray detector ensures that unnecessary retakes of images due to initial poor positioning are avoided. Thus, the present invention can offer several advantages. From the patient's perspective, each new image acquisition means an additional time delay, which is likely to be costly for patients in pain. In the present invention, one snapshot is sufficient. Furthermore, the entire procedure for acquiring a good image takes less time, which means that the next patient can be taken care of more quickly. From the perspective of clinicians, the accumulation of excessive effective radiation dose can be reduced. During a pandemic with a huge number of patients, early interruptions in work can occur to reach the radiation standards of clinicians. This can be avoided by reducing the number of unnecessary retakes. From the perspective of healthcare institutions, faster patient care saves time for staff, which means saving money for hospitals. In addition, reducing the number of image acquisitions in the X-ray apparatus increases the lifespan of the X-ray tubes in the X-ray apparatus, leading to cost savings.

[0037] Preferably, the source module 110 and / or the detector module 120 have an integrated energy source for the ultra-wideband transceiver. This allows for the upgrade of existing X-ray imaging systems. Furthermore, it may be facilitated to remove the source module 110 from the X-ray source 210 of the mobile X-ray imaging system and / or the detector module 120 from the X-ray detector 220 of the mobile X-ray imaging system before triggering irradiation. This can ensure patient / equipment safety when the frame with the UWB transceiver is removed from the detector and X-ray head before the irradiation procedure.

[0038] Referring to Figure 3, a block diagram of a method for positioning the X-ray source 210 and X-ray detector 220 of a mobile X-ray imaging apparatus 200 according to an embodiment of the present invention is shown. This method comprises the steps of: providing a mobile X-ray imaging apparatus 200 having a system 100 for positioning the X-ray source 210 and X-ray detector 220 of the mobile X-ray imaging apparatus; and positioning the X-ray detector of the mobile X-ray imaging apparatus near the patient 160 to be imaged with the detector module 120 attached to the X-ray detector 220; and positioning the X-ray source 210 of the mobile X-ray imaging apparatus in front of the patient 160 with the X-ray source module 110 attached to the X-ray source. The method further includes step S140 of correcting the position and / or orientation of the X-ray source 210 of the mobile X-ray imaging device for each of the multiple ultra-wideband transceivers 130 of the detection module 120 based on data corresponding to the determined mutual distances of the multiple ultra-wideband transceivers 130 of the source module 110, and step S150 of triggering irradiation of the X-ray detector by the X-ray source of the mobile X-ray imaging device.

[0039] Therefore, the operating process of the proposed system for positioning the X-ray source and X-ray detector may be as follows: A nurse or technician positions the X-ray detector plate with the UWB transceiver attached behind the patient. A mobile X-ray imaging device with the UWB transceiver positioned on the source head is positioned in front of the patient to acquire X-ray images of the patient. Preferably, chest X-ray images can be acquired through a window separating the patient from the X-ray source. The technician can select a desired positioning scheme on the user interface and accurately position the source head of the mobile X-ray imaging device, taking into account the determined positions and orientations of the X-ray source and detector, as well as the suggestions and instructions generated by the proposed system based on the measured distance between the ultra-wideband transceivers. After the desired position is reached, the frame with the ultra-wideband transceiver can optionally be removed from the detector plate and / or the mobile X-ray source head. After the nurse and technician have moved back to a safe distance, irradiation can be triggered.

[0040] Therefore, in a preferred embodiment of the present invention, a mobile DXR system having a mobile X-ray source head including a collimator head and a radio X-ray detector is equipped with a UWB transceiver including an energy source. A special module having the UWB transceiver, for example, an internal low-power battery and a removable plastic frame having at least three transceivers on the head of the mobile X-ray apparatus and at least three transceivers on the detector, is provided and connected to the components of the mobile DXR system. In addition, real-time calculation of the mutual distance between the detector surface and the mobile X-ray head is performed. The user interface of the mobile X-ray apparatus, an external display as part of a removable frame having a UWB transceiver positioned on the mobile X-ray apparatus, or a technician's tablet can be used to directly stream data corresponding to the calculated mutual distance. The positions of the radiation source and detector can be displayed continuously, and a desired placement scheme can be selected depending on the patient's position, the area of ​​body to be explored, the type of obstacles, etc. Therefore, the operator or technician can be provided with positioning recommendations.

[0041] The proposed method is, in principle, applicable to all hospitals equipped with mobile X-ray equipment. The low power requirements of the transceiver allow for the use of an autonomous low-energy source, such as a small battery placed in a removable frame with a UWB transceiver that can be attached to equipment already present in the hospital.

[0042] Although the present invention has been illustrated and described in detail in the drawings and the foregoing description, such illustrations and descriptions should be considered illustrative or descriptive and not limiting. The present invention is not limited to the disclosed embodiments. Other variations of the disclosed embodiments can be understood and achieved by those skilled in the art in carrying out the claimed invention, based on an examination of the drawings, disclosure and dependent claims.

[0043] In the claims, the word “having” does not preclude other elements or steps, and the indefinite article “a” or “an” does not preclude plurality. The mere fact that certain means are described in different dependent claims does not imply that combinations of these means cannot be used advantageously. No reference numeral in the claims should be construed as limiting in scope. [Explanation of symbols]

[0044] 100 Systems 110 Source Module 111 Source Frame 120 Detector Modules 121 Detector Frames 130 Ultra-wideband transceivers 140 Control Unit 150 Interface Units 160 patients 200 X-ray imaging device 210 X-ray source 220 X-ray detectors

Claims

1. In a system for positioning the X-ray source and X-ray detector of a mobile X-ray imaging device, A source module having multiple ultra-wideband transceivers, configured to be mechanically connected to the X-ray source of the mobile X-ray imaging apparatus, A detector module having a plurality of ultra-wideband transceivers, configured to be mechanically connected to the X-ray detector of the mobile X-ray imaging apparatus, A control unit configured to communicate with the ultra-wideband transceiver and to determine the mutual distance between each of the multiple ultra-wideband transceivers of the source module and each of the multiple ultra-wideband transceivers of the detection module, An interface unit configured to display data corresponding to the determined mutual distance, A system that has

2. The system according to claim 1, wherein each of the ultra-wideband transceivers is configured to determine the distance to at least one other ultra-wideband transceiver.

3. The system according to claim 1 or 2, wherein the plurality of ultra-wideband transceivers of the source module have at least three ultra-wideband transceivers, and the plurality of ultra-wideband transceivers of the detection module have at least three ultra-wideband transceivers.

4. The system according to any one of claims 1 to 3, wherein the source module has a source frame configured to accept the plurality of ultra-wideband transceivers, and the source frame is configured to be attached to the X-ray source of the mobile X-ray imaging apparatus.

5. The system according to any one of claims 1 to 4, wherein the detection module has a detector frame configured to receive the plurality of ultra-wideband transceivers, and the detector frame is configured to receive the X-ray detector of the mobile X-ray imaging device.

6. The system according to any one of claims 1 to 5, wherein the plurality of ultra-wideband transceivers of the radiation source module are arranged at a predetermined distance apart from each other, and the plurality of ultra-wideband transceivers of the detector module are arranged at a predetermined distance apart from each other.

7. The system according to any one of claims 1 to 6, wherein the control unit is configured to determine the current position and / or orientation of the X-ray source of the mobile X-ray imaging apparatus with respect to the X-ray detector of the mobile X-ray imaging apparatus based on the determined mutual distance.

8. The system according to claim 7, wherein the data corresponding to the determined mutual distance includes the current position and / or orientation.

9. The control unit is The target position and / or orientation of the X-ray source relative to the X-ray detector of the mobile X-ray imaging device is received. The deviation of the current position and / or orientation from the target position and / or orientation is calculated. It is configured in such a way, The data corresponding to the determined mutual distance includes the deviation of the current position and / or orientation from the target position and / or orientation, and / or instructions to the user of the mobile X-ray imaging device on how to reduce the deviation. The system according to any one of claims 7 or 8.

10. The system according to any one of claims 1 to 9, wherein the source module and / or the detection module has a built-in energy source for the ultra-wideband transceiver.

11. The system according to any one of claims 1 to 10, wherein the source module is configured to be detachably attached to the X-ray source of the mobile X-ray imaging apparatus, and / or the detector module is configured to be detachably attached to the X-ray detector of the mobile X-ray imaging apparatus.

12. A mobile X-ray imaging apparatus having a system for positioning the X-ray source and X-ray detector of the mobile X-ray imaging apparatus according to any one of claims 1 to 11.

13. In a method for positioning the X-ray source and X-ray detector of a mobile X-ray imaging device, The step of providing a mobile X-ray imaging apparatus having a system for positioning the X-ray source and X-ray detector of the mobile X-ray imaging apparatus according to any one of claims 1 to 11, The steps include positioning the X-ray detector of the mobile X-ray imaging apparatus near the patient to be imaged, with the detector module attached to the X-ray detector, The steps include positioning the X-ray source of the mobile X-ray imaging apparatus in front of the patient with the source module attached to the X-ray source, The steps include correcting the position and / or orientation of the X-ray source of the mobile X-ray imaging apparatus based on the data corresponding to the determined mutual distance between the plurality of ultra-wideband transceivers of the source module and each of the plurality of ultra-wideband transceivers of the detection module, The steps include triggering the irradiation of the X-ray detector by the X-ray source of the mobile X-ray imaging apparatus, A method having.

14. The method according to claim 13, further comprising the steps of removing the source module from the X-ray source and / or removing the detector module from the X-ray detector before triggering the irradiation.

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