Medical imaging systems

Abstract

The X-ray detector unit is arranged relative to the X-ray source and configured to acquire X-ray image data of a patient arranged between the X-ray detector unit and the X-ray source unit. The reference structure is part of the X-ray detector unit or the reference structure is configured to be fixedly connected to the X-ray detector unit. The orientation of the sensor unit is known relative to the orientation of the X-ray source unit. The sensor unit is configured to acquire a sensor image when the X-ray detector unit is arranged relative to the X-ray source unit and the patient is arranged between the X-ray detector unit and the X-ray source unit, the sensor image comprising image data of the reference structure. The sensor unit is configured to provide the sensor image to a processing unit. The processing unit is configured to determine a position of the X-ray detector unit relative to a position of the X-ray source unit, the determination comprising the use of an orientation of the sensor unit relative to an orientation of the X-ray source unit and the image data of the reference structure.

Description

Technical Field

[0001] The present invention relates to a medical imaging system, a medical imaging method, and a computer program element and a computer-readable medium.

Background Art

[0002] Bedside X-ray is a standard procedure performed at any location where a patient cannot stand upright for conventional X-ray examinations. An example of a bedside X-ray procedure is for a chest examination because it is extremely common in immobile patients with lung diseases. The X-ray detector unit is placed behind the patient lying on the bed, and thus typically between the patient and the mattress, which can be hinged in the center, thereby tilting the patient, and thus the X-ray detector need not be horizontal. Then, the X-ray source is placed in front of the patient, and an X-ray image or an X-ray picture is acquired.

Summary of the Invention

Problems to be Solved by the Invention

[0003] One problem related to the optimal acquisition of bedside X-ray using such a mobile X-ray system is the accurate positioning of the field of view. In particular, as described above, the X-ray detector is placed behind the patient's back, the X-ray source or tube is placed so that the patient's chest is properly imaged, and its collimation must be adjusted. A misalignment between the X-ray tube and the detector leads to a cutoff image that hinders proper image reading. Proper alignment between the detector and the X-ray tube / source is difficult to achieve because the exact position of the detector is typically not visible behind the patient's back. Thus, a significant number of X-ray images have a sub-optimal patient positioning, resulting in missed diagnoses and a sub-optimal workflow since some images have to be recreated. An example of a cutoff image is shown in FIG. 1.

[0004] There is a need to solve this problem.

Means for Solving the Problems

[0005] It would be advantageous to have an improved medical imaging system for acquiring bedside X-ray images of patients, which would be useful for a mobile medical imaging system. The object of the present invention is solved by the subject matter of the independent claims, and further embodiments are incorporated into the dependent claims. It should be noted that the embodiments and examples described below of the present invention also apply to medical imaging systems, as well as medical imaging methods, as well as computer program elements and computer-readable media.

[0006] In the first embodiment, X-ray source unit, X-ray detector unit, Sensor unit and Standard structure and, Processing unit and A medical imaging system equipped with the following is provided.

[0007] The X-ray detector unit is positioned relative to the X-ray source and configured to acquire X-ray image data of a patient (P) positioned between the X-ray detector unit and the X-ray source unit. The reference structure is either a part of the X-ray detector unit or is configured to be fixedly connected to the X-ray detector unit. direction The X-ray source unit direction It is known that the sensor unit is configured to acquire a sensor image when the X-ray detector unit is positioned relative to the X-ray source unit and the patient is positioned between the X-ray detector unit and the X-ray source unit, and the sensor image includes image data of a reference structure. The sensor unit is configured to provide the sensor image to a processing unit. The processing unit is configured to determine the position of the X-ray detector unit relative to the position of the X-ray source unit. The determination is made by the X-ray source unit direction Sensor unit for direction This includes the use of image data of a reference structure.

[0008] Therefore, the system is configured to image a reference structure that is part of the detector unit, or fixedly attached to or connected to the detector unit, when the detector unit is behind the patient. The processing unit then determines the position of the sensor unit relative to the detector unit and through the interpretation of the imaged reference structure. direction This can be determined. And the sensor unit relative to the source unit direction Since this is known, the processing unit determines the position of the detector unit relative to the source unit and direction This can be determined. Then, it can be determined whether the detector unit is correctly positioned, or whether the detector unit is eccentric and / or twisted or tilted, and the applied collimation can also be checked with respect to the detector position.

[0009] In one example, the processing unit is configured to determine the required movement of the X-ray source unit based on the determined position of the X-ray detector unit relative to the position of the X-ray source unit.

[0010] In this way, an automatic or semi-automatic solution can be provided. Thus, the required movement can be provided to the operator, who then moves the source unit. However, the source unit can be mounted on a mechanical motion system that provides at least some movement of the source unit. Thus, the processing unit can determine how the source unit needs to be moved and then control the movement of the source unit to move it to a new, required, optimized position relative to the detector unit.

[0011] Furthermore, a predefined or required source-to-detector distance (SID) is usually required for proper imaging results, and the system allows checking whether the distance between the source and the detector is appropriate. Therefore, the required motion may be lateral translation and / or backward forward movement.

[0012] In one example, the system includes a visual display unit (VDU), and the sensor images contain patient image data. The processing unit is configured to project the patient image data onto the VDU relative to the position of the X-ray source unit, and the processing unit is configured to display a representation of the position of the X-ray detector unit relative to the position of the X-ray source unit on the VDU.

[0013] In other words, the patient's image is displayed on the VDU as if the X-ray source had acquired the patient's image, and at the same time, a representation of the detector's position, such as the outline of the outer range of the detector area, is also displayed on the VDU. In this way, the operator can quickly and effectively see whether the detector is accurately aligned with the X-ray source and whether the patient is accurately aligned with the X-ray source and / or detector.

[0014] In one example, the reference structure includes the handle of the X-ray detector unit.

[0015] One example includes a reference structure that extends laterally from the edge of the X-ray detector unit.

[0016] In one example, the reference structure includes one or more markers.

[0017] In one example, one or more markers extend perpendicularly to a structure that extends laterally from the edge of the X-ray detector unit.

[0018] In one example, the reference structure includes three markers.

[0019] In one example, one or more markers include multiple markers, and the first marker is oriented perpendicular to the second marker.

[0020] In one example, the first marker is oriented perpendicular to the third marker.

[0021] Therefore, the reference structure is an effect calibration structure, and the image data of the reference structure enables determination of the distance from the reference structure and direction Since the reference structure is at a known position and direction with respect to the detector itself, the distance from the detector and direction can be determined. Next, as detailed above, this can be used to determine the relative position between the X-ray source unit and the X-ray detector unit, and to determine whether the X-ray source unit and the X-ray detector unit are accurately aligned with each other.

[0022] In one example, the sensor unit is integrated with the X-ray source unit.

[0023] In this way, a simple combined source / sensor unit is provided. However, the sensor unit and the source unit do not have to be within a combined unit.

[0024] In one example, the sensor image includes the patient's image data. The processing unit is 、X configured to determine the collimation of the source unit The determination includes the orientation of the sensor unit relative to the orientation of the X-ray source unit and the use of patient image data. .

[0025] In this way, not only can it be determined whether the X-ray source is accurately aligned with the X-ray detector, but it can also be determined whether the patient is accurately aligned with the X-ray source, and the collimation can be adjusted as necessary.

[0026] In one example, the processing unit is configured to determine the required movement of the X-ray source unit based on the determined collimation of the X-ray source unit.

[0027] In one example, the processing unit is configured to determine the required movement of the X-ray detector unit based on the determined collimation of the X-ray source unit.

[0028] Therefore, the new collimation may lead to the X-ray source unit not being properly aligned with the X-ray detector unit. However, in this case, the X-ray source and / or X-ray detector unit can move relative to each other, and indeed relative to the patient, and indeed, the patient can be moved to provide precise exposure if necessary. This can lead to further slight adjustments to the required collimation of the X-ray source, and further movement of the X-ray source / detector, which is facilitated by the new system. The collimation and movement of the X-ray source unit can be fully automated and controlled by the processing unit, or information can be provided to the operator for adjusting the collimation, moving the source, etc.

[0029] In a second aspect, a medical imaging method, a) A step of arranging an X-ray source unit relative to an X-ray detector unit to acquire X-ray image data of a patient placed between the X-ray detector unit and the X-ray source unit, wherein the reference structure is a part of the X-ray detector unit, or the reference structure is fixedly connected to the X-ray detector unit. b) A step of acquiring a sensor image having a sensor unit, wherein the sensor image comprises image data of the reference structure and the sensor unit direction The X-ray source unit direction Steps to obtain known information for this, c) The step of providing the sensor image to the processing unit, d) A step in which the processing unit determines the position of the X-ray detector unit relative to the position of the X-ray source unit, wherein the determination step is performed by the X-ray source unit direction The sensor unit direction The steps include utilizing the image data of the aforementioned reference structure and A method is provided that has the following characteristics.

[0030] In another embodiment, a computer program element is provided that controls one or more of the aforementioned systems, which is adapted to perform the aforementioned method when the computer program element is executed by a processor.

[0031] In another embodiment, a computer-readable medium having the aforementioned stored computer elements is provided.

[0032] The computer program element may be, for example, a software program, but may also be an FPGA, PLD, or any other suitable digital means.

[0033] Conveniently, any advantage provided by any of the above embodiments applies equally to all of the other embodiments, and vice versa.

[0034] The above embodiments and examples will become apparent from the embodiments described below and will be explained with reference thereto.

[0035] Exemplary embodiments are described below with reference to the following drawings. [Brief explanation of the drawing]

[0036] [Figure 1] This image shows an exemplary bedside chest X-ray illustrating improper detector positioning and lung cutoff. [Figure 2] This shows a medical imaging system. [Figure 3] This describes a medical imaging method. [Figure 4] An exemplary optical tracking system or camera unit is shown. [Figure 5] A detector unit with an exemplary reference structure is shown. [Modes for carrying out the invention]

[0037] Figure 2 shows a schematic example of a medical imaging system 10. The medical imaging system comprises an X-ray source unit 20, an X-ray detector unit 30, a sensor unit 40, a reference structure 50, and a processing unit 60. The X-ray detector unit 30 is positioned relative to the X-ray source unit 20 and is configured to acquire X-ray image data of a patient (P) located between the X-ray detector unit 30 and the X-ray source unit 20. The reference structure 50 is either a part of the X-ray detector unit 30 or is configured to be fixedly connected to the X-ray detector unit 30. direction The X-ray source unit 20 direction It is known for the following. The sensor unit 40 is configured to acquire a sensor image when the X-ray detector unit 30 is positioned relative to the X-ray source unit 20 and the patient is positioned between the X-ray detector unit 30 and the X-ray source unit 20, and the sensor image includes image data of the reference structure 50. The sensor unit 40 is configured to provide the sensor image to the processing unit 60. The processing unit 60 is configured to determine the position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20. Determining the position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20 is done by the X-ray source unit 20 direction Sensor unit 40 for direction This includes the use of image data of the reference structure 50.

[0038] In one example, the medical imaging system 10 is a mobile medical imaging system.

[0039] In one example, the sensor unit 40 is a camera unit, and the sensor image is a camera image.

[0040] In one example, the camera unit is a 3D camera unit. Thus, the camera unit may have two cameras 42, 44, and the camera image is an image generated from the two images of the 3D camera, and the distance of the reference structure 50 relative to the camera unit and direction Therefore, the position of the X-ray detector unit 30 relative to the camera unit and directionThis provides an efficient means for determining the position of the X-ray detector unit 30 relative to the X-ray source unit 20 and, as detailed above, the position of the X-ray detector unit 30 relative to the X-ray source unit 20. direction Convert to 3D. However, the camera unit does not need to be a 3D camera; 2D images can be used.

[0041] In one example, the reference structure 50 may have, for example, a stalk 54 of known length or a segment of known length, and the distance of the reference structure 50 from the camera unit can be determined using image data of this structure. Then, parts 56 of the reference structure 50 may extend from the stalk in a known manner, and the rotational orientation of the reference structure 50 relative to the camera unit can be determined using image data of these parts. Thus, the distance of the reference structure 50 and direction Therefore, the distance from the camera unit to the X-ray detector unit 30 and direction This can be determined based on this 2D image, and then, as detailed above, the position of the X-ray detector unit 30 relative to the X-ray source unit 20 and direction It is possible to make a decision.

[0042] In one example, the camera unit comprises one or more radiation sources 46, 48. In one example, one or more radiation sources are infrared radiation sources.

[0043] Therefore, the system can operate under all optical conditions.

[0044] In one example, the reference structure 50 has a reflector segment. In one example, the reflector segment is designed to reflect radiation emitted by one or more radiation sources.

[0045] In one example, the sensor unit 40 is a LIDAR unit, and the sensor image is an image composed of laser distance information.

[0046] In one example, the sensor unit 40 is a radar unit, and the sensor image is a radar range configuration image.

[0047] For example, the processing unit 60 is configured to determine the required movement of the X-ray source unit 20 based on the determined position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20.

[0048] In one example, the processing unit 60 is configured to determine the required movement of the X-ray detector unit 30 based on the determined position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20.

[0049] In one example, the system includes a visual display unit (VDU). Sensor images may include patient image data, and the processing unit 60 is configured to project the patient image data onto the VDU relative to the position of the X-ray source unit 20, and the processing unit 60 is configured to display a representation of the position of the X-ray detector unit 30 on the VDU relative to the position of the X-ray source unit 20 and also relative to the patient.

[0050] In one example, the processing unit 60 is configured to project the field of view of the X-ray source unit 20 onto the VDU.

[0051] For example, the reference structure 50 includes a handle 52 for the X-ray detector unit 30.

[0052] For example, the reference structure 50 includes structures 54 and 56 that extend laterally from the edge of the X-ray detector unit 30.

[0053] In one example, structures 54 and 56 extending laterally from the edge of the X-ray detector unit include a stalk 54.

[0054] In one example, the stalk 54 has segments of known length and / or known length, and determining the position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20 may include utilizing the known length of the stalk 54 and / or the known length of the segments of the stalk 54.

[0055] For example, the standard structure 50 comprises one or more markers 56.

[0056] In one example, one or more markers 56 are known positions on the stalk 54 of the reference structure 50 and direction The position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20 is determined by the known positions of one or more markers 56 relative to the stalk 54 of the reference structure 50 and direction It may include use.

[0057] For example, one or more markers 56 extend perpendicularly to a structure that extends laterally from the edge of the X-ray detector unit 30.

[0058] In one example, one or more markers 56 extend a known length perpendicular to a structure that extends laterally from the edge of the X-ray detector unit 30 (such as a stalk 54). Determining the position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20 may involve utilizing the known lengths of one or more markers 56 that extend perpendicularly to a structure that extends laterally from the edge of the X-ray detector unit 30.

[0059] For example, the reference structure 50 includes three markers 56.

[0060] For example, one or more markers 56 include multiple markers, where the first marker is oriented perpendicular to the second marker.

[0061] For example, the first marker is oriented perpendicular to the third marker.

[0062] For example, the sensor unit 40 is integrated with the X-ray source unit 20.

[0063] For example, the sensor image includes patient image data. The processing unit 60 is the X-ray source unit 20. direction Sensor unit 40 for directionIt is configured to determine the collimation of the X-ray source unit 20, including the use of patient image data.

[0064] For example, the processing unit 60 is configured to determine the required movement of the X-ray source unit 20 based on the determined collimation of the X-ray source unit 20. In addition, or alternatively, the processing unit 60 is configured to determine the required movement of the X-ray detector unit 30 based on the determined collimation of the X-ray source unit 20.

[0065] Figure 3 shows an example of a medical imaging method 100 in its basic steps. The method is as follows: In a positioning step 110, also called step a), the X-ray source unit 20 is positioned relative to the X-ray detector unit 30 to acquire X-ray image data of a patient located between the X-ray detector unit 30 and the X-ray source unit 20, wherein the reference structure 50 is a part of the X-ray detector unit 30, or the reference structure 50 is fixedly connected to the X-ray detector unit 30. In acquisition step 120, also called step b), a sensor image is acquired using the sensor unit 40, wherein the sensor image comprises image data of the reference structure 50, and the sensor unit 40 direction The X-ray source unit 20 direction Steps that are known to the same effect In the providing step 130, also called step c), the steps include providing the sensor image to the processing unit 60, and In the determination step 140, also called step d), the processing unit 60 determines the position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20, wherein the determination step involves the X-ray source unit 20 direction Sensor unit 40 for direction and the step of using image data of the reference structure 50 It holds.

[0066] One example is a mobile medical imaging system.

[0067] In one example, the sensor unit 40 is a camera unit, and the sensor image is a camera image.

[0068] In one example, the camera unit is a 3D camera unit.

[0069] In one example, the camera unit comprises one or more radiation sources 46, 48. In one example, one or more radiation sources are infrared radiation sources.

[0070] In one example, the reference structure 50 has a reflector segment. In one example, the reflector segment is designed to reflect radiation emitted by one or more radiation sources.

[0071] In one example, the sensor unit 40 is a LIDAR unit, and the sensor image is an image composed of laser distance information.

[0072] In one example, the sensor unit 40 is a radar unit, and the sensor image is a radar range configuration image.

[0073] In one example, the method includes a processing unit 60 determining the required movement of the X-ray source unit 20 based on the determined position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20.

[0074] In one example, the method includes a processing unit 60 determining the required movement of the X-ray detector unit 30 based on the determined position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20.

[0075] In one example, the reference structure 50 includes a handle for the X-ray detector unit.

[0076] In one example, the sensor image includes patient image data, and the method includes the processing unit 60 projecting the patient image data relative to the position of the X-ray source unit 20 onto a visual display unit (VDU), and the processing unit 60 displaying a representation of the position of the X-ray detector unit 30 relative to the position of the X-ray source unit 20 on the VDU.

[0077] In one example, the method includes projecting the field of view of the X-ray source unit 20 onto the VDU by the processing unit 60.

[0078] In one example, the reference structure 50 includes structures 54 and 56 that extend laterally from the edge of the X-ray detector unit 30.

[0079] In one example, the reference structure 50 includes one or more markers 56.

[0080] In one example, one or more markers 56 extend perpendicularly to a structure that extends laterally from the edge of the X-ray detector unit 30.

[0081] In one example, the reference structure 50 includes three markers.

[0082] In one example, one or more markers 56 include multiple markers, and the first marker is oriented perpendicular to the second marker.

[0083] In one example, the first marker is oriented perpendicular to the third marker.

[0084] In one example, the sensor unit 40 is integrated with the X-ray source unit 20.

[0085] In one example, the sensor image includes patient image data, and the method includes determining the collimation of the X-ray source unit 20 by the processing unit 60. This determination is the X-ray source unit 20 Orientation of sensor unit 40 relative to orientation and patient image data Ta It may include using it.

[0086] In one example, the method includes the processing unit 60 determining the required movement of the X-ray source unit 20 based on the determined collimation of the X-ray source unit 20.

[0087] In one example, the method includes the processing unit 60 determining the required movement of the X-ray detector unit 30 based on the determined collimation of the X-ray source unit 20.

[0088] Medical imaging systems and methods will be described in more detail with reference to Figures 4 and 5. While the medical imaging systems and methods are described in relation to mobile imaging systems and methods, they are also applicable to "conventional" X-ray tubes used to acquire X-ray images of patients lying in bed using a portable detector positioned behind the patient. Furthermore, while the medical imaging systems and methods are described in relation to sensor units in the form of 3D camera units or systems, 2D cameras, radar sensors or LIDAR sensors, or other range sensors may be used.

[0089] In the development of new systems and methods, it was realized that an optical tracking system can be used with a modified detector housing or unit to improve bedside X-ray acquisition using a mobile X-ray system. Such an optical tracking system is based on a 3D camera, for example, referred to here as a camera unit. A new technique has been developed to improve bedside X-ray acquisition using a mobile X-ray system by enabling the positioning of the X-ray tube, also called the X-ray source unit, relative to the X-ray detector unit using such an optical tracking system. Subsequently, the system components can be precisely positioned relative to each other, and it can be determined whether the accurate field of view of the patient is captured or whether adjustments are needed. As mentioned above regarding optical tracking systems, it has been established that an appropriate radar-based system or LIDAR system can also be used.

[0090] Figure 4 shows an example of a sensor unit 40 forming a camera unit, specifically a 3D camera. Note that while 3D images are acquired, 2D images can be used in conjunction with appropriate reference structures 50, 52, 54, and 56 shown in Figure 5.

[0091] Continuing with Figure 4, the optical tracking system or camera unit 40 typically consists of two light sources 46, 48 and two cameras 42, 44 positioned at a certain distance from each other, resulting in a 3D camera. The emitted light may be in both the visible and infrared regions, or in fact both of these parts of the spectrum. A commercially available optical tracking system is offered, for example, by Polaris Spectra.

[0092] The camera unit 40 in Figure 4 is used in conjunction with the modified detector unit 30 in Figure 5. The modified detector unit 30 has, for example, a reference structure 50 having a marker 56 of a known geometric shape positioned at the end of a stalk 54, or the reference structure 50 may be the formation of an enlarged handle 52 of the detector unit 30. The reference structure 50 has a known geometric arrangement relative to the structure of the detector unit 30 and may be an integral part of the detector unit 30 or may be attachable to the detector unit 30. The reference structure 50, or at least the marker 56, must be visible from the camera unit 40. The position of the marker 56 in space is then determined using optical tracking, for example, with an accuracy of 0.25 mm. Triangulation is used for this positioning, for example, to determine the 3D position of each marker 56, which is then matched to the known geometric shape of the marker 56 in order to determine the orientation of the reference structure 50 relative to the coordinate system of the camera unit 40. Since the method of positioning the reference structure 50 relative to the detector unit 30 is known, the position and orientation of the detector unit 30 relative to the camera unit 40, or direction It is known that...

[0093] Since the position and orientation of the camera unit are known with respect to the X-ray source unit, which is most conveniently achieved by fixing and mounting both to the same unit, the position and orientation of the detector unit 30 relative to the source unit 20 can be determined, and it becomes possible to determine whether the field of view accurately fills the required portion of the detector.

[0094] Therefore, in certain cases, the optical tracking system or camera unit 40 is effectively integrated into the head of the mobile system or the X-ray source unit 20, and the processing unit 60 can control the movement of the collimation shutter. In fact, the X-ray source unit 20 may be on a movable motorized gantry, allowing the X-ray source unit 20 to be moved to the right / left / up / down as needed and even tilted under the control of the processing unit 60. Currently, as mentioned above, it is difficult to estimate the exact position of the detector behind the patient because the detector is completely hidden behind the patient.

[0095] As shown in Figure 5, in addition to having a source unit 20 that operates with the camera unit 40, a modified detector unit 30 is utilized. The detector unit 30 here includes a detector housing and has a portion that is adapted or connected so that the reference structure 50 is visible to the camera unit even after the detector unit has been positioned behind the patient. As described above, the reference structure can be in the form of an enlarged handle 52 or a stalk 54 with a marker 56 at its end. Conveniently, the handle 54 and marker 56 can be designed to fold into the body of the detector unit 30.

[0096] Therefore, this visible reference structure 50, 52, 54, 56 used to calculate the position of the detector unit 30 can be, for example, a marker 56 of known geometric arrangement with a known length of stalk 54 at its end. This can be permanently positioned or connected and disconnected as needed, but it can be positioned in a known location or folded inward relative to the body of the detector unit 30. Thus, at the tip of this reference structure 50, a marker 56 in the form of a reflector allows position tracking to be performed so that the position and orientation of the reference structure 50, and therefore the position and orientation of the detector unit 30, can be calculated relative to the camera unit 40, and therefore to the source unit 20. Alternatively, the handle 52 of the detector unit 30 can be adapted / enlarged so that it is visible after positioning, and a reflector sphere can also be attached to the detector handle 52 to form the reference structure 50 as needed. Thus, after the detector unit 30 is positioned behind the patient, the optical tracking system consisting of 3D cameras 40, 42, 44 and light emitters 46, 48 can find and position the visible reference structure 50, and the precise position of the detector unit 30 can be calculated by rigid body connection.

[0097] By motorizing the rows using the X-ray tube or X-ray source unit 20, for example, the positioning of the X-ray tube can be automatically adjusted to ensure that the detector in the detector unit 30 is optimally illuminated. Furthermore, the 3D camera unit 40 and optical tracking can be used to determine and apply the optimal collimation for the X-ray source 20. To achieve this, the 3D camera unit 40 may be, for example, a marker placed on the patient's body, detecting landmarks on the human chest and calculating the optimal collimation. Thus, the X-ray shutter or collimator can be automatically fitted to achieve the calculated optimal collimation.

[0098] Therefore, this results in a completely new method that provides optimized automated field positioning, where the detector is optimally illuminated with X-rays, and at the same time, the desired area of ​​the patient is illuminated with X-rays, all of which results in a mobile medical imaging system that can be used for bedside X-ray imaging. Thus, the new approach has the advantage of not only allowing tracking of the detector's position behind the patient, but also enabling optimal collimation.

[0099] The new approach can be summarized as follows: The detector unit 30 is placed behind the patient. Ensure that the handle 52 as the reference structure 50, or one of the specific reference structures 54 or 56, is visible behind the patient. The 3D camera 40 detects the detector handle 52 or reference structures 54, 56 and calculates the positions of the detector unit 30 and the detector itself. Based on the calculated position of the detector unit 30, the X-ray source unit / tube 20 If the rows are motor-driven, they will be automatically positioned to properly illuminate the detector, or Guidance is provided to the user on how to position the X-ray tube 20 to ensure proper illumination of the detector. The 3D camera 40 detects patient landmarks, selects appropriate collimation, and checks whether the appropriate collimation is covered by the current detector position. If the current detector position is not suitable for covering the field of view, the user is notified to adjust the detector position, and the process is repeated from step 1). It should be noted that the detector unit 30 can also be automatically moved while mounted in a suitable motorized outer housing.

[0100] Therefore, the described method ensures the appropriate selection of the field of view and improves the clinical workflow.

[0101] In another exemplary embodiment, a computer program or computer program element is provided, characterized in that it is configured to perform a method step of a method according to one of the embodiments described above on a suitable system.

[0102] Therefore, the computer program elements may be stored in a computer unit, which may be part of the embodiment. This computing unit may be configured to perform or trigger the steps of the method described above. Furthermore, it may be configured to operate the components of the apparatus and / or system described above. The computing unit may be configured to operate automatically and / or to execute user sequences. The computer program may be loaded into the working memory of the data processor. Therefore, the data processor may be equipped to perform the method according to one of the embodiments described above.

[0103] This exemplary embodiment of the present invention encompasses both computer programs that use the present invention from the outset and computer programs that, through updates, transform existing programs into programs that use the present invention.

[0104] Furthermore, computer program elements can provide all the steps necessary to satisfy the procedure of the exemplary embodiment of the procedure described above.

[0105] In a further exemplary embodiment of the present invention, a computer-readable medium such as a CD-ROM or USB stick is presented, having computer program elements stored thereon, which are described in the previous section.

[0106] Computer programs may be stored and / or distributed on suitable media such as optical storage media or solid-state media supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless communication systems.

[0107] However, computer programs may also be presented over a network such as the World Wide Web and downloaded from such a network into the working memory of a data processor. According to a further exemplary embodiment of the present invention, a medium is provided for making a computer program element available for download, and this computer program element is configured to perform a method according to one of the aforementioned embodiments of the present invention.

[0108] It should be noted that embodiments of the present invention are described with reference to different subject matter. In particular, some embodiments are described with reference to method-type claims, and other embodiments are described with reference to apparatus-type claims. However, unless otherwise notified, those skilled in the art will find that any combination of features belonging to one type of subject matter, as well as any combination of features relating to different subject matter, are gathered from the above and below descriptions and are deemed to be disclosed in this application. However, all features can be combined to provide a synergistic effect greater than the simple sum of the features.

[0109] Although the present invention is illustrated and described in detail in the drawings and the foregoing description, such illustrations and descriptions should be considered illustrative or exemplary and not limiting. The present invention is not limited to the disclosed embodiments. Other variations of the disclosed embodiments can be understood and practiced by those skilled in the art in carrying out the claimed invention from a study of the drawings, disclosure and dependent claims.

[0110] In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite articles “a” or “an” do not exclude plurals. A single processor or other unit may satisfy the functions of several items enumerated in the claims. The mere fact that certain means are referenced 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. The embodiments of the present invention are described below. (Note 1) A medical imaging system, X-ray source unit, X-ray detector unit, Sensor unit and Standard structure and, Processing unit and It has, The X-ray detector unit is positioned relative to the X-ray source and is configured to acquire X-ray image data of a patient positioned between the X-ray detector unit and the X-ray source unit. The reference structure is either a part of the X-ray detector unit, or the reference structure is configured to be fixedly connected to the X-ray detector unit. The orientation of the sensor unit is known with respect to the orientation of the X-ray source unit. The sensor unit is configured to acquire a sensor image when the X-ray detector unit is positioned relative to the X-ray source unit and the patient is positioned between the X-ray detector unit and the X-ray source unit, and the sensor image has image data of the reference structure. The sensor unit is configured to provide the sensor image to the processing unit. The processing unit is configured to determine the position of the X-ray detector unit relative to the position of the X-ray source unit, and the determination involves using the orientation of the sensor unit relative to the orientation of the X-ray source unit and the image data of the reference structure. Medical imaging system. (Note 2) The system according to Appendix 1, wherein the processing unit is configured to determine the required movement of the X-ray source unit based on the determined position of the X-ray detector unit relative to the position of the X-ray source unit. (Note 3) The system according to any one of Appendix 1 to 2, comprising a visual display unit, the sensor image comprising the patient's image data, the processing unit configured to project the patient's image data onto the visual display unit relative to the position of the X-ray source unit, and the processing unit configured to display a representation of the position of the X-ray detector unit relative to the position of the X-ray source unit on the visual display unit. (Note 4) The aforementioned reference structure is a system according to any one of the appendices 1 to 3, comprising a handle for the X-ray detector unit. (Note 5) The system according to any one of the appendices 1 to 3, wherein the reference structure comprises a structure extending laterally from the edge of the X-ray detector unit. (Note 6) The aforementioned reference structure is the system described in Appendix 5, comprising one or more markers. (Note 7) The system as described in Appendix 6, wherein one or more markers extend perpendicularly to a structure extending laterally from the edge of the X-ray detector unit. (Note 8) The aforementioned standard structure is a system described in any one of appendices 6 to 7, having three markers. (Note 9) The system according to any one of appendices 6 to 8, wherein the one or more markers have multiple markers, and the first marker is oriented perpendicular to the second marker. (Note 10) The system described in Appendix 9, when subject to Appendix 8, wherein the first marker is oriented perpendicular to the third marker. (Note 11) The sensor unit is integrated with the X-ray source unit, and the system is as described in any one of the appendices 1 to 10. (Note 12) The system according to any one of Appendix 1 to 11, wherein the sensor image has image data of the patient, the processing unit is configured to determine the collimation of the X-ray source unit, and the determination involves the orientation of the sensor unit relative to the orientation of the X-ray source unit and the use of the patient's image data. (Note 13) The system according to Appendix 12, wherein the processing unit is configured to determine the required movement of the X-ray source unit based on the determined collimation of the X-ray source unit, and / or the processing unit is configured to determine the required movement of the X-ray detector unit based on the determined collimation of the X-ray source unit. (Note 14) A medical imaging method, a) A step of arranging an X-ray source unit with respect to an X-ray detector unit to acquire X-ray image data of a patient placed between the X-ray detector unit and the X-ray source unit, wherein the reference structure is a part of the X-ray detector unit, or the reference structure is fixedly connected to the X-ray detector unit. b) A step of acquiring a sensor image using a sensor unit, wherein the sensor image comprises image data of the reference structure, and the orientation of the sensor unit is known with respect to the orientation of the X-ray source unit. c) Providing the sensor image to the processing unit, d) A step of determining the position of the X-ray detector unit relative to the position of the X-ray source unit by the processing unit, wherein the determination step includes a step of utilizing the orientation of the sensor unit relative to the orientation of the X-ray source unit and the image data of the reference structure. A method having (Note 15) A computer program element for controlling a system described in any one of the appendices 1 to 13, which is configured to perform the method described in appendice 14 when executed by a processor.

Claims

1. A medical imaging system, X-ray source unit, X-ray detector unit, Sensor unit and Standard structure and, Processing unit and It has, The X-ray detector unit is positioned relative to the X-ray source unit and acquires X-ray image data of a patient positioned between the X-ray detector unit and the X-ray source unit. The reference structure is either a part of the X-ray detector unit, or the reference structure is fixedly connected to the X-ray detector unit. The orientation of the sensor unit is known with respect to the orientation of the X-ray source unit. The sensor unit is configured to acquire a sensor image when the X-ray detector unit is positioned relative to the X-ray source unit and the patient is positioned between the X-ray detector unit and the X-ray source unit, and the acquired sensor image has image data of the reference structure. The sensor unit provides the sensor image to the processing unit. The processing unit calculates the position of the X-ray detector unit relative to the position of the X-ray source unit by using the orientation of the sensor unit relative to the orientation of the X-ray source unit and the image data of the reference structure within the sensor image. Medical imaging system.

2. The system according to claim 1, wherein the processing unit is configured to determine the required movement of the X-ray source unit based on the calculated position of the X-ray detector unit relative to the position of the X-ray source unit.

3. The system according to claim 1 or 2, comprising a visual display unit, the sensor image having the patient's image data, the processing unit configured to project the patient's image data onto the visual display unit relative to the position of the X-ray source unit, and the processing unit configured to display on the visual display unit a representation of the position of the X-ray detector unit relative to the position of the X-ray source unit.

4. The system according to claim 1 or 2, wherein the reference structure comprises a handle for the X-ray detector unit.

5. The system according to claim 1 or 2, wherein the reference structure comprises a structure that extends laterally from the edge of the X-ray detector unit.

6. The system according to claim 5, wherein the reference structure comprises one or more markers.

7. The system according to claim 6, wherein one or more of the aforementioned markers extend perpendicularly to a structure that extends laterally from the edge of the X-ray detector unit.

8. The system according to claim 6, wherein the reference structure has three markers.

9. The system according to any one of claims 6 to 8, wherein the one or more markers have a plurality of markers, and the first marker is oriented perpendicular to the second marker.

10. The system according to claim 9, referencing claim 8, wherein the first marker is oriented perpendicular to the third marker.

11. The system according to claim 1 or 2, wherein the sensor unit is integrated with the X-ray source unit.

12. The system according to claim 1 or 2, wherein the sensor image has image data of the patient, the processing unit is configured to determine the collimation of the X-ray source unit, and the determination involves the orientation of the sensor unit relative to the orientation of the X-ray source unit and the use of the patient's image data.

13. The system according to claim 12, wherein the processing unit is configured to determine the required movement of the X-ray source unit based on the determined collimation of the X-ray source unit, and / or the processing unit is configured to determine the required movement of the X-ray detector unit based on the determined collimation of the X-ray source unit.

14. A medical imaging method, a) A step of arranging an X-ray source unit with respect to an X-ray detector unit to acquire X-ray image data of a patient placed between the X-ray detector unit and the X-ray source unit, wherein the reference structure is a part of the X-ray detector unit, or the reference structure is fixedly connected to the X-ray detector unit. b) A step of acquiring a sensor image using a sensor unit, wherein the sensor image comprises image data of the reference structure, and the orientation of the sensor unit is known with respect to the orientation of the X-ray source unit. c) Providing the sensor image to the processing unit, d) The processing unit calculates the position of the X-ray detector unit relative to the position of the X-ray source unit by using the orientation of the sensor unit relative to the orientation of the X-ray source unit and the image data of the reference structure within the sensor image. A method having

15. A computer program for controlling the system described in claim 1 or 2, configured to perform the method described in claim 14 when executed by a processor.

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