MODULAR, PORTABLE, ARMORED CABINET STRUCTURE, AI-SUPPORTED DOSE OPTIMIZATION, 360° ROTATING X-RAY IMAGING SYSTEM AND METHOD.

Abstract

It is a system for performing three-dimensional radiographic imaging in a standing position, and its feature is;The device consists of a cabin body (1) made of radiation attenuating modular panels (2), a platform (6) that allows the transport of the living being to be imaged inside the cabin body (1), an X-ray source (26) and a detector (30) that can move relatively around the platform (6) to obtain projection images from different angles, a control unit (70) and a scanning control unit (84) that synchronize the orbital movement and image acquisition of the said X-ray source (26) and detector (30), a reconstruction / processing unit (85) that produces three-dimensional volume data from the projection images, a dose optimization module (83) that automatically determines at least one of the exposure parameters based on anthropometric data obtained from at least one optical / distance sensor (41-44), and a stabilization unit (50) that schedules image acquisition and / or applies motion correction during reconstruction based on data obtained from motion / force sensors (46-49) integrated into the platform.

Description

1 TARIFF MODULAR, PORTABLE, ARMORED CABIN STRUCTURE, ARTIFICIAL INTELLIGENCE 360° ROTATING X-RAY IMAGING SYSTEM WITH SUPPORTED DOSE OPTIMIZATION AND METHOD 5 Technical Area The invention is a modular radiation attenuator that can be installed without requiring the construction of a special leaded chamber. Multiple projection X-ray images in a standing (weight-bearing) position inside the cabin. 10 It relates to a system and method that produces three-dimensional radiographic images by collecting data. State of the Art In current technology, standing CBCT / three-dimensional X-ray systems are mostly fixed installations. 15 These are solutions that require limited portability and are expensive, and are specifically designed for radiation safety. It may require armored room infrastructure. In these systems, shooting parameters are mostly... The time is selected by the operator and is caused by micro-movements of the person / animal. Motion artifacts (motion blur) can degrade image quality. Veterinarian In these applications, the need for sedation / anesthesia and associated risks arise. 20 It can be removed. Therefore, it can be installed automatically without requiring special room infrastructure. Anthropometric dose optimization and reduction of motion artifacts. There is a need for standing three-dimensional imaging systems that provide detection / compensation. It is heard. Today, the need for ionizing radiation-based three-dimensional imaging is met through three main approaches. It has been attempted to solve this problem through engineering approaches. However, each of these approaches, It has operational and clinical limitations. 1. Traditional Gantry Architecture Computed Tomography (CT) Systems The most common solution in the industry is systems with a closed-loop (donut-shaped) gantry structure. 30 Procedure: The patient is wheeled into the gantry tunnel on a motorized table. Technical Deficiencies: Imaging in these systems is performed under gravity load (standing position). It is physically impossible; this leads to 30-40% of orthopedic pathologies being concealed. 35 2 It opens up. In addition, the narrow tunnel structure is generally used in veterinary medicine due to "claustrophobic stress". This necessitates the use of anesthesia. 2. Open Architecture Robotic X-Ray Systems These are the most advanced technological competitors developed to meet the need for standing camera shots. 5 Solution Method: Ceiling or floor-mounted, independently moving robotic arms. It is used with an X-ray source in one arm and a detector in the other. Engineering Problems: Two separate robotic arms rotating 360° in the air while making 10 micron-level adjustments. Maintaining an isocentric (aligned) state requires extremely complex and expensive synchronization software. Also, because these devices are "open" systems, radiation safety can only be ensured for the entire room. This can be achieved by armoring (walls, doors) with tons of lead; this is a multi-million dollar infrastructure. It means cost. 3. Optical 3D Body Scanners These are systems that resemble the invention in external form but serve an entirely different purpose. Solution Method: Obtaining body surface mesh data using optical cameras or LiDAR sensors. It is done. 20 Technical Difference and Error: In most of these systems, the patient is on a "turntable". The patient is rotated in a radiological system; this rotation causes the internal organs to be centrifugally rotated. because it causes displacement by force and "motion blur" This impairs the quality of diagnosis. Furthermore, these devices cannot image bone tissue (internal structure). 25 Examination of existing similar patent applications reveals the following problems: It is seen that: Mechanical Alignment: Most existing patents describe the movement of independent arms in space. It focuses on positioning. 30 on a circular rail system concealed within a cabin wall. a mechanism that mechanically reduces alignment error to zero with a rigid body and rotating mechanism That approach is not relevant. Dosimetry Automation: Currently, dose adjustment is usually manual or via "scout view". This is done with LiDAR-based anthropometric data analysis for real-time dose optimization, ionized 35 There is no approach that reduces radiation load "without performing a pre-examination". 3 Hybrid Protection: Patents such as TR2020 / 17349, examined as an example, only provide simple patient protection. It includes fixing devices. In summary, the sector has so far been characterized by either "high-dose, cumbersome hospital systems" or "inadequate 5". It was stuck between "optical scanners". Fixed patient - rotating robotic station In its architecture, there is a technical gap that will bridge these two extremes. The main problems encountered in current radiological imaging systems are listed below. It is presented as follows: 10  High Infrastructure and Installation Costs: Existing standing imaging systems capable of shooting. These systems are massive mechanical structures weighing tons, and these devices For its installation in hospitals, special vehicles with lead-lined walls and reinforced floors were used. The construction of radiology rooms is mandatory.  Radiation Leakage in Open Systems: In conventional open systems, radiation leakage is 15 Security is provided not by the device itself, but by the room's armor plating; this situation The device cannot be used in standard clinic or veterinary office settings. It makes it possible.  Lack of Anthropometric Dose Adjustment: In current systems, the radiation to be delivered to the patient is insufficient. The dose (kV / mA) is estimated by technicians based on the patient's appearance to be 20. It is determined that this situation leads to unnecessary over-exposure in frail patients. In obese patients, it leads to poor image quality.  The Necessity of Anesthesia in Veterinary Medicine: Due to the limitations of current tomography systems and Because the enclosed tunnel structure creates high stress levels in animals, it is only for a few seconds. Even for the scans, general anesthesia is required; this is especially true for the elderly or those over 25. It poses a life-threatening risk for traumatized animals.  Motion Artifacts in Imaging: In standing positions, involuntary motion artifacts of the patient may occur. Muscle tremors (microtremors) impair image clarity and reduce the quality of diagnosis. It causes artifacts.  Portability Problem: The indestructible and cumbersome structures of existing systems, standard 30 This prevents them from passing through doorways (under 900 mm) and in mobile health services. It restricts their use. Technical investigations revealed the registration number US2008192895A1. The application summary states: “A mobile 35 equipped with a laser detection system containing measuring devices. A travel stand is provided for the X-ray diagnostic device; the system is suitable for travel. 4 It is used to determine the position of the stand in a fixed coordinate system in space. Measurement The devices can operate based on contactless measurement techniques, and the travel stand... Its position can be determined using techniques such as triangulation. This type of position... An X-ray diagnostic device equipped with a detection system; from 2D X-ray projection images 5 navigation-assisted projects carried out under 3D reconstruction and X-ray monitoring. "It offers significant advantages in terms of operations." As can be seen, the invention relates to a travel stand for a mobile X-ray diagnostic device. alongside a structure that can provide solutions to the disadvantages mentioned above It does not mention. 10 In conclusion, due to the negative aspects described above and the current solutions, the subject matter... Due to its shortcomings, it has become necessary to make improvements in the relevant technical field. Purpose of the Invention 15 The invention represents a new breakthrough in this field, unlike the structures used in existing technology. The aim is to create a structure with different technical specifications that bring these elements together. The primary purpose of the invention is to create a self-armored 20 without requiring the construction of a special lead-lined chamber. Providing secure viewing inside a modular cabinet and three-dimensional viewing in a standing position. The goal is to develop a portable and scalable system and method capable of performing imaging. One aim of the invention is to reduce unnecessary dose by automated exposure selection specific to the person / object. and to reduce artifacts caused by micro-motion through compensation. The invention applies to humans, pediatric 25 and to operate in mobile clinic and field conditions in veterinary use scenarios It can be configured. Thanks to Artificial Intelligence (AI) based anthropometric dose optimization. It has the ability to autonomously adjust the dose according to the patient's BMI value. One aim of the invention is to make the system useful in both human medicine (especially orthopedic orthopaedic surgery under weight / foot). It is multi-purpose both in diagnosis and in veterinary medicine (in screenings that do not require anesthesia). The aim is to present the hardware and control methods for its use. The invention describes a device that keeps the patient or subject stable during imaging by preventing them from turning. Instead, the imaging components (source and detector) are arranged in a circular pattern around the subject. Robotic gantry mechanisms that move in orbit are used. Independent movement. This eliminates the problem of robotic arms losing calibration over time. It is being lifted. It is rigidly mounted on a circular rail system on the cabin ceiling. The moving gantry mechanism provides mechanical stability. The invention involves measuring the physical properties (volume, mass index) of a subject through optical sensors. Anthropometric dose optimization that autonomously determines radiation levels by scanning. systems are used. The invention detects micro-vibrations on the ground and subject-induced movements, and produces an image. Active vibration damping and stabilization technologies are used to improve its quality. In standing position, involuntary muscle tremors (micro-tremors) improve the diagnostic quality of the patient. This has been identified as the biggest problem causing the downturn. This problem is integrated into the ground platform. Active stabilization is achieved with piezoelectric sensors, and artifacts are reduced by 90-95%. It has been solved by reducing it. 15 The invention is suitable for all types of medical and electronic applications requiring volumetric imaging based on ionizing radiation. It has been developed for use in the technical field. Its main areas of use and related fields are: The sectors are listed below:  Human Medicine and Radiology Sector: Particularly in the field of orthopedics and traumatology, 20 patients' joints, spine and bones in their natural standing position (under weight) It is used in the three-dimensional examination of structures.  Veterinary Medicine Sector: Relieving stress in enclosed gantry environments for domestic and exotic animals. in a remote setting that does not require general anesthesia, in a fixed standing position. It is preferred for performing radiological examinations. 25  Mobile Health Services: Modular and portable structure (demountable panels) Thanks to this, it can pass through standard doorways and does not require a special lead-lined room. The system is suitable for use in temporary field hospitals and mobile screening units.  Pediatric Radiology: Thanks to AI-powered autonomous dose optimization, children Safe scanning at the lowest radiation dose for patients (ALARA principle) 30 It allows it to be done.  Sports Medicine and Physiotherapy: Diagnosis of sports injuries, biomechanical stress with high-resolution and active stabilization support of underlying tissues It allows it to be displayed.  Forensic Medicine and Pathology: Autonomous positioning capability of cadavers or forensic specimens 35 It offers an industrial solution for contactless and fast 3D scanning. 6 To fulfill the purposes described above, the invention is a three-dimensional device in a standing position. It is a system for performing radiographic imaging, and its feature is;  A cabinet body made of modular radiation attenuating panels,  A platform that enables the transport of the living creature to be viewed inside the cabin body, 5  To obtain projection images from different angles around the platform, relatively a detector with a mobile X-ray source,  the orbital motion of the X-ray source and the detector and image acquisition synchronizing control unit and scanning control unit,  Reconstruction / processing that generates three-dimensional volume data from projection images 10 unit,  anthropometric data obtained from at least one optical / distance sensing sensor a dose that automatically determines at least one of the exposure parameters based on optimization module,  Depending on the data obtained from the motion / force sensors integrated into the platform, 15 scheduling image acquisition and / or motion correction during reconstruction stabilization unit that implements It includes. The structural and characteristic features and all the advantages of the invention are given in the figures below and these 20 Thanks to the detailed explanation written with references to the figures, it becomes clearer. This will be understood, and therefore the evaluation should also take these figures and detailed explanations into account. It must be done by taking it. Figures to Help Understand the Invention 25 Figure 1 is a general perspective view of the system. Figure 2 shows the modular panel assembly (detail) and sealing elements with quick-connect structure. It is a representation. Figure 3 shows the placement of the X-ray source and detector on a circular rail, and their positions at 30° angles to each other. It is a representation of its positioning. Figure 4 shows a detailed representation of the X-ray source. Figure 5 shows a detailed illustration of a flat panel detector. Figure 6 shows the placement of the platform's undercarriage motion / force sensors and stabilization unit. It is a representation. 35 Figure 7 shows the positions of the optical / range sensor and the scanning geometry. 7 Figure 8 shows the block diagram of the software and control architecture. Figure 9 illustrates the multi-layered security and interlock scheme. Figure 10 shows a diagram illustrating the clinical application and three-dimensional reconstruction flowchart. The drawings do not necessarily need to be scaled and are sufficient to understand the existing invention. Details that are not present may have been overlooked. Furthermore, at least to a large extent... Elements that are identical or at least have substantially identical functions are numbered the same. It is shown. Description of Part References 10 1. Cabin body 2. Modular panel 2a. Weakening layer 3. Door 15 4. Door lock Platform 6 11, 12. Quick connectors 14. Sealing gasket 16. Cabin ceiling 20 21. Circular rail 26. X-ray source (tube) 30. Detector 30a. Protective cover 30b. Pixel matrix 25 30c. Electronic circuits 30d. Detector housing. 32, 33. Drive motors 34, 35. Position sensors 36. Platform center / rotation axis 30 37. Anode target 40. Scintillation layer 41, 42, 43, 44. Optical / distance sensors 46, 47, 48, 49. Motion / force sensors 50. Stabilization unit 35 52, 69. Emergency stop elements. 8 70. Control unit 82. Anthropometric estimation 83. Dose optimization module 84. Scanning / shooting control unit 85. Reconstruction / processing unit 5 86. Output unit 91. Dose monitoring unit 92. Interlock control unit 93. Emission activation relay 94. Warning / alarm 10 X. X-ray 101. The platform (6) inside the cabin body (1) of the living being, which consists of modular panels (2) positioning it on, 102. Scanning from at least one optical / distance sensor (41-44) and anthropometric 15 data acquisition, 103. Exposure with dose optimization module (83) based on anthropometric data. at least one of the parameters is determined automatically, 104. Relative movement of the X-ray source (26) and the detector (30) around platform (6). During this time, multiple projection 20 by control unit (70) and scan control unit (84) Collecting images, synchronizing orbital motion and image acquisition, 105. Detection and stabilization of micro-movements with motion / force sensors (46-49) Timing and / or numerical correction of image acquisition with unit (50) to be done, 106. Reconstruction / processing unit (85) and three-dimensional volume 25 from projection images. generating data, 107. Reporting / transferring the generated data through the output unit (86). Detailed Description of the Invention In this detailed explanation, the preferred configurations of the invention are not merely for better understanding the subject. in order to facilitate understanding and without imposing any limiting effects It is explained. 9 The invention is a modular radiation attenuator that can be installed without requiring the construction of a special leaded chamber. Multiple projection X-ray images in a standing (weight-bearing) position inside the cabin. It relates to a system and method that produces three-dimensional radiographic images by collecting data. Figure 1 shows a general perspective view of the system. It consists of 5 modular attenuator panels. (2) consisting of the cabin body (1), the platform (6) located inside the cabin and the cabin ceiling It includes the display device which moves on the circular rail (21) located at (16). The imaging device consists of the X-ray source (26) and the detector (30) unit facing each other. positioned so that it enables orbital motion around the central axis (36) of the platform. drive motors (32, 33) (servo motors) and 10 providing position feedback It includes encoder / position sensors (34, 35) (Figure 3). X-ray source (26) and detector (30) will orbital around the central axis (36) of at least 180 degrees. It is structured in this way. It can perform orbital motion up to 360 degrees. The platform (6) has height adjustment capability and is suitable for veterinary limb imaging. It can be used with positioning adapters in this way. 15 The cabin body (1) can be disassembled and transported thanks to modular panels (2) and can be moved in different directions. They can be reassembled in the areas. Quick connectors (11, at the junction of the panels (2, 12) and leakage reduction in connection lines by using sealing gaskets (14). is provided (Figure 2). Lead, tungsten, barium or equivalent high-density 20 Modular panels (2) in sandwich structure containing attenuating layer (2a) are used. The attenuation level can be selected according to the application needs. The attenuating layer (2a) is at least It is selected to provide attenuation of 1 mm Pb equivalent, preferably 2 mm Pb equivalent. It is structured in such a way as to be. Detector (30) (Figure 5) is a flat panel detector; protective cover (30a), scintillation layer (40) and the pixel matrix (30b) and electronic circuits (30c) that make up the image reading unit and It includes sub-components such as the detector body (30d). The system will display 30 with data obtained from optical / distance sensors (41-44) (Figure 7). This data can determine the external surface topology, dimensions, and / or location of the organism. Anthropometric estimation (82) is made by processing the data in the control unit (70). Anthropometric data, volume / circumference measurements of the organism, body segmentation and / or body mass index estimation It includes exposure parameters (kilovoltage, current, pulse rate, etc.) based on this. Integrated time, shooting time, etc.) are automatically selected by the dose optimization module (83) 35 (Figure 8). Dose selection should be in accordance with the ALARA principle to improve target image quality. rules and / or learned patterns for reducing unnecessary doses while providing It can use optical / range sensing sensors (41-44) LiDAR, time-of-flight, stereo It consists of a camera or a combination of these. Age / group for pediatric use. It features low-dose protocols and a cumulative dose monitoring function. Motion / force sensors (46-49) integrated under or on the platform (6) (Figure 6) It can detect micro-vibrations and position changes of the organism. These measurements are used by the stabilization unit. (50) processed by (e.g. frequency domain analysis, timestamped monitoring and (similar to), timing of image acquisition in the scanning control unit (84), decision to retake, motion-sensitive projection selection and / or reconstruction / processing unit (85) stage 10 Digital motion correction can be applied. In the reconstruction / processing unit (85) At least one of the FDK and / or iterative reconstruction algorithms is used. Multiple The number of projected images is determined depending on the application, and the projection Matching angles with position sensor / encoder (34, 35) data scanning / shooting control It is carried out by unit (84). 15 The generated data is reported via the output unit (86). The output unit (86) is DICOM compatible. It generates data and provides transmission via the PACS interface. For security purposes; cabin door / access points door lock (4) depending on emission conditions, 20 emergency stop elements (52, 69), dose monitoring unit (91) and their status together interlock control unit (92) which activates or cuts off the emission by bringing and activation relay (93) can be used (Figure 9). Emission only occurs when interlock conditions are met. is activated; otherwise the system is stopped and a warning / alarm (94) is generated. The steps involved in the process carried out with the system that is the subject of the invention are listed below:  The platform (6) inside the cabin body (1) consisting of modular panels (2) positioning on (101),  Scanning from at least one optical / distance sensor (41-44) and anthropometric data acquisition (102), 30  Exposure with dose optimization module (83) based on anthropometric data at least one of the parameters is determined automatically (103),  Relative movement of the X-ray source (26) and the detector (30) around the platform (6) during this time, multiple by control unit (70) and scan control unit (84) Collection of projection images, orbital motion and image acquisition 35 synchronization (104), 11  Detection and stabilization of micro-movements with motion / force sensors (46-49) Timing and / or numerical correction of image acquisition with unit (50) to be done (105),  Reconstruction / processing unit (85) and three-dimensional volume from projection images production of data (106), 5  Reporting / transferring the generated data through the output unit (86) (107).

Claims

12 REQUESTS 1. It is a system for performing three-dimensional radiographic imaging in a standing position. feature;  A cabin body (1) made of modular radiation attenuating panels (2), 5  Platform (6) that enables the transport of the living creature to be viewed inside the cabin body (1),  To obtain projection images from different angles around the platform (6) an X-ray source (26) and a detector (30) that can perform relative motion,  orbital motion of the X-ray source (26) and detector (30) and image Synchronizing the acquisition control unit (70) and scanning control unit (84), 10  Reconstruction / processing that generates three-dimensional volume data from projection images unit (85),  anthropometric data obtained from at least one optical / distance sensor (41-44) a dose that automatically determines at least one of the exposure parameters based on optimization module (83), 15  based on data obtained from motion / force sensors integrated into the platform (46-49) timing image acquisition and / or movement during reconstruction stabilization unit that applies correction (50) It includes.

2. A system conforming to Claim 1, characterized by its use of lead, tungsten, barium, or equivalent high-grade materials. modular panels in sandwich structure containing a high-density attenuator layer (2a) (2) It includes.

3. The system is compliant with Claim 2 and its characteristic is that it will provide at least 1 mm Pb equivalent attenuation. attenuator layer selected as shown, preferably with 2 mm Pb equivalent (2a) It includes.

4. The system is compliant with Claim 1 and its feature is that it will reduce leakage at the connection lines of the panels (2). Quick connectors (11,12) and sealing gaskets (14) configured in this way 30 It includes.

5. The system complies with Claim 1, and its characteristic is that it operates according to emission conditions at the cabin access point. It includes an electromagnetic door lock (4). 35 13 6. The system is compliant with Claim 1 and its feature is a circular rail mounted on the ceiling of the cabin (16). (21) built-in X-ray source (26) and detector (30) to move on It includes.

7. The system conforms to Claim 1 and its characteristic is that the drive unit consists of drive motors / servo motors (32, 5 33) and encoders / position sensors that provide position feedback (34, 35) It includes.

8. The system is compliant with Claim 1 and its feature is that it rotates at least 180° around the platform center axis (36). X-ray source (26) configured to make orbital motion of 10 degrees It contains detector (30).

9. The system is compliant with claim 8 and its feature is that it rotates 360 degrees around the platform center axis (36). X-ray source (26) and detector (30) configured to perform orbital motion It includes. 15 10. A system that complies with Claim 1, and whose feature is; the number of multiple projection images. Determined depending on the application, and projection angles and position sensors / It includes a scan / shoot control unit (84) that matches the encoder (34, 35) data.

11. The system is compliant with Claim 1, and its feature is that the detector (30) is a flat panel detector. It contains a scintillation layer (40).

12. A system that complies with Claim 1 and features LiDAR, time-of-flight, stereo camera or combinations thereof. It contains optical / range sensing sensors (41-44) consisting of a combination of 25.

13. The system conforms to Claim 1, and its characteristics include: volume / circumference measurements of the organism, body size. anthropometric data including segmentation and / or body mass index estimation It includes.

14. A system that complies with Claim 1, characterized by its rule-based protocols and / or machine learning. using a learning model to measure kilovoltage, current, pulse rate and / or shooting duration. It includes a dose optimization module (83) that specifies at least one of its parameters.

15. The system complies with Claim 1, and its characteristic is; age / group based low dose 35 for pediatric use. It includes protocols and a cumulative dose monitoring function. 14 16. The system conforming to Claim 1, and characterized by its piezoelectric, accelerometer, load cell or combination thereof. It includes motion / force sensors (46-49) consisting of a combination.

17. The system complies with Claim 1 and its feature is that it generates image 5 based on motion detection data. scheduling the acquisition, selecting the projection, making repeat shooting decisions and / or Stabilization unit that applies digital motion correction during reconstruction phase (50) is included.

18. The system complies with Claim 1, and its feature is; height adjustment and veterinary limb 10 platform that can be used with positioning adapters suitable for viewing (6) It includes.

19. The system complies with Claim 1, and its feature is; FDK and / or iterative reconstruction. It includes a reconstruction / processing unit (85) that uses at least one of the algorithms. 15 20. It is a system compliant with Claim 1, characterized by its ability to generate DICOM-compliant data and its PACS interface. It contains an output unit (86) that provides transfer.

21. The system complies with Claim 1 and its features include: emergency stop element (52, 69), dose monitoring unit 20. (91) and emission by interlock control unit (92) It includes a security chain that enables / disables it.

22. It is a method for performing three-dimensional radiographic imaging in a standing position. Feature; 25  The platform (6) inside the cabin body (1) consisting of modular panels (2) positioning on (101),  Scanning from at least one optical / distance sensor (41-44) and anthropometric data acquisition (102),  Exposure 30 with dose optimization module (83) based on anthropometric data at least one of the parameters is determined automatically (103),  Relative movement of the X-ray source (26) and the detector (30) around the platform (6) during this time, multiple by control unit (70) and scan control unit (84) Collection of projection images, orbital motion and image acquisition synchronization (104), 35  Detection and stabilization of micro-movements with motion / force sensors (46-49) Timing and / or numerical correction of image acquisition with unit (50) to be done (105),  Reconstruction / processing unit (85) and three-dimensional volume from projection images production of data (106), 5  Reporting / transferring the generated data through the output unit (86) (107) It includes the steps of the process.

23. This method complies with Claim 22 and its characteristic feature is that it involves collecting projections during the process. Associated angle information with each projection using encoder / position sensors (34, 35) 10 It includes the process step.

24. The method is in accordance with Claim 22, and its characteristic is that the reconstruction is performed using FDK and / or iterative methods. This involves performing the process using at least one of the reconstruction algorithms.

Images