Multimodal system for obtaining senological images by means of x- ray and ultrasound techniques

Abstract

The present invention relates to a Multimodal system for obtaining senological images by means of X-ray and ultrasound techniques. Said multimodal system comprises: a body (1 ), an arm (2) comprising a supporting plane (21 ), an X-ray detector (3), an ultrasound device (4), at least one displaying device (5) for displaying images, a control unit (6) configured to acquire one or more images from said X-ray detector (X) and one or more images from said ultrasound device (4), and send the acquired images to said displaying device (5), and power supplying means (7) for powering said X-ray detector (3), said ultrasound device (4), said displaying device (5) and said control unit (6). The arm (2) is a C-shaped arm and is connected to said body (1 ) through a supporting device (20) which allows the arm (2) to rotate in space and occupy different positions in a stable manner.

Description

[0001] Multimodal system for obtaining senological images by means of X- ray and ultrasound techniques

[0002] The present invention relates to a multimodal system for obtaining senological images by means of X-ray and ultrasound techniques.

[0003] More specifically, the present invention relates to the structure of a multimodal system comprising inside an X-ray detector for obtaining X-ray images and an ultrasound device for obtaining ultrasound images.

[0004] Multimodal system means a system for breast diagnosis capable of revealing lesions through one or more images of the breast itself, such as for example X-ray images, ultrasound images or images obtained from the combination of one or more X-ray images and one or more ultrasound images.

[0005] These images can also be used for breast biopsy.

[0006] The X-ray detector comprises an emission unit for emitting X-rays and a receiving unit for receiving said X-rays.

[0007] The receiving unit comprises a sensitive area capable of capturing X- rays and is configured to obtain at least a first image of the breast starting from the X-rays emitted by said emission unit and captured by said sensitive area.

[0008] The emission unit is positioned in such a way that, when in use, said X-rays impact on said area of said receiving unit, passing through the breast.

[0009] The ultrasound device is configured to obtain one or more ultrasound images of the breast.

[0010] Said ultrasound device comprises at least one probe and said probe comprises:

[0011] - an emitter for emitting an ultrasound signal towards a breast, and

[0012] - a receiver for receiving an ultrasound signal reflected from said breast. The multimodal system comprises a body and a C-shaped arm connected to said body through a supporting device that allows said arm to move relative to the body to reach different positions in space, without being subject to oscillations and bending.

[0013] Furthermore, said multimodal system comprises a control unit, connected to the X-ray detector and configured to receive and process at least a first image of the breast, as well as connected to the ultrasound device and configured to receive and process at least a second image of the breast.

[0014] In particular, the control unit is configured to process said at least one first image in order to obtain at least one further first image or X-ray image used for breast diagnosis and to process said at least one second image in order to obtain at least one further second image or ultrasound image used for breast diagnosis.

[0015] Both the images obtained through the X-ray detector and the images obtained through the ultrasound device are called pre-images images, and starting from such pre-processing images it is possible to obtain, through a processing of known type, respective further images, called post-processing images.

[0016] In particular, the pre-processing images are in a first format, for example in RAW format, and the post-processing images are in a second format, different from the first format, for example in DCM format.

[0017] Furthermore, in the context of multimodal systems, the existence of software for obtaining an image of the breast as a combination of at least one X-ray image and at least one ultrasound image is known.

[0018] Said software also allows the spatial coordinates of a tumor lesion or a suspicious tissue area to be obtained, starting from X-ray images or ultrasound images or from a combination of these images.

[0019] Prior art

[0020] Currently, mammography equipment for obtaining X-ray images and ultrasound equipment for obtaining ultrasound images for performing breast diagnosis are known.

[0021] For young women, breast exams are ultrasound tests.

[0022] Upon reaching a certain age, breast exams are radiological exams, and consequently mammographic exams are necessary.

[0023] Once this age is exceeded, the ultrasound exam is used to complete the mammographic exam and / or in case of assessment.

[0024] In general, mammography equipment is used to monitor fatty or low- density breasts, and ultrasound equipment is used to monitor high-density breasts.

[0025] Mammography equipment and ultrasound equipment are different and independent equipment.

[0026] In cases where it is necessary for a woman to perform both a mammographic exam and an ultrasound exam, both mammographic and ultrasound equipment must be used.

[0027] A mammography machine and an ultrasound machine are equipped with a respective body, a respective processing device, respective power supply means, a respective display device and a respective user interface module.

[0028] A first disadvantage is given by the need to use two different devices (i.e. a mammographic equipment and an ultrasound equipment) to obtain both X-ray images and ultrasound images, with the resulting manufacturing and maintenance costs.

[0029] A second disadvantage is given by the bulk due to the need to have two equipment to obtain X-ray images and ultrasound images respectively.

[0030] A third disadvantage is energy consumption due to the use of two equipment.

[0031] Furthermore, often, mammography equipment and ultrasound equipment are positioned in different places.

[0032] Consequently, a woman who needs to undergo both a mammographic exam and an ultrasound exam suffers a double stress: a first stress due to waiting before the mammographic exam and a second stress due to waiting before the ultrasound exam.

[0033] As already mentioned, an ultrasound exam is performed only on patients whose age is higher than a predetermined age and / or in case of need (i.e. to investigate the results of the mammographic exam). Failure to perform an ultrasound exam (which among other things has no side effects since no ionizing radiation is emitted) reduces the effectiveness of the diagnosis.

[0034] There is therefore a need in the breast diagnosis equipment sector for a multimodal system capable of performing a breast exam both through X- rays and ultrasound.

[0035] Aim of the invention

[0036] The aim of the present invention is to overcome said disadvantages, providing a multimodal system, designed to obtain both X-ray images and ultrasound images, which has a reduced bulk.

[0037] A further aim of the present invention is to provide a multimodal system comprising a body and an arm shaped with a “C” shape which is stable not only during rotation in space with respect to the body but also in the different positions that it can reach following its rotation.

[0038] Advantageously, the structure of the multimodal system prevents said arm from being subject to oscillations and bending when it rotates and when it is in any position.

[0039] Object of the invention

[0040] It is therefore object of the invention a multimodal system for obtaining senological images through X-rays and ultrasound techniques, according to claim 1.

[0041] Further preferred embodiments are described in the dependent claims.

[0042] Attached figure list The present invention will be now described, for illustrative, but not limitative purposes, according to its embodiments, making particular reference to the enclosed figures, wherein:

[0043] Figure 1 is a first perspective view of the multimodal system, object of the invention, comprising a body, a C-shaped arm, a supporting device for said C-shaped arm, in which said C-shaped arm is slidably coupled to said supporting device and is in a first position with respect to said supporting device;

[0044] Figure 2 is a second perspective view of the multimodal system of Figure 1 ;

[0045] Figure 3 is a side view of the multimodal system, object of the invention, in which the C-shaped arm is in a first position with respect to said supporting device;

[0046] Figure 4 is a side view of the multimodal system, object of the invention, in which the C-shaped arm is in a second position with respect to said supporting device;

[0047] Figure 5 is a top view of the multimodal system, object of the invention, in which the C-shaped arm is in a third position;

[0048] Figure 6 is a side view of the multimodal system, object of the invention, in which the C-shaped arm is in a third position;

[0049] Figure 7 is a first schematic view showing the structure of the C- shaped arm and the structure of the supporting device;

[0050] Figure 8 is a second schematic view showing the structure of the C- shaped arm and the structure of the supporting device;

[0051] Figure 9 is a third schematic view showing the structure of the C- shaped arm and the structure of the supporting device;

[0052] Figure 10 is a first view showing a detail concerning the structure of a slider which allows the C-shaped arm to be rotated from the first position to the second position and vice versa with respect to the supporting device;

[0053] Figure 11 is a second view showing a detail referring to the structure of a slider which allows the C-shaped arm to be rotated from the first position to the second position and vice versa with respect to the supporting device;

[0054] Figure 12 is a first view of the slider of Figure 7 from which parts have been removed;

[0055] Figure 13 is a second view of the slider of Figure 7 from which parts have been removed;

[0056] Figure 14 is a schematic view of the structure of the supporting device, from which parts have been removed;

[0057] Figure 15 is a first schematic view of two end portions of the supporting device, on each of which a respective plate provided with a plurality of wheels is coupled;

[0058] Figure 16 is a second schematic view of two end portions of the supporting device, onto which a first plate is coupled;

[0059] Figure 17 shows a variant of the multimodal system, in which said multimodal system comprises a bed.

[0060] Detailed description of the invention

[0061] With reference to Figures 1 -5, a multimodal system for obtaining senological images through X-ray and ultrasound techniques is described.

[0062] Said multimodal system comprises:

[0063] - a body 1 ;

[0064] - a arm 2 shaped with a “C” shape comprising: a first end portion 2A and a second end portion 2B, opposite to said first end portion 2A, a supporting plane 21 for the breast, arranged at said second end portion 2B of said arm 2, a compressor 22 to compress said breast on said supporting plane 21 ,

[0065] - an X ray detector 3 for obtaining one or more X ray images comprising: an emission unit 3A for emitting X-rays, arranged at said first end portion 2A of said arm 2, a receiving unit 3B to receive said X-rays arranged below said supporting plane 21 ,

[0066] - an ultrasound device 4 for obtaining one or more ultrasound images, wherein said ultrasound device comprises a probe 40 comprising: an emitter 4A for emitting an ultrasound signal towards a breast, and a receiver 4B for receiving an ultrasound signal reflected from said breast.

[0067] Said multimodal system further comprises:

[0068] - at least one displaying device 5 for displaying X-ray images and ultrasound images,

[0069] - a control unit 6, connected to said X-ray detector 3, to said ultrasound device 4, and said displaying device 5, and configured to: o acquire one or more images from said X-ray detector 3, and send said images to said displaying device 5, and o acquire one or more images from said ultrasound device 4, and send said images to said displaying device 5, and

[0070] - power supplying means 7 for powering at least said X-ray detector 3, said ultrasound device 4, said displaying device 5 and said control unit 6.

[0071] With reference to the body 1 , said body 1 has a longitudinal axis A and is rotatable around said longitudinal axis A.

[0072] Furthermore, said body 1 is provided with guide means (not shown) to move said arm 2 in height with respect to said body 1 along a parallel axis to said longitudinal axis A.

[0073] Advantageously, the arm 2 can be raised and lowered with respect to said body 1 based on the height of a woman.

[0074] Said guide means are guide means of known type and can be manual or motorized.

[0075] In the example described, said guide means are motorized.

[0076] Furthermore, the control unit 6 can be configured to send a signal to said guiding means to raise or lower said arm 2 and said guiding means are configured to receive said signal. With reference to the arm 2, said arm 2 is connected to said body 1 through a supporting device 2, described later.

[0077] Said supporting device 20 is integral with said body, so that, when the body rotates around its longitudinal A, said arm rotates together with said body 2.

[0078] In other words, the body 1 can rotate on itself through an angle equal to 360°.

[0079] Consequently, also the arm 2 can rotate through an angle equal to 360°.

[0080] Furthermore, the arm 2 is slidably coupled to said supporting device 20 in a such way that said arm 2 is movable between:

[0081] - a first position, in which the first end portion 2A and the second end portion 2B of said arm 2 are positioned along a first axis B1 , parallel to said longitudinal axis A, and arranged on a first plane (for example Figure 3), and

[0082] - a second position, in which the first end portion 2A and the second end portion 2B of said arm 2 are positioned along a second axis B2 perpendicular to said longitudinal axis A and arranged on a second plane, perpendicular to said first plane (Figure 4).

[0083] With reference to the X-ray detector 3, as said above, said X-ray detector 3 comprises an emission unit 3A for emitting X-rays, arranged inside the first end portion 2A of the arm 2, and a receiving unit 3B for receiving the X-rays emitted from said emission unit 3A, arranges inside the second end portion 2B of the arm 2, below the supporting plane 21 for the breast.

[0084] The receiving unit 3B comprises an area configured to capture said X- rays and for obtaining at least a first image of the breast starting from said X-rays captured by said area.

[0085] With reference to the ultrasound device 4, as said above, said ultrasound device 4 comprises a probe 40 shown in Figure 2.

[0086] In the example that is described, said probe 40 is coupled with said body 1 in a removable manner.

[0087] In particular, in the example that is described, said probe 40 is positioned on a wall of the body 1 .

[0088] The probe 40 comprises an emitter 4A for emitting an ultrasound signal towards the breast to be examined, and a receiver 4B for receiving an ultrasound signal reflected by said breast.

[0089] It is possible to obtain at least a second image of the breast starting from a signal reflected by the breast.

[0090] With reference to at least one displaying device 5 for displaying X-rays images and ultrasound images, said at least one displaying device 5 comprises a display.

[0091] In the example that is described, the multimodal system comprises a plurality of displaying devices 5.

[0092] In particular, said multimodal system comprises two displaying devices 5.

[0093] In the example that is described, said displaying devices 5 are arranged next to each other. In particular, said displaying devices 5 are connected to each other through first connecting means and to the body 1 through second connecting means.

[0094] Said first connecting means comprise a first arm 51 comprising a first end and a second end, each of which is connected to a respective displaying device 5.

[0095] Said second connecting means comprises a second arm 52 connected to the first arm 51 and to the body 1 .

[0096] In particular, the second arm 52 comprises a first end and a second end connected to each other by a joint, so that said second arm 52 can be orientated in space.

[0097] The second arm B2 is connected to the first arm 51 in such a way as to move said displaying devices 5 in more than one direction in space and is connected to the body 1 in such a way as to rotate around the longitudinal axis A of the body 1 .

[0098] Said first connecting means and said connecting means are shown in Figures 2 and 5.

[0099] The rotation of said second arm B2 causes the rotation of said displaying devices 5.

[0100] In this way, the operator can position the two displaying devices 5 according to needs.

[0101] The presence of two displaying devices 5 allows a different image to be displayed on each of said two displaying devices 5.

[0102] With reference to the control unit 6, said control unit 6 is configured to acquire one or more images from said X-ray detector 3 and one or more images from said ultrasound device 4, and send said images to said at least one displaying device 5.

[0103] Furthermore, the control unit 6 can be configured to send a control signal to the arm 2 to rotate said arm 2 in one of the possible positions described above and in one or more further positions described below.

[0104] In Figures 1 to 6, the control unit 6 is depicted for convenience outside the body 1 of the multimodal system.

[0105] However, in the example that is described, said control unit 6 is inside the body 1 of the multimodal system.

[0106] With reference to the power supplying means 7, said power supplying means power at least said X-ray detector 3, said ultrasound device 4, said displaying device 5 and said control unit 6.

[0107] Said power supplying means allow an electrical network to be connected to said multimodal system.

[0108] Returning to the supporting device 20, said supporting device 20 is coupled to said body 1 through a coupling element 23 shown in Figure 4.

[0109] Said coupling element 23 is couplable to a rotation device (not shown) to rotate the arm 2, arrange inside the body 1 .

[0110] Said rotation device is a motorized rotation device. The coupling element 23 has an axis C perpendicular to the longitudinal axis A of the body 1 .

[0111] Consequently, the arm 2 is connected to the body 1 through the supporting device 20 (i.e. through said coupling element) in such a way as to rotate with respect to the body 1 around said axis C between said first position and a third position, in which the end portions of said arm 2 are positioned along a third axis B3 perpendicular to said longitudinal axis A and to said second axis B2, and arranged on said second plane (figures 5 and 6).

[0112] In other words, the arm 2 can rotate at least an angle equal to 90° around said axis C.

[0113] The control unit 6 can be configured to send a signal to said rotation device to rotate said arm 2 between said first position and said third position.

[0114] As can be seen in Figures 7 to 9, the supporting device 20 comprises a structure shaped according to a circumferential arc.

[0115] In the example that is described, said circumferential arc subtends an angle equal to or substantially equal to 90°.

[0116] Consequently, each profile and each guide, which are part of the supporting device 20 and are described below, have a respective shape shaped according to a circumferential arc whose length subtends an angle equal to or substantially equal to 90°.

[0117] The structure of the supporting device 20 comprises a first end portion and a second end portion.

[0118] The coupling element 23 is arranged at said first end portion of said supporting device 20.

[0119] The structure of the supporting device 20 comprises a first profile 201 and a second profile 20V.

[0120] Said first profile 201 and said second profile 20V are parallel to each other.

[0121] The structure of the supporting device 20 further comprises a first guide 211 external to the first profile 201 and a second guide 21 T external to the second profile 20V.

[0122] Each guide 211 , 211 ’ comprises a respective first end and a respective second end.

[0123] Furthermore, said supporting device 20 comprises a slider 200 integral with said arm 2 and slidably coupled to each of said guides, i.e. to the first guide 211 and to the second guide 21 T.

[0124] Said slider 200 is movable between a first position, in which said slider 200 is positioned at the first end of each of said guides 211 , 21 T, and a second position, in which said cursor 200 is positioned at the second end of each of said guides 211 , 21 T, so that, when said slider 200 is in said first position, said arm 2 is in said first position, and, when said slider 200 is in said second position, said arm 2 is in said second position.

[0125] In other words, the movement of the slider 200 along the two guides 211 , 21 T from the first position to the second position causes the sliding of the arm 2 on the supporting device 20 from the first position to the second position, and the movement of the slider 200 along the two guides from the second position to the first position causes the sliding of the arm 2 from the second position to the first position.

[0126] Advantageously, the presence of a double guide (i.e. the presence of a first guide 211 and a second guide 211 ’) and the fact that the structure of the supporting device 20 is shaped according to a circumferential arc that subtends an angle equal to or substantially equal to 90°, makes the structure of the supporting device 20 robust and reliable.

[0127] Also the presence of the slider 200 movable on the two guides 211 , 21 T and integral with the arm 2 further contributes to making said arm 2 stable in each position.

[0128] In fact, this structure prevents the arm 2 from being subject to oscillations and bending during any movement in space.

[0129] In particular, with reference to the sliding of the slider 200 on the two guides 211 , 211 ' between a first position and a second position (which consequently causes the movement of the arm 2, integral with said slider 200) and to the positions that the arm 2 can occupy, the aforementioned structure prevents the arm 2 from being subject to oscillations and bending not only during the sliding of the slider 200, but also when the arm 2 is in its first position or in its second position.

[0130] It is important that said first position and said second position of the arm 2 are stable positions. Any oscillation and / or bending of the arm 2, for example following an accidental collision with an operator, can cause an error in the breast image obtained by the multimodal system in use.

[0131] In particular, the fact that arm 2 is stable in its second position is a crucial aspect when performing a breast biopsy, when a patient lies on a bed (which can be part of the multimodal system as described later) in the prone position.

[0132] Thanks to the stability of the arm 2 in its second position, an operator can perform a breast biopsy on a portion of the patient's breast correctly and easily.

[0133] The structure of the supporting device 20 allows the arm 2 to have a stable position even when said arm 2 is in the third position (following the rotation of the arm itself around the axis C with respect to the body 1 ).

[0134] In the example that is described, as shown in Figures 12 and 13, said supporting device 20 comprises: a first toothed belt 221 arranged on a first surface of said first profile 201 , a first belt tensioning device 231 comprising: a first toothed wheel 231 A sliding on said first surface of said first profile 201 and placed between said first toothed belt 221 and said first surface of said first profile 201 , and at least one second toothed wheel 231 B engaged with said first toothed belt 221 .

[0135] In the example that is described, the first toothed belt 221 comprises a first end portion and a second end portion.

[0136] The first end portion of the first toothed belt 221 is blocked on a first end portion of the first surface of said first profile 201 by a blocking device 2011 for blocking the first end portion of the first toothed belt 221 on said first surface of said first profile 201 .

[0137] The second end portion of the first toothed belt 221 is blocked on a second end portion of the first surface of said first profile 201 by an adjusting and blocking device 2012 to adjust the tension of said first toothed belt 221 and to block the second end portion of the first toothed belt 221 on said first surface of said first profile 201 .

[0138] Furthermore, in the example that is described, said first belt tensioning device 231 comprises a third toothed wheel 231 C.

[0139] In particular, in the example that is described, the first toothed wheel 231 A is arranged between the second toothed wheel 231 B and the third toothed wheel 231 C.

[0140] Furthermore, said supporting device 20 further comprises: a second toothed belt 22T arranged on a first surface of said second profile 20T, a second belt tensioning device 23T comprising: a further first toothed wheel 231 A’ sliding on said first surface of said second profile 20T and placed between said second toothed belt 22T and said first surface of said second profile 20T, and at least one further second toothed wheel 231 B’ engaged with said second toothed belt 22T.

[0141] In the example that is described, the second toothed belt 22T comprises a first end portion and a second end portion.

[0142] The first end portion of the second toothed belt 22T is blocked on a first end portion of the first surface of said second profile 20T by a further blocking device 2011 ’ for blocking the first end portion of the second toothed belt 22T on said first surface of said second profile 20V. The second end portion of the second toothed belt 22T is blocked on a second end portion of the first surface of said second profile 20T by a further adjusting and blocking device 2012’ to adjust the tension of said second toothed belt 22 T and to block the second end portion of the second toothed belt 22T on said first surface of said second profile 20V.

[0143] Furthermore, in the example that is described, said second belt tensioning device 23V comprises a further third toothed wheel 231 C’.

[0144] In particular, in the example that is described, the further first toothed wheel 231 A’ is arranged between the further second toothed wheel 231 B’ and the further third toothed wheel 231 C’.

[0145] Returning to the slider 200, said slider 200 is shaped to surround a respective portion of each of said two guides 211 , 211 '.

[0146] During the sliding of the slider 200 on the two guides 211 , 211 ' from its first position to its second position and vice versa, a respective portion of each of said guides 211 , 21 T is inside the slider 200.

[0147] Advantageously, thanks to the shape of the slider 200, the arm 2 is stable both when it moves from its first position to its second position and vice versa, following the movement of the slider 200 on the two guides 211 ,211 ', and when it occupies said first position or said second position.

[0148] Furthermore, as shown in Figures 10 and 11 , said slider 200 comprises:

[0149] - a first wall 210, on which a first group of pulleys is arranged, and

[0150] - a second wall 210’, on which a second group of pulleys is arranged, wherein said second wall 210’ faces said first wall 210.

[0151] In particular, the first group of pulleys is arranged on a first surface 210A of the first wall 210, which is the external surface of said first wall 210, and comprises a first driving pulley 203 and at least one first driven pulley 204.

[0152] Said first driving pulley 203 and said first driven pulley 204 are connected to each other through a first transmission belt 206, so that, when said first driving pulley 203 rotates, said first driven pulley 204 rotates.

[0153] The second group of pulleys is arranged on a first surface 210A’ of the second wall 21 O’, which is the external surface of said second wall 21 O’, and comprises a second driving pulley 203’ and at least a second driven pulley 204’.

[0154] Said second driving pulley 203’ and said second driven pulley 204’ are connected to each other through a second transmission belt 206’, so that, when said second driving pulley 203’ rotates, said second driven pulley 204’ rotates.

[0155] Each pulley of the first group of pulleys arranged on the external surface 210A of the first wall 210 is arranged in a position mirroring the position of a respective pulley of the second group of pulleys arranged on the external surface 210A of the second wall 210'.

[0156] Consequently, the first driving pulley 203 of the first group of pulleys is in a position mirroring the position of the second driving pulley 203’ of the second group of pulleys and the first driven pulley 204 of the first group of pulleys is in a position mirroring the position of the second driven pulley 204’ of the second group of pulleys.

[0157] Furthermore, said slider 200 comprises:

[0158] - a first shaft 2001 on which said first driving pulley 203 and said second driving pulley 203’ are arranged and rotate with said first shaft 2001 , and

[0159] - a second shaft 2002 on which said first toothed wheel 231 A of said first belt tensioner device 231 , said first driven pulley 204, said further first toothed wheel 231A’ of said second belt tensioning device 23T, and said second driven pulley 204’ are arranged and rotate with said second shaft 2002.

[0160] The supporting device 20 comprises a servo-gear motor 2000 for rotating said first shaft 2001 .

[0161] Said servo-gear motor 2000 is depicted schematically in Figures 7, 10 and 11. Said control unit 6 is configured to send a control signal to said servogear motor 2000 for rotating said arm 2 with respect to said body 1 between said first position and said second position.

[0162] In other words, said servo-gear motor 2000 is controlled by the control unit 6.

[0163] Consequently, the rotation of the arm 2 between the first position and second position is controlled by the control unit 6.

[0164] In particular, said control unit 6 is configured to send a control signal to said servo-gearmotor 2000 to rotate said arm 2 with respect to said body 1 between said first position and said second position and said servogearmotor 2000 is configured to receive said signal sent by said control unit 6.

[0165] With reference to the first shaft 2001 , the rotation of said first shaft 2001 in a direction causes the rotation of said first driving pulley 203 and the rotation of said second driving pulley 203’ in the same direction.

[0166] The rotation of said first driving pulley 203 and the rotation of said second driving pulley 203’ respectively cause the rotation of said first driven pulley 204 and the rotation of said second driven pulley 204’ in said direction.

[0167] The rotation of said first driven pulley 204 and the rotation of said second driven pulley 204’ cause the rotation of said second shaft 2002 in the same direction.

[0168] The rotation of said second shaft 2002 causes the sliding of the first toothed wheel 231 A of the first belt tensioning device 231 on the first surface of the first profile 201 and the sliding of the further first toothed wheel 231 A’ of the second belt tensioning device 23T on the first surface of the second profile 20 T.

[0169] In other words, the servo-gearmotor 2000 (controlled by the control unit 6) rotates the first shaft 2001 and the rotation of the first shaft 2001 causes the rotation of the first driving pulley 203 and the rotation of the second driving pulley 203’.

[0170] The rotation of the first driving pulley 203 is transmitted to the first driven pulley 204, through the first transmission belt 206, and the rotation of the second driving pulley 203’ is transmitted to the second driven pulley 204’ through the second transmission belt 206’.

[0171] The rotation of the first driven pulley 204 and the rotation of the second driven pulley 204’ cause the rotation of the second shaft 2002.

[0172] Since the first toothed wheel 231 A of the first belt tensioning device 231 and the further first toothed wheel 231 A’ of the second belt tensioning device 23T are rotating with said second shaft 2002, the rotation of the second shaft 2002 causes the rotation of said first toothed wheel 231 A on the first surface of the first profile 201 , so as to tension the first toothed belt 221 , and the rotation of said further first toothed wheel 231 A’ on the first surface of the second profile 20T, so as to tension the second toothed belt 221 ’.

[0173] In an embodiment not shown, said slider 200 can comprise two belt tensioning devices and only a first group of pulleys arranged on the first wall 210.

[0174] In said embodiment not shown, the rotation of the first shaft 2001 in a direction causes the rotation of the first driving pulley 203 in the same direction.

[0175] The rotation of the first driving pulley 203 causes the rotation of the first driven pulley 204 in said direction.

[0176] The rotation of the first driven pulley 204 causes the rotation of the second shaft 2002 in the same direction.

[0177] The rotation of the second shaft 2002 causes the sliding of the first toothed wheel 231 A of the first belt tensioning device 231 on the first surface of the first profile 201 and the sliding of the further first toothed wheel 231 A’ of the second belt tensioning device 23T on the first surface of the second profile 20 T. In other words, the presence of the second group of pulleys is not necessary.

[0178] However, advantageously, the presence of the first group of pulleys and the second group of pulleys offers the multimodal system a higher level of safety and a degree of stability than the presence of a single group of pulleys.

[0179] As shown in Figures 12 and 13, said slider 200 comprises:

[0180] - a first group of wheels Rn,Ri2,... RIN comprising a plurality of wheels R11 , R12, . . . RIN sliding on a first surface of said first guide 211 , and

[0181] - a second group of wheels R2i,R22,... R2N comprising a plurality of wheels R2i , R22, ... R2N sliding on a second surface of said first guide 211 , opposite to said first surface of said first guide 211 .

[0182] The presence of said first group of wheels Rn,Ri2, ... RIN and of said second group of wheels R2i,R22, ... R2N contributes from a mechanical point of view to increasing stability of the position of the slider 200 with respect to the structure of the supporting device 20.

[0183] In particular, each wheel of said first group of wheels Rn,Ri2, ... RI N is a wheel with groove, and each wheel of said second group of wheels R21 , R22, ... R2N is a wheel with groove.

[0184] The fact that the wheels of the first group of wheels Rn,Ri2, ... RI N and the wheels of the second group of wheels R2i , R22, ... R2N are wheels with groove allows the slider 200 to slide in a stable manner along the structure of the supporting device 2.

[0185] Furthermore, said slider 200 comprises:

[0186] - a further first group of wheels R11’, R12’, . . . R1 N’ comprising a plurality of wheels R11’, R12’, . . . RI N’ sliding on a first surface of said second guide 21 T, and

[0187] - a further second group of wheels R2i ’, R22’, ... R2N comprising a plurality of wheels R2i’, R22’, ... R2N sliding on a second surface of said second guide 21 T, opposite to said first surface of said second guide 21 T. The presence of said further first group of wheels RH’, RI2 , ... RIN’ and of said second group of wheels R2I’, R22 , ... R2N’ contributes from a mechanical point of view to further increasing the stability of the position of the slider 200 with respect to the structure of the supporting device 20.

[0188] In particular, each wheel of said further first group of wheels R11 ,Ri2 , ... RIN is a wheel with groove, and each wheel of said second group of wheels R2i’,R22 ,... R2N’ is a wheel with groove.

[0189] The fact that the wheels of the further first group of wheels Rn ,Ri2 , ... RIN and the wheels of the further second group of wheels R21 , R22 , ... R2N are wheels with groove allows the slider 200 to slide in a stable manner along the structure of the supporting device 2.

[0190] Said supporting device 20, as shown in Figures 15 and 16, comprises:

[0191] - a first plate 2021 connected to said second end portion of said first profile 201 , in which a plurality of first wheels n,r2,... rN is arranged on a first surface of said first plate 2021 , and

[0192] - a second plate 202 T connected to said second end portion of said second profile 20T, in which a plurality of second wheels n’,r2 ,... rN’ is arranged on a first surface of said second plate 2021’.

[0193] The first plate 2021 comprises a first surface 20211 facing outside the supporting device 20 and a second surface 20212.

[0194] The second plate 202V comprises a first surface 2021 T facing the outside of the supporting device 20 and a second surface 20212.

[0195] The plates are arranged in such a way that the second surface 20212 of the first plate 2021 faces the second surface 20212’ of the second plate 2021 ’.

[0196] The first wheels of said plurality of first wheels n,r2,... rN are spaced apart from each other and arranged in succession along a portion of the first surface 20211 of the first plate 2021 .

[0197] Each wheel of said plurality of first wheels n,r2,... rN rotates around a respective axis perpendicular to said first plate 2021 . The second wheels of said plurality of second wheels n’,r2 , ... rN’ are spaced apart from each other and arranged in succession along a portion of the first surface 20211 ’ of the second plate 202V.

[0198] Each wheel of said plurality of second wheels n’,r2 , ... rN’ rotates around a respective further axis perpendicular to said second plate 202V.

[0199] Furthermore, each first wheel n,r2,... rN of said plurality of first wheels ri ,T2, ... TN arranged on the first plate 2021 is in a mirror position to the position of a respective second wheel n’,r2 , ... rN’ of said plurality of second wheels ri’,r2 , ... TN’ arranged on the second plate 202V.

[0200] Advantageously, the presence of each plate 2021 , 202V at a respective end portion of a respective profile 2021 , 202V contributes to greater stability of the arm 2 when said arm 2 is in its first position.

[0201] Furthermore, the presence of a plurality of first wheels n,r2,... rN and a plurality of second wheels n’,r2 ,... rN’ increases the stability of the arm 2 when the latter is in the first position and in the second position.

[0202] Furthermore, the first plate 2021 is provided with a first opening 2021 A and the second plate 202V is provided with a second opening 2021 A’.

[0203] The first opening 2021 A of the first plate 2021 is in a mirror position to the position of the second opening 2021 A’ of the second plate 202V.

[0204] The supporting device 20 comprises a wheel Ri arranged on a plane substantially perpendicular to the external surface 210A of said first plate 2021 , at said first opening, such that a portion of said wheel Ri protrudes with respect to said external surface 210A of said first plate 2021 .

[0205] The supporting device 20 comprises a further wheel Ri’ arranged on a further plane substantially perpendicular to the external surface 210A’ of said second plate 202V, at said second opening 2021 A’, such that a portion of said further wheel Ri’ protrudes with respect to said external surface 210A’ of said second plate 202V.

[0206] Advantageously, said wheel R1 and said further wheel R1 ’ reduce any lateral movements of the arm 2, i.e. movements of the arm 2 with respect to an axis perpendicular to the body 1 .

[0207] Figure 17 shows a variant of the multimodal system.

[0208] In said variant, the multimodal system comprises a bed 8.

[0209] Said bed 8 comprises a supporting surface 81 for a person.

[0210] Said supporting plane 81 is provided with at least one through hole 81 A for the passage of a breast.

[0211] In particular, said bed 8 comprises a body 82 to be placed on the ground.

[0212] The supporting surface 81 comprises a first portion protruding with respect to said body 82.

[0213] The through hole 81 A is arranged on said first portion.

[0214] A second portion of the bed 8 contacts the body 82.

[0215] It is preferable that said bed 8 is provided with telescopic lifting and lowering means (not shown) for lifting and lowering said supporting surface 81 of said bed 8 with respect to a floor.

[0216] Said telescopic lifting and lowering means are arranged inside the body 82 of said bed 8.

[0217] Advantageously, the bed 8 can be lowered to allow a person to position himself on the supporting surface 81 of the bed 8 in a prone position so that the breast is inside the through hole 81 A and can subsequently be lifted to allow the second end portion of the arm 2 of the multimodal system (when the arm 2 is in its second position) to be positioned below the bed 8, at the through hole 81 A.

[0218] In this case, the part of the breast that comes out of the through hole 81 A can be compressed by the compressor 22 on the supporting surface 21 of the multimodal system.

[0219] In a further case, a person can be lying on the bed 8 in a prone position with a part of the breast protruding from the through hole 81 A to be subjected to a breast biopsy.

[0220] Advantageously, in this further case, the person does not see the portion of the breast on which the breast biopsy is performed and the risk of fainting is reduced, if not even eliminated.

[0221] Furthermore, said bed 8 can be provided with adjustment means for adjusting the compression force exerted by the compressor 22 of said multimodal system on said breast.

[0222] In other words, said bed 8 can be provided with one or more buttons to allow a woman to increase or decrease the compression force exerted by the compressor 22.

[0223] Furthermore, the multimodal system object of the invention can be used, with the same advantages, to obtain an image of a bone segment through the X-ray detector 3, described above.

[0224] Furthermore, it is preferable that the multimodal system is adapted to determine an index associated with a bone mineral density of a bone segment.

[0225] Therefore, the control unit 6 is configured to acquire said image associated with said bone segment and preferably to determine an index concerning the bone mineral density of said bone segment using a software of known type.

[0226] Advantages

[0227] Advantageously, through the multimodal system, object of the invention, it is possible to obtain both X-ray images and ultrasound images.

[0228] A second advantage is given by the fact that said multimodal system occupies a smaller space compared to the space occupied by two equipment of known type (i.e. a mammography equipment and an ultrasound equipment) which are often positioned in different environments.

[0229] With the multimodal system object of the invention, a woman will not have to go first to a room to perform a first breast exam and then to a further room to perform a second breast exam, so that the stress due to waiting is reduced and different breast exams are performed in less time than with the use of two equipment. A third advantage is given by the possibility for arm 2 of the multimodal system to move in space and occupy different positions in a stable way.

[0230] The stability of the arm 2 in any position is guaranteed by the structure of the support device 20 which is robust and reliable to prevent the arm 2 from being subject to oscillations and bending.

[0231] This is due to the fact that the structure of the supporting device 20 is an assembly of mechanical components designed to offer high rigidity to the arm 2 in each of its positions.

[0232] A fourth advantage is given by the fact that energy consumption is reduced compared to the energy consumption of two equipment of known types (i.e. a mammography equipment and an ultrasound equipment).

[0233] Furthermore, the fact that the arm 2 of the multimodal system is movable between a first position and a second position offers a further advantage: the possibility of carrying out a breast exam when a woman is prone on a bed 8, without the need to raise the bed 8 (with the woman lying on it) up to a certain height, with the risk that the woman has the sensation of being unstable or falling from the bed.

[0234] In fact, using a mammographic equipment of known type, it is necessary to raise the bed until it reaches a height which can be one and a half meters or more to allow the arm of said mammographic equipment to be positioned underneath the bed.

[0235] The present invention has been described for illustrative, but not limitative purposes, according to its preferred embodiment, but it is to be understood that variations and / or modifications can be carried out by a skilled in the art, without departing from the scope thereof, as defined according to enclosed claims.

Claims

CLAIMSA multimodal system for obtaining senological images by means of X-ray and ultrasound techniques, comprising:- a body (1 );- a arm (2) shaped with a “C” shape comprising: a first end portion (2A) and a second end portion (2B), opposite to said first end portion (2A), a supporting plane (21 ) for the breast, arranged at said second end portion (2B) of said arm (2), a compressor (22) to compress said breast on said supporting plane (21 ),- an X ray detector (3) for obtaining one or more X ray images comprising: an emission unit (3A) for emitting X-rays, arranged at said first end portion (2A) of said arm (2), a receiving unit (3B) to receive said X-rays arranged below said supporting plane (21 ),- an ultrasound device (4) for obtaining one or more ultrasound images, wherein said ultrasound device comprises a probe (40) comprising: an emitter (4A) for emitting an ultrasound signal towards a breast, and a receiver (4B) for receiving an ultrasound signal reflected from said breast,- at least one displaying device (5) for displaying X-ray images and ultrasound images,- a control unit (6), connected to said X-ray detector (3), to said ultrasound device (4), and said displaying device (5), and configured to: o acquire one or more images from said X-ray detector (3), and send said images to said displaying device (5), o acquire one or more images from said ultrasound device (4), and send said images to said displaying device (5),- power supplying means (7) for powering said X-ray detector (3), saidultrasound device (4), said displaying device (5) and said control unit (6), wherein said body (1 ) has a longitudinal axis (A), said arm (2) is connected to said body (1 ) through a supporting device (20), and said arm (2) is slidably coupled to said supporting device (20) in a such way that said arm (2) is movable between a first position, in which the first end portion (2A) and the second end portion (2B) of said arm ( 2) are positioned along a first axis (B1 ) parallel to said longitudinal axis (A) and arranged on a first plane, and a second position, in which the first end portion (2A) and the second end portion (2B) of said arm (2) are positioned along a second axis (B2) perpendicular to said longitudinal axis (A) and arranged on a second plane, orthogonal to said first plane, wherein said supporting device (20) comprises:- a structure shaped according to a circumferential arc which subtends an angle equal to or substantially equal to 90°, wherein said comprises: a first profile (201 ) and a second profile (20T) parallel to each other, a first guide (211 ) external to the first profile (201 ) and a second guide (211 ’) external to the second profile (20T), wherein each of said guides (211 , 21 T) comprises a respective first end and a respective second end, and- a slider (200) integral with said arm (2) and slidably coupled to each of said guides (211 , 21 T), wherein said slider (200) is movable between a first position, in which said slider (200) is positioned at the first end of each of said guides (211 , 211 ’), and a second position, in which said cursor (200) is positioned at the second end of each of said guides (211 , 21 T), so that, when said slider (200) is in said first position, said arm (2) is in said first position, and, when said slider (200) is in said second position, said arm (2) is in said second position.

2. The multimodal system according to claim 1 , wherein said supporting device (20) comprises: a first toothed belt (221 ) arranged on a first surface of said first profile (201 ), a first belt tensioning device (231 ) comprising: a first toothed wheel (231 A) sliding on said first surface of said first profile (201 ) and placed between said first toothed belt (221 ) and said first surface of said first profile (201 ), and at least one second toothed wheel (231 B) engaged with said first toothed belt (221 ), a second toothed belt (22V) arranged on a first surface of said second profile (201 ’), a second belt tensioning device (23T) comprising: a further first toothed wheel (231 A’) sliding on said first surface of said second profile (20T) and placed between said second toothed belt (22V) and said first surface of said second profile (20T), and at least one further second toothed wheel (231 B’) engaged with said second toothed belt (22V), wherein said slider (200) comprises:- a first wall (210),- a second wall (210’),- a first group of pulleys arranged on an external surface (210A) of said first wall (210), comprising a first driving pulley (203) and at least one first driven pulley (204), wherein said first driving pulley (203) and said first driven pulley (204) are connected to each other through a first transmission belt (206), so that, when said first driving pulley (203) rotates, said first driven pulley (204) rotates,- a second group of pulleys arranged on an external surface (210A’) of saidsecond wall (210’), comprising a second driving pulley (203’) and at least a second driven pulley (204’), wherein said second driving pulley (203’) and said second driven pulley (204’) are connected to each other through a second transmission belt (206’), so that, when said second driving pulley (203’) rotates, said second driven pulley (204’) rotates,- a first shaft (2001 ) on which said first driving pulley (203) and said second driving pulley (203’) are arranged and rotate with said first shaft (2001 ), so that, when said first shaft (2001 ) rotates in one direction, said first driving pulley (203) and said second driving pulley (203’) rotate in the same direction and the rotation of said first driving pulley (203) and said second driving pulley (203’) cause the rotation of said first pulley respectively driven (204) and said second driven pulley (204’) in said direction, and- a second shaft (2002) on which said first toothed wheel (231 A) of said first belt tensioner device (231 ), said first driven pulley (204), said further first toothed wheel (231 A’) of said second belt tensioning device (231 ’), and said second driven pulley (204’) are arranged and rotate with said second shaft (2002), so that, when said first driven pulley (204) and said second driven pulley (204’) rotate in one direction, said second shaft (2002) rotates in the same direction, said first toothed wheel (231 A) of the first belt tensioning device (231 ) slides on the first surface of the first profile (201 ), and said further first toothed wheel (231 A’) of the second belt tensioning device (23T) slides on the first surface of the second profile (20T).

3. The multimodal system according to claim 2, wherein said body (1 ) comprises:- a servo-gear motor (2000) for rotating said first shaft (2001 ), and wherein said control unit (6) is configured to send a control signal to said servo-gear motor (2000) for rotating said arm (2) with respect to said body (1 ) between said first position and said second position.

4. The multimodal system according to any one of claims 1 -3, wherein said slider (200) comprises:- a first group of wheels (Rn,Ri2, ... RIN) comprising a plurality of wheels (Ri 1 , R12, ... RIN) sliding on a first surface of said first guide (211 ),- a second group of wheels (R2i,R22,... R2N) comprising a plurality of wheels (R2-I , R22, ... R2N) sliding on a second surface of said first guide (211 ), opposite to said first surface of said first guide (211 ),- a further first group of wheels (RH’, RI2’, ... RIN’) comprising a plurality of wheels (Rn’, R12’, ... RIN’) sliding on a first surface of said second guide (211 ’), and- a further second group of wheels (R2i’,R22’,... R2N’) comprising a plurality of wheels (R2i’,R22’, ... R2N’) sliding on a second surface of said second guide (21 T), opposite to said first surface of said second guide (21 T).

5. The multimodal system according to claim 4, wherein said first profile (201 ) comprises a first end portion and a second end portion, and said second profile (20T) comprises a first end portion and a second end portion, and wherein said supporting device (20) comprises:- a first plate (2021 ) connected to said second end portion of said first profile (201 ), in which a plurality of first wheels (n,r2,... rN) is arranged on a first surface of said first plate (2021 ), and- a second plate (202V) connected to said second end portion of said second profile (20T), in which a plurality of second wheels (n’,r2 ,... rN’) is arranged on a first surface of said second plate (202V).

6. The multimodal system according to any one of claims 1 -5, whereinsaid supporting device (20) is rotatably connected to said body (1 ) through a coupling element (23) having an axis (C) perpendicular to said longitudinal axis (A) of said body (1 ), such that said arm (2) rotates with respect to said body (1 ) around said axis (C) between said first position and a third position, in which the end portions of said arm (2) are positioned along a third axis (B3), perpendicular to said longitudinal axis (A) and to said second axis (B2), and arranged on said second plane.

7. The multimodal system according to any one of claims 1 -6, wherein said body (1 ) is rotatable around said longitudinal axis (A), and said supporting device (20) is integral with said body (1 ), so that, when said body (1 ) rotates around said longitudinal axis (A), said arm (2) rotates together with said body (1 ).

8. The multimodal system according to any one of claims 1 -7, wherein said body (1 ) is provided with guide means to move said arm (2) in height with respect to said body (1 ).

9. The multimodal system according to any one of claims 1 -8, wherein said multimodal system comprises a bed (8), wherein said bed (8) comprises a supporting surface (81 ) provided with at least one through hole (81 A) for the passage of a breast.

10. The multimodal system according to claim 9, wherein said bed (8) is provided with telescopic lifting and lowering means for lifting and lowering said supporting surface (81 ) of said bed (8) with respect to a floor.11 . The multimodal system according to claim 9 or 10, wherein said bed (8) is provided with adjustment means for adjusting the compression force exerted by said compressor (22) of said multimodal system on said breast.

Images