X-ray imaging device comprising camera and method for operating same

Abstract

Provided are an X-ray imaging device comprising a camera and a method for operating same. The X-ray imaging device may input an image obtained by using a camera to an artificial intelligence model, thereby recognizing and tracking a portable X-ray detector from the image, and may perform an operation according to an auto tracking function of the portable X-ray detector for automatically moving the position of an X-ray tube such that the focal spot of an X-ray irradiation region is aligned on the central region of the portable X-ray detector.

Description

X-ray imaging device including a camera and method of operating the same

[0001] The present disclosure relates to an X-ray imaging device including a camera and an operating method thereof. Specifically, the present disclosure relates to an X-ray imaging device that automatically tracks and controls the position of an X-ray tube using an image acquired by photographing a portable X-ray detector using a camera.

[0002] 'X-ray' is an electromagnetic wave with a wavelength of generally 0.01 to 100 angstroms (Å), and has the property of penetrating objects, so it can be widely used in medical equipment that takes pictures of the inside of a living body and in non-destructive testing equipment in general industry.

[0003] The basic principle of an imaging device using X-rays is to transmit X-rays emitted from an X-ray tube (or X-ray source) to an object, and to detect the difference in intensity of the transmitted X-rays with an X-ray detector to determine the internal structure of the object.

[0004] In the case of conventional X-ray imaging devices, after inserting the X-ray detector inside the table tray where the object (e.g., patient) is placed, an auto tracking technology is used to match the range of the X-ray irradiation area with the X-ray detector while the X-ray tube moves left and right within the tray stroke range. In the past, in order to take an X-ray image using a portable X-ray detector, a user (e.g., an operator) had to manually move the X-ray tube to set the position of the X-ray detector placed on the table, and the user had to manually set the SID (source to image distance). If the user manually moves the X-ray tube, the X-ray irradiation area may not be precisely aligned with the center area of ​​the X-ray detector, the photographing procedure may be cumbersome, and the photographing time may be long.

[0005] In particular, for imaging patients using wheelchairs or beds (including portable beds), the user had to manually move the X-ray tube to the patient's imaging area, which was cumbersome. In addition, in the case of conventional X-ray imaging devices, the user had to manually adjust the SID setting and X-ray imaging parameter settings.

[0006] One aspect of the present disclosure provides an X-ray imaging device including a camera. The X-ray imaging device according to one embodiment of the present disclosure may include an X-ray tube including an X-ray source that generates X-rays and irradiates an object with X-rays and a collimator that controls a path of X-rays irradiated by the X-ray source to adjust an X-ray irradiation area, a portable X-ray detector that detects X-rays irradiated by the X-ray source and transmitted through the object, a camera disposed on one side of the X-ray tube, at least one processor including a processing circuit; and a memory that stores one or more instructions. The one or more instructions are individually or collectively executed by the at least one processor, whereby the X-ray imaging device: inputs an image acquired through the camera into an artificial intelligence model, and performs inference using the artificial intelligence model to recognize the portable X-ray detector from the image. By individually or collectively executing the one or more commands by the at least one processor, the X-ray imaging device can: obtain position information of the recognized portable X-ray detector. By individually or collectively executing the one or more commands by the at least one processor, the X-ray imaging device can: move the position of the X-ray tube such that the focal spot of the X-ray irradiation area by the X-ray source is aligned on the central region of the portable X-ray detector based on the position information of the portable X-ray detector.

[0007] Another aspect of the present disclosure provides a method of operating an X-ray imaging device including a camera. The method of operating the X-ray imaging device according to one embodiment of the present disclosure may include a step of inputting an image acquired using the camera into an artificial intelligence model and recognizing a portable X-ray detector from the image. The method of operating the X-ray imaging device according to one embodiment of the present disclosure may include a step of acquiring position information of the recognized portable X-ray detector. The method of operating the X-ray imaging device according to one embodiment of the present disclosure may include a step of moving a position of an X-ray tube such that a focal spot of an X-ray irradiation area by an X-ray source is aligned on a central area of ​​the portable X-ray detector based on the acquired position information.

[0008] Another aspect of the present disclosure provides a computer program product including a computer-readable storage medium. The storage medium may include instructions readable by an X-ray imaging device, such that the X-ray imaging device performs an operation of inputting an image acquired using a camera into an artificial intelligence model, recognizing the portable X-ray detector from the image, acquiring position information of the recognized portable X-ray detector, and moving the position of the X-ray tube such that a focal spot of an X-ray irradiation area by an X-ray source is aligned on a central area of ​​the portable X-ray detector based on the acquired position information.

[0009] The present disclosure can be readily understood by the combination of the following detailed description and the accompanying drawings, wherein reference numerals refer to structural elements.

[0010] FIG. 1 is an external view showing the configuration of an X-ray imaging device according to one embodiment of the present disclosure.

[0011] FIG. 2 is a perspective view of an X-ray detector according to one embodiment of the present disclosure.

[0012] FIG. 3 is a drawing illustrating an X-ray imaging device including a portable X-ray detector according to one embodiment of the present disclosure.

[0013] FIG. 4 is a conceptual diagram illustrating an operation of an X-ray imaging device according to one embodiment of the present disclosure to recognize and track a portable X-ray detector from an image acquired through a camera and control the position of an X-ray tube.

[0014] FIG. 5 is a flowchart illustrating a method for recognizing and tracking a portable X-ray detector from an image acquired through a camera and controlling the position of an X-ray tube according to an embodiment of the present disclosure.

[0015] FIG. 6 is a block diagram illustrating components of an X-ray imaging device according to one embodiment of the present disclosure.

[0016] FIG. 7 is a flowchart illustrating a method for automatically adjusting a source to image distance (SID) of an X-ray imaging device according to one embodiment of the present disclosure.

[0017] FIG. 8 is a drawing illustrating an operation of an X-ray imaging device according to one embodiment of the present disclosure to automatically adjust a source to image distance (SID).

[0018] FIG. 9 is a flowchart illustrating a method for an X-ray imaging device according to one embodiment of the present disclosure to obtain preset SID information according to a photographing protocol and adjust the position of an X-ray tube based on the obtained SID information.

[0019] FIG. 10 is a flowchart illustrating a method for adjusting the position of an X-ray tube based on angle information of a portable X-ray detector by an X-ray imaging device according to one embodiment of the present disclosure.

[0020] FIG. 11 is a drawing illustrating an operation of an X-ray imaging device according to one embodiment of the present disclosure to rotate and / or move an X-ray tube based on angle information of a portable X-ray detector.

[0021] FIG. 12 is a flowchart illustrating a method in which an X-ray imaging device according to one embodiment of the present disclosure recognizes a user's gesture input and performs an action corresponding to the recognized gesture input.

[0022] FIG. 13 is a drawing illustrating an embodiment in which an X-ray imaging device of the present disclosure recognizes a user's gesture input and performs an action corresponding to the recognized gesture input.

[0023] The terms used in the embodiments of this specification have been selected from widely used terms as much as possible, taking into account the functions of the present disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, the applicant may arbitrarily select terms, and in such cases, their meanings will be described in detail in the description of the relevant embodiments. Therefore, the terms used in this specification should not be defined simply as names of terms, but rather based on their meanings and the overall content of the present disclosure.

[0024] Singular expressions may include plural expressions unless the context clearly indicates otherwise. Terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art described herein.

[0025] Throughout this disclosure, when a part is said to "include" a component, this does not exclude other components, but rather implies the inclusion of other components, unless otherwise specifically stated. Furthermore, terms such as "part," "module," etc., used herein refer to a unit that processes at least one function or operation, which may be implemented in hardware or software, or a combination of hardware and software.

[0026] As used herein, the expression "configured to" can be used interchangeably with, for example, "suitable for," "having the capacity to," "designed to," "adapted to," "made to," or "capable of." The term "configured to" does not necessarily mean something is "specifically designed to" in terms of hardware. Instead, in some contexts, the expression "a system configured to" can mean that the system is "capable of" in conjunction with other devices or components. For example, the phrase "a processor configured to perform A, B, and C" can mean a dedicated processor for performing the operations (e.g., an embedded processor), or a general-purpose processor (e.g., a CPU or an application processor) that can perform the operations by executing one or more software programs stored in memory.

[0027] Additionally, when a component is referred to as being "connected" or "connected" to another component in the present disclosure, it should be understood that the component may be directly connected or connected to the other component, but may also be connected or connected via another component in between, unless otherwise specifically stated.

[0028] In the present disclosure, an 'object' refers to a subject to be photographed, and may include a human, an animal, or a part thereof. For example, the object may include a patient, a part of the patient's body (such as an organ or system), or a phantom.

[0029] In this disclosure, 'X-ray' is an electromagnetic wave having a wavelength of 0.01 to 100 angstroms (Å), and has the property of penetrating objects, so it can be widely used in general medical equipment for photographing the inside of a living body or non-destructive testing equipment in general industry.

[0030] In the present disclosure, an 'X-ray imaging device' is a medical imaging device that obtains an X-ray image representing the internal structure of a subject (e.g., a patient's body) by transmitting X-rays through the subject. Compared to other medical imaging devices including MRI devices and CT devices, X-ray devices have the advantage of being simple and capable of obtaining medical images of a subject in a short time. Therefore, X-ray devices are widely used for simple chest radiography, simple abdominal radiography, simple skeletal radiography, simple paranasal sinus radiography, simple neck soft tissue radiography, and mammography.

[0031] In the present disclosure, an 'image' or 'detector image' may mean data composed of discrete image elements (e.g., pixels in a two-dimensional image). In the present disclosure, an 'image' or 'detector image' means an image captured using a camera having an image sensor (e.g., CMOS or CCD). In the present disclosure, an 'image' or 'detector image' refers to an object different from an 'X-ray image' obtained through image processing that detects X-rays transmitted through an object through an X-ray detector and then converts them into electrical signals.

[0032] In the present disclosure, the camera used to capture an "image" or "detector image" may be an RGB camera. In one embodiment of the present disclosure, the camera may include a depth camera configured to measure the depth value of an object together with the RGB image to obtain a depth map. The depth camera may be, for example, a time-of-flight camera (ToF camera), but is not limited thereto.

[0033] In the present disclosure, functions related to 'artificial intelligence' are operated through a processor and memory. The processor may be composed of one or more processors. In this case, one or more processors may be a general-purpose processor such as a CPU, AP, or DSP (Digital Signal Processor), a graphics-only processor such as a GPU or VPU (Vision Processing Unit), or an artificial intelligence-only processor such as an NPU. One or more processors control the processing of input data according to predefined operation rules or artificial intelligence models stored in memory. Alternatively, if one or more processors are artificial intelligence-only processors, the artificial intelligence-only processor may be designed with a hardware structure specialized for processing a specific artificial intelligence model.

[0034] The predefined operation rules or artificial intelligence models are characterized by being created through learning. Here, being created through learning means that the basic artificial intelligence model is trained using a learning algorithm using a plurality of learning data, thereby creating a predefined operation rules or artificial intelligence model set to perform a desired characteristic (or purpose). This learning may be performed on the device itself on which the artificial intelligence according to the present disclosure is performed, or may be performed through a separate server and / or system. Examples of the learning algorithm include, but are not limited to, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning.

[0035] In the present disclosure, the 'artificial intelligence model' may be composed of a plurality of neural network layers. Each of the plurality of neural network layers has a plurality of weight values, and performs neural network operations through operations between the operation results of the previous layer and the plurality of weights. The plurality of weights of the plurality of neural network layers may be optimized based on the learning results of the artificial intelligence model. For example, the plurality of weights may be updated so that the loss value or cost value obtained from the artificial intelligence model during the learning process is reduced or minimized. The artificial neural network model may include a deep neural network (DNN), and examples thereof include, but are not limited to, a convolutional neural network, a recurrent neural network, a restricted Boltzmann machine, a deep belief network, a bidirectional recurrent deep neural network, or deep Q-networks.

[0036] In this disclosure, the term "processor" may include various processing circuits and / or multiple processors. For example, the term "processor" as used herein, including in the claims, may include various processing circuits, including at least one processor. In the context of "at least one processor," one or more processors may be configured to individually and / or collectively perform the various functions described herein in a distributed fashion. As used herein, "processor," "at least one processor," and "one or more processors" may be configured to perform multiple functions. However, these terms encompass, without limitation, situations where one processor performs some of the functions and other processor(s) perform other parts of the functions, and situations where a single processor may perform all of the functions. Furthermore, the at least one processor may include a combination of processors that perform various functions of the disclosed functions in a distributed manner. At least one processor may execute at least one instruction or program code to achieve or perform various functions.

[0037] Below, embodiments of the present disclosure are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein.

[0038] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0039] Fig. 1 is an external view illustrating the configuration of an X-ray system (1000) according to one embodiment. In Fig. 1, a room X-ray imaging device (Room DR) is described as an example.

[0040] Referring to FIG. 1, an X-ray system (1000) may include an X-ray imaging device (100) and a workstation (200). The X-ray imaging device (100) may include an X-ray tube (110) that generates X-rays and irradiates the X-rays to a subject (10), an X-ray detector (120) that detects X-rays that have passed through the subject, an RGB camera, and a camera (130) that photographs the subject to obtain an image, a user input interface (160), and an output interface (170). Only essential components for explaining the operation of the X-ray imaging device (100) are illustrated in FIG. 1, and the components of the X-ray imaging device (100) of the present disclosure are not limited as illustrated in FIG. 1. The workstation (200) may perform data communication with the X-ray imaging device (100), receive commands from a user, and provide information to the user. In addition, the X-ray system (1000) may further include a control unit (220) that controls the X-ray system (1000) according to commands input through the workstation and a communication interface (210) that communicates with an external device. Some or all of the components of the communication interface (210) and the control unit (220) may be included in the workstation (200) or may be provided separately from the workstation (200).

[0041] An X-ray tube (110) may be equipped with an X-ray source that generates X-rays and a collimator that adjusts the irradiation area of ​​X-rays generated from the X-ray source.

[0042] A guide rail (30) can be installed on the ceiling of the imaging room where the X-ray system (1000) is placed, and an X-ray tube (110) can be connected to a moving carriage (40) that moves along the guide rail (30) to move the X-ray tube (110) to a position corresponding to the target object (10), and the moving carriage (40) and the X-ray tube (110) can be connected through a foldable post frame (50) to adjust the height of the X-ray tube (110).

[0043] The workstation (200) may be provided with an input interface (240) for receiving a user's command and an output interface (250) for displaying information.

[0044] The input interface (240) can receive commands for photographing protocols, photographing conditions, photographing timing, position control of the X-ray tube (110), etc. In one embodiment of the present disclosure, the input interface (240) can include a keyboard, a mouse, a touch screen, a voice recognizer, etc.

[0045] The output interface (250) may display a screen for guiding a user's input, an X-ray image, a screen indicating the status of the X-ray system (1000), etc. In one embodiment of the present disclosure, the output interface (250) may include a display.

[0046] The control unit (220) can control the shooting timing, shooting conditions, etc. of the X-ray tube (110) according to a command input from a user, and can generate an X-ray image using image data received from the X-ray detector (120). In addition, the control unit (220) can also control the position or posture of the mounting unit (14, 24) on which the X-ray tube (110) or the X-ray detector (120) is mounted according to the shooting protocol and the position of the target object (10).

[0047] The control unit (220) may include a memory storing a program performing the operations described above and those described below, and a processor executing the stored program. The control unit (220) may include a single processor or multiple processors. In the latter case, the multiple processors may be integrated on a single chip or may be physically separated.

[0048] The X-ray system (1000) can be connected to an external device (e.g., an external server (2000), a medical device (3000), and a portable terminal (4000) (e.g., a smart phone, a tablet PC, a wearable device, etc.)) through a communication interface (210) to transmit or receive data.

[0049] The communication interface (210) may include one or more components that enable communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.

[0050] Additionally, it is also possible for the communication interface (210) to receive a control signal from an external device and transmit the received control signal to the control unit (220) so that the control unit (220) controls the X-ray system (1000) according to the received control signal.

[0051] In addition, the control unit (220) can control the external device according to the control signal of the control unit (220) by transmitting a control signal to the external device through the communication interface (210). For example, the external device can process data of the external device according to the control signal of the control unit (220) received through the communication interface (210).

[0052] Additionally, the communication interface (210) may further include an internal communication module that enables communication between components of the X-ray system (1000). A program capable of controlling the X-ray system (1000) may be installed in the external device, and the program may include commands for performing some or all of the operations of the control unit (220).

[0053] The program may be pre-installed on the portable terminal (4000), or the user of the portable terminal (4000) may download and install the program from a server providing the application. The server providing the application may include a storage medium on which the program is stored.

[0054] The X-ray detector (120) may be removably mounted on the mounting portion (14, 24) or may be implemented as a portable X-ray detector (120) or a mobile X-ray detector that can be used at any location. The portable X-ray detector (120) or the mobile X-ray detector may be implemented as a wired type or a wireless type depending on the data transmission method and the power supply method. However, the present disclosure is not limited thereto, and in one embodiment of the present disclosure, the X-ray detector (120) may also be implemented as a fixed X-ray detector fixed to a stand (20) or a table (12).

[0055] The X-ray detector (120) may or may not be included as a component of the X-ray system (1000). In the latter case, the X-ray detector (120) may be registered in the X-ray system (1000) by the user. In addition, in both cases, the X-ray detector (120) may be connected to the control unit (220) via the communication interface (210) to receive control signals or transmit image data.

[0056] An X-ray tube (110) may be provided on one side with a user input interface (160) that provides information to a user and receives commands from the user, and an output interface (170) that displays a graphical user interface (GUI) for executing functions and / or operations of the X-ray imaging device (100). The user input interface (160) may be a sub-user interface that performs some or all of the functions performed by the input interface (240) and the output interface (250) of the workstation (200). The output interface (170) may include a display. When the display is configured as a touch screen including a touch interface, the output interface (170) may be integrated with the user input interface (160) configured as a touch panel.

[0057] If all or part of the components of the communication interface (210) and the control unit (220) are provided separately from the workstation (200), they may be included in the user input interface (160) provided in the X-ray tube (110).

[0058] A camera (130) may be mounted on one side of the X-ray tube (110). In one embodiment of the present disclosure, the camera (130) is configured as an RGB camera and can capture a portable X-ray detector (120) to obtain a detector image. In one embodiment of the present disclosure, the camera (130) may include a depth camera configured to measure a depth value of an object to obtain a depth map. The depth camera may be configured as, for example, a time of flight camera (ToF camera), but is not limited thereto.

[0059] The X-ray system (1000) illustrated in FIG. 1 is a room X-ray imaging device connected to the ceiling of a photographing room, but the X-ray system (1000) may include X-ray devices of various structures within a range apparent to those skilled in the art, such as a C-arm type X-ray device and a mobile X-ray device.

[0060] Figure 2 is an external view of an X-ray detector (120).

[0061] Referring to FIG. 2, the X-ray detector (120) may be implemented as a portable X-ray detector. In this case, the X-ray detector (120) may operate wirelessly by including a battery that supplies power, or, as illustrated in FIG. 2, the charging port (122) may be connected to a separate power supply unit and a cable (C) to operate.

[0062] Inside the case (124) forming the exterior of the X-ray detector (120), a detection element that detects X-rays and converts them into image data, a memory that temporarily or non-temporarily stores the image data, a communication module that receives a control signal from the X-ray system (1000) or transmits image data to the X-ray system (1000), and a battery may be provided. In addition, the memory may store image correction information of the detector and unique identification information of the X-ray detector (120), and the stored identification information may be transmitted together when communicating with the X-ray system (1000).

[0063] FIG. 3 is a drawing illustrating an X-ray imaging device (100) including a portable X-ray detector (120) according to one embodiment of the present disclosure.

[0064] Referring to FIG. 3, the X-ray imaging device (100) may include a portable X-ray detector (120). The portable X-ray detector (120) is an X-ray detector that can be moved or carried so that X-ray photography can be performed regardless of the shooting location. The X-ray imaging device (100) illustrated in FIG. 3 may be an embodiment of the X-ray imaging device (100) illustrated in FIG. 1. Among the components included in the X-ray imaging device (100) illustrated in FIG. 3, the same components as in FIG. 1 use the same drawing reference numerals as in FIG. 1, and redundant descriptions are omitted.

[0065] The X-ray imaging device (100) illustrated in FIG. 3 may include a main unit (102) including a processor (140) that controls the overall operation of the X-ray imaging device (100), a moving unit (104) provided with wheels for moving the X-ray imaging device (100), a table (106), an X-ray tube (110) that generates X-rays and irradiates an object, an X-ray detector (120) that detects X-rays irradiated to the object by the X-ray tube (110) and transmitted through the object, a user input interface (160) that receives a user's input, and a display (172).

[0066] The main unit (102) may further include an operation unit that provides a user interface for operating the X-ray imaging device (100). In FIG. 3, the operation unit is illustrated as being included in the main unit (102), but is not limited thereto. For example, as in FIG. 1, the input interface (240) and the output interface (250) of the X-ray system (1000) may be provided on one side of the workstation (200, see FIG. 1).

[0067] An X-ray tube (110) may include an X-ray source (112) that generates X-rays and a collimator (114) that guides the path of X-rays generated and irradiated by the X-ray source (112) to control the irradiation area of ​​the X-rays. The main unit (102) may include a high voltage generator (116) that generates a high voltage applied to the X-ray source (112).

[0068] The specific functions and / or operations of the X-ray detector (120), processor (140), user input interface (160), and display (172) will be described in detail in FIG. 5.

[0069] The X-ray system (1000) can be implemented not only as the aforementioned sealing type but also as a mobile type. The X-ray detector (120) in FIG. 3 is illustrated as a table type placed on a table (106), but it is obvious that it can also be implemented as a stand type as a mobile type or portable type.

[0070] FIG. 4 is a conceptual diagram illustrating an operation of an X-ray imaging device (100) according to one embodiment of the present disclosure to recognize and track a portable X-ray detector (120) from an image acquired through a camera (130) and control the position of an X-ray tube (110).

[0071] In FIG. 4, the X-ray imaging device (100) is illustrated as a ceiling type, but is not limited thereto. In one embodiment of the present disclosure, the X-ray imaging device (100) may also be implemented as a mobile type.

[0072] Referring to FIG. 4, the X-ray imaging device (100) may include an X-ray tube (110), an X-ray detector (120), a camera (130), a user input interface (160), and a display (172). In FIG. 4, only the minimum components for explaining the function and / or operation of the X-ray imaging device (100) are illustrated, and the components included in the X-ray imaging device (100) are not limited as illustrated in FIG. 4. The components of the X-ray imaging device (100) will be described in detail in FIG. 6.

[0073] An X-ray imaging device (100) obtains an image by photographing a space or object including a portable X-ray detector (120) using a camera (130) (Operation ①).

[0074] The X-ray imaging device (100) recognizes a portable X-ray detector (120) from an image taken by the portable X-ray detector using an artificial intelligence model (152) and obtains location information of the recognized portable X-ray detector (120) (Operation ②).

[0075] The X-ray imaging device (100) moves the position of the X-ray tube so that the X-ray irradiation area (X) is aligned with the portable X-ray detector (120) (Operation ③).

[0076] Hereinafter, with reference to FIGS. 4 and 5 together, a detailed description will be given of the function and / or operation of an X-ray imaging device (100) according to one embodiment of the present disclosure for recognizing and tracking a portable X-ray detector (120) from an image acquired through a camera (130) and controlling the position of an X-ray tube (110).

[0077] FIG. 5 is a flowchart illustrating a method for recognizing and tracking a portable X-ray detector (120) from an image acquired through a camera (130) and controlling the position of an X-ray tube (110) according to one embodiment of the present disclosure.

[0078] In step S510, the X-ray imaging device (100) inputs an image acquired using a camera into an artificial intelligence model to recognize a portable X-ray detector from the image. Referring to operation ① of the embodiment illustrated in FIG. 4, the camera (130) may be mounted on one side of the X-ray tube (110) and may be configured as an RGB camera. The portable X-ray detector (120) may be placed on a table (106). The X-ray imaging device (100) may capture a space or object within a field of view (FOV) of the camera (130) using the camera (130) to capture a detector image. In the present disclosure, a 'detector image' may be an image acquired through the camera (130) by setting the portable X-ray detector as a shooting target. In one embodiment of the present disclosure, the 'detector image' is a candidate image for the portable X-ray detector and may include an image area of ​​the portable X-ray detector (120). However, this is not limited to the above, and in one embodiment of the present disclosure, the detector image may not include a portable X-ray detector.

[0079] A 'detector image' is a two-dimensional image obtained through a camera (130) having an image sensor (e.g., CMOS or CCD) of an RGB camera, and is different from an X-ray image obtained through image processing by receiving X-rays that have passed through an object (e.g., a patient) through a portable X-ray detector (120).

[0080] The X-ray imaging device (100) can input an image acquired through a camera (130) and recognize a portable X-ray detector (120) from the image. The detector image may include a portable X-ray detector (120), but may not include a portable X-ray detector. The X-ray imaging device (100) can recognize a portable X-ray detector (120) from the detector image by analyzing the detector image using an artificial intelligence model, and can determine whether a portable X-ray detector (120) is included in the detector image based on the recognition result.

[0081] Referring to operation ② of FIG. 4 together, the X-ray imaging device (100) inputs a detector image to an artificial intelligence model (152) and performs inference using the artificial intelligence model (152) to recognize a portable X-ray detector (120) from the detector image. In one embodiment of the present disclosure, the 'artificial intelligence model (152)' may be implemented as a deep neural network model trained through supervised learning that applies images of a plurality of X-ray detectors having preset shapes, colors, sizes, and border patterns (markers) as inputs and applies a label value indicating the recognition result of the X-ray detector as a ground truth. The deep neural network model may be configured as, for example, a convolutional neural network model (CNN) including an object detection model. However, the deep neural network model of the present disclosure is not limited to a convolutional neural network model.

[0082] Referring back to FIG. 5, in step S520, the X-ray imaging device (100) obtains position information of the recognized portable X-ray detector. The X-ray imaging device (100) can obtain three-dimensional position coordinate values ​​of the recognized portable X-ray detector from the image. In one embodiment of the present disclosure, the X-ray imaging device (100) uses the camera (130) to photograph the portable X-ray detector (120) in real time to obtain a plurality of image frames regarding the portable X-ray detector (120), inputs the plurality of image frames into the artificial intelligence model (152), recognizes the portable X-ray detector (120), and obtains real-time position information of the recognized portable X-ray detector (120), for example, real-time three-dimensional position coordinate value information. The X-ray imaging device (100) can track the position of the portable X-ray detector (120) in real time using the three-dimensional position coordinate value information obtained in real time.

[0083] In step S530, the X-ray imaging device (100) moves the position of the X-ray tube so that the focal spot of the area where X-rays are irradiated by the X-ray source is aligned on the center area of ​​the portable X-ray detector based on the acquired position information. Referring also to operation ③ of FIG. 4, the X-ray imaging device (100) can move the position of the X-ray tube (110) so that the irradiation area (X) where X-rays are irradiated by the X-ray source (112) is aligned with the portable X-ray detector (120) based on the three-dimensional position coordinate values ​​of the portable X-ray detector (120). In one embodiment of the present disclosure, the X-ray imaging device (100) can move the X-ray tube (110) in the X-axis direction and the Y-axis direction so that the focal spot (F) where X-rays are irradiated by the X-ray source (112) is aligned with the center (C) of one side of the portable X-ray detector (120).

[0084] The X-ray tube (110) includes an X-ray source (112) and a collimator (114, see FIGS. 1 and 3), and can be connected to a moving carriage (40). The moving carriage (40) can be moved in the X-axis direction and the Y-axis direction along guide rails (30-1, 30-2) mounted on the ceiling of the imaging room. In one embodiment of the present disclosure, the X-ray imaging device (100) calculates a two-dimensional position coordinate value of the X-ray tube (110) so that the focal position (F) of the X-ray source (112) is aligned with the center (C) of the portable X-ray detector (120) based on the three-dimensional position coordinate value of the portable X-ray detector (120), and controls the moving carriage (40) based on the calculated two-dimensional position coordinate value, thereby moving the X-ray tube (110) in the X-axis direction and the Y-axis direction. In this case, the X-ray tube (110) may include a driving unit that moves the position of the X-ray tube (110) through a moving carriage (40).

[0085] In one embodiment of the present disclosure, the X-ray imaging device (100) may display a button UI through the display (172) for executing an 'auto-tracking function (see operation ③ of FIG. 4)' for moving the X-ray tube (110) based on the position information of the portable X-ray detector, and may receive a touch input of a user pressing the button UI. When the X-ray imaging device (100) receives the user's touch input, the X-ray imaging device (100) may move the position of the X-ray tube (110) so that the X-ray irradiation area (X) is aligned with the portable X-ray detector (120). However, the present disclosure is not limited thereto, and the X-ray imaging device (100) according to one embodiment of the present disclosure may also perform the 'auto-tracking function' by receiving a gesture input such as a hand gesture or a body gesture of the user, or by receiving a voice input according to a voice command of the user.

[0086] After the X-ray tube (110) is moved so that the X-ray irradiation area (X) is aligned on the portable X-ray detector (120), the X-ray imaging device (100) can adjust the position of the X-ray tube (110) along the Z-axis based on a source image distance (SID) preset according to a shooting protocol. In one embodiment of the present disclosure, the camera (130) is configured as an RGB-depth camera including a depth camera configured to measure a depth value of an object to obtain a depth map, and the X-ray imaging device (100) can measure the distance between the X-ray source (112) and the target object (e.g., a portion of a patient to be shot) (10) using the RGB-depth camera. The X-ray imaging device (100) can adjust the position of the X-ray tube (110) along the Z-axis so that the measured distance between the X-ray source (112) and the target object (10) matches the SID preset according to the shooting protocol.

[0087] In the case of conventional X-ray imaging devices, after inserting the X-ray detector inside the table tray where the object (e.g., patient) is placed, an auto-tracking technology is used to match the range of the X-ray irradiation area with the X-ray detector while the X-ray tube moves left and right within the tray stroke range. In the past, in order to take an X-ray photograph using a portable X-ray detector, the user (e.g., operator, radiologist, etc.) had to manually move the X-ray tube to set the position of the X-ray detector placed on the table, and the user had to manually set the SID (source to image distance). If the user manually moves the X-ray tube, there are problems in that the X-ray irradiation area may not be precisely aligned on the center area of ​​the X-ray detector, the photographing procedure is cumbersome, and the photographing time is long.

[0088] In particular, for imaging patients using wheelchairs or beds (including portable beds), there was the inconvenience of having to manually move the X-ray tube to the patient's area to be imaged. In addition, in the case of conventional X-ray imaging devices, there was the problem of having to manually adjust the SID setting and X-ray imaging parameter setting.

[0089] The present disclosure provides an X-ray imaging device (100) that can automatically recognize and track a portable X-ray detector (120) from an image captured using a camera (130) mounted on one side of an X-ray tube (110), and automatically move the X-ray tube (110) so that the X-ray irradiation area is aligned with the center of the portable X-ray detector (120) to automate the X-ray photographing procedure, thereby improving the user's workflow and shortening the photographing time.

[0090] The X-ray imaging device (100) according to the embodiment illustrated in FIGS. 4 and 5, unlike the conventional technology, uses a camera (130) to capture a portable X-ray detector (120), automatically recognizes and tracks the portable X-ray detector (120) from the image using an artificial intelligence model to obtain position information, and moves the position of the X-ray tube so that the X-ray irradiation area is aligned with the center of the portable X-ray detector based on the obtained position information, thereby automating the workflow of a user (e.g., a radiologist, etc.), improving user convenience, and providing a technical effect of shortening the shooting time. In addition, an X-ray imaging device (100) according to one embodiment of the present disclosure measures the distance between an X-ray source (112) and a target object (10) using a camera (130) configured as a depth camera, and adjusts the position of the X-ray tube (110) along the Z-axis so that the measured distance matches a source to image distance (SID) set in advance according to a photographing protocol, thereby improving the accuracy of the SID and providing a technical effect capable of preventing erroneous or excessive X-ray irradiation in advance.

[0091] FIG. 6 is a block diagram illustrating components of an X-ray imaging device (100) according to one embodiment of the present disclosure.

[0092] The X-ray imaging device (100) illustrated in FIG. 6 may be a sealing type device including a portable X-ray detector (120). However, it is not limited thereto, and the X-ray imaging device (100) according to one embodiment of the present disclosure may be a mobile type device.

[0093] Referring to FIG. 6, the X-ray imaging device (100) may include an X-ray tube (110), an X-ray detector (120), a camera (130), a processor (140), a memory (150), a user input interface (160), and an output interface (170). The X-ray tube (110), the X-ray detector (120), the camera (130), the processor (140), the memory (150), the user input interface (160), and the output interface (170) may each be electrically and / or physically connected to each other. Only essential components for explaining the operation of the X-ray imaging device (100) are illustrated in FIG. 6, and the components included in the X-ray imaging device (100) are not limited as illustrated in FIG. 6. In one embodiment of the present disclosure, the X-ray imaging device (100) may further include a communication interface for performing data communication with a workstation (200, see FIG. 1), a server (2000, see FIG. 1), another medical device (3000, see FIG. 1), or an external portable terminal (4000, see FIG. 1). In one embodiment of the present disclosure, the output interface (170) of the X-ray imaging device (100) may not include a speaker (174).

[0094] An X-ray tube (110) is configured to generate X-rays and irradiate X-rays to a target object. Although not shown in FIG. 6, the X-ray tube (110) may further include a high voltage generator (HVG) that applies a high voltage to an X-ray source (112). The X-ray tube (110) may include an X-ray source (112) that receives the high voltage generated by the high voltage generator (HVG) to generate and irradiate X-rays, and a collimator (124) that guides the path of X-rays irradiated from the X-ray source (112) to adjust the irradiation area of ​​the X-rays.

[0095] In one embodiment of the present disclosure, the X-ray tube (110) may comprise a tube head unit (THU) or X-ray tube assembly that includes not only an X-ray source (112) and a collimator (114), but also a high voltage generator (HVG), a camera (130), a user input interface (160), and an output interface (170).

[0096] The X-ray source (112) includes an X-ray tube, which can be implemented as a bipolar vacuum tube having an anode and a cathode. The inside of the X-ray tube is made into a high vacuum state of about 10 mmHg, and the filament of the cathode is heated to a high temperature to generate thermionic electrons. A tungsten filament can be used as the filament, and a voltage of 10 V and a current of about 3-5 A can be applied to the electric wire connected to the filament to heat the filament. When a high voltage of about 10-300 kVp is applied between the cathode and the anode, the thermionic electrons are accelerated and collide with the target material of the anode, thereby generating X-rays. The generated X-rays are irradiated to the outside through a window, and a berium thin film can be used as the material of the window. At this time, most of the energy of the electrons colliding with the target material is consumed as heat, and the remaining energy is converted into X-rays.

[0097] The anode is mainly composed of copper, and the target material is placed on the side facing the cathode. High-resistance materials such as Cr, Fe, Co, Ni, W, and Mo can be used as the target material. The target material can be rotated by a rotating magnetic field, and when the target material rotates, the electron impact area increases, and the heat accumulation rate can increase by more than 10 times per unit area compared to when the target material is fixed.

[0098] The voltage applied between the cathode and anode of an X-ray tube is called the tube voltage, which is applied from a high voltage generator (HVG), and its magnitude can be expressed as the peak value kVp. As the tube voltage increases, the speed of the thermionic electrons increases, which consequently increases the energy of the X-rays (the energy of the photons) generated when they collide with the target material. The current flowing in the X-ray tube is called the tube current, which can be expressed as an average value mA, and as the tube current increases, the number of thermionic electrons emitted from the filament increases, which consequently increases the dose of the X-rays (the number of X-ray photons) generated when they collide with the target material. Therefore, the energy of the X-rays can be controlled by the tube voltage, and the intensity or dose of the X-rays can be controlled by the tube current and the X-ray exposure time.

[0099] An X-ray detector (120) is configured to detect X-rays irradiated by an X-ray tube (110) and transmitted through an object. In one embodiment of the present disclosure, the X-ray detector (120) may be implemented as a thin film transistor (TFT) or a digital detection unit implemented as a charge coupled device (CCD). In one embodiment of the present disclosure, the X-ray detector (120) may be detachably mounted on a mounting portion (14, see FIG. 1) in a table (10, see FIG. 1) or on a mounting portion (24, see FIG. 1) of a stand (20, see FIG. 1), or may be implemented as a portable X-ray detector or a mobile X-ray detector that can be used at any location. The portable X-ray detector or the mobile X-ray detector may be implemented as a wired type or a wireless type depending on a data transmission method and a power supply method. Hereinafter, ‘X-ray detector (130)’ and ‘portable X-ray detector (130)’ refer to the same configuration.

[0100] In FIG. 6, the X-ray detector (120) is illustrated as a component included in the X-ray imaging device (100), but the X-ray detector (120) may be a separate device that can be connected and detached from the X-ray imaging device (100).

[0101] The camera (130) is configured to photograph the X-ray detector (120) to obtain a detector image. In one embodiment of the present disclosure, the camera (130) may include a lens module, an image sensor, and an image processing module. The camera (130) may obtain a still image or a video of the X-ray detector (120) by the image sensor (e.g., CMOS or CCD). The video may include a plurality of image frames obtained in real time by photographing an object through the camera (130). The image processing module may encode a still image composed of a single image frame obtained through the image sensor or video data composed of a plurality of image frames and transmit the encoded data to the processor (140).

[0102] In one embodiment of the present disclosure, the camera (130) may be implemented with a small form factor so that it can be mounted on one side of the X-ray tube (110) of the X-ray imaging device (100), and may be a lightweight RGB camera that consumes low power. However, the present disclosure is not limited thereto, and in one embodiment of the present disclosure, the camera (130) may be implemented with any type of camera known in the art, such as an RGB-depth camera including a depth estimation function, a stereo fish-eye camera, a grayscale camera, or an infrared camera.

[0103] In one embodiment of the present disclosure, the camera (130) may capture an image by photographing a user (e.g., an operator or a radiologist) within the imaging room.

[0104] The processor (140) can execute one or more instructions of a program stored in the memory (150). The processor (140) may be configured with hardware components that perform arithmetic, logic, and input / output operations and image processing. Although the processor (140) is illustrated as a single element in FIG. 6, it is not limited thereto. In one embodiment of the present disclosure, the processor (140) may be configured with one or more multiple elements. One or more processors constituting the processor (140) may be circuitry such as a System on Chip (SoC), an Integrated Circuit (IC), or the like. For example, the processor (140) may be a general-purpose processor such as a Central Processing Unit (CPU), an Application Processor (AP), a Digital Signal Processor (DSP), a graphics-only processor such as a Graphics Processing Unit (GPU), a Vision Processing Unit (VPU), or an artificial intelligence-only processor such as a Neural Processing Unit (NPU).

[0105] The processor (140) may include various processing circuits and / or multiple processors. For example, the term "processor" as used in this disclosure, including the claims, may include various processing circuits, including at least one processor. One or more processors in at least one processor may be configured to perform various functions described in this disclosure individually and / or collectively in a distributed manner. As used herein, "processor," "at least one processor," and "one or more processors" may be configured to perform various functions. However, these terms encompass, without limitation, situations where one processor performs some of the functions and other processor(s) perform other parts of the functions, and situations where a single processor may perform all of the functions. Furthermore, at least one processor may include a combination of processors that perform various functions of the disclosed functions in a distributed manner. At least one processor may execute program instructions to achieve or perform various functions.

[0106] The processor (140) can be controlled to process input data according to a predefined operating rule or artificial intelligence model by executing at least one instruction or program code stored in the memory (150). Alternatively, if the processor (140) is an artificial intelligence-only processor, the artificial intelligence-only processor can be designed with a hardware structure specialized for processing a specific artificial intelligence model.

[0107] The memory (150) is a hardware configuration that stores at least one instruction, program code, or data, and may be configured as a storage medium or a combination of storage media such as a ROM, a RAM, a hard disk, a CD-ROM, and a DVD. The memory (150) may be configured as a volatile memory, a non-volatile memory, or a combination of volatile memory and non-volatile memory. The memory (150) may be configured as at least one type of storage medium among, for example, a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), or an optical disk.

[0108] The memory (150) may store at least one of commands, commands, algorithms, data structures, program codes, and application programs for the X-ray imaging device (100) to perform functions and / or operations according to embodiments described hereinbelow. The commands, algorithms, data structures, and program codes stored in the memory (150) may be implemented in a programming or scripting language such as, for example, C, C++, Java, assembler, etc.

[0109] The memory (150) may also provide stored data to the processor (140) at the request of the processor (140). In the following embodiments, the processor (140) may be implemented by executing instructions or program codes stored in the memory (150).

[0110] Although the memory (150) is illustrated and described in FIG. 6 as being a separate component from the processor (140), it is not limited thereto. In one embodiment of the present disclosure, the memory (150) may not exist separately and may be configured to be included in the processor (140).

[0111] The processor (140) can capture a detector image by taking a picture of the portable X-ray detector (120) through the camera (130). The camera (130) can capture a detector image by taking a picture of the portable X-ray detector (120) placed within a field of view (FOV) on a table (106, see FIG. 4) or at any location. The camera (130) can provide image data of the acquired detector image to the processor (140). In one embodiment of the present disclosure, the 'detector image' may be an image acquired through the camera (130) by setting the portable X-ray detector (120) as a shooting target. In one embodiment of the present disclosure, the 'detector image' may include an image area of ​​the portable X-ray detector as a candidate image of the portable X-ray detector. However, the present disclosure is not limited thereto, and in one embodiment of the present disclosure, the detector image may not include the portable X-ray detector.

[0112] A 'detector image' is a two-dimensional image obtained through a camera (130) having an image sensor (e.g., CMOS or CCD), and is different from an X-ray image obtained through image processing by receiving X-rays that have passed through a target object (e.g., a patient) through a portable X-ray detector (120).

[0113] The processor (140) can recognize the portable X-ray detector (120) from the detector image using an artificial intelligent model (AI model) (152). In one embodiment of the present disclosure, the processor (140) inputs the detector image into the artificial intelligent model (152) and performs inference using the artificial intelligent model (152) to recognize the portable X-ray detector from the detector image. In one embodiment of the present disclosure, the 'artificial intelligent model (152)' can be implemented as a deep neural network model trained through supervised learning that applies images of a plurality of X-ray detectors having preset shapes, colors, sizes, and border patterns (markers) as learning data, and applies a label value indicating the recognition result of the X-ray detector as a ground truth. In order to increase the recognition rate through a deep neural network model, fine tuning can be performed by using images of X-ray detectors with predetermined colors, sizes, and shapes, X-ray detectors containing specific patterns (e.g., triangles or squares), or X-ray detectors whose corners or edges are marked with fluorescent materials as learning data during the learning process.

[0114] The deep neural network model may be composed of, for example, a convolutional neural network (CNN) model including an object detection model. However, the deep neural network model of the present disclosure is not limited to a convolutional neural network model, and the deep neural network model may be implemented using a known neural network model, such as, for example, a recurrent neural network, a restricted Boltzmann machine, a deep belief network, a bidirectional recurrent deep neural network, or a deep Q-network.

[0115] In FIG. 6, the artificial intelligence model (152) is illustrated and described as being implemented as instructions, program code, or algorithm stored in the memory (150), but is not limited thereto. In one embodiment of the present disclosure, the artificial intelligence model (152) may not be included in the X-ray imaging device (100). In this case, the artificial intelligence model may be included in the workstation (200, see FIG. 1).

[0116] The processor (140) can obtain position information of the portable X-ray detector (120) recognized through the artificial intelligence model (152). In one embodiment of the present disclosure, the processor (140) can obtain three-dimensional position coordinate values ​​of the portable X-ray detector (120). In one embodiment of the present disclosure, the processor (140) can capture the portable X-ray detector (120) in real time using the camera (130) to obtain a plurality of image frames regarding the portable X-ray detector (120), input the plurality of image frames into the artificial intelligence model (152), recognize the portable X-ray detector (120), and obtain real-time position information of the recognized portable X-ray detector (120), for example, real-time three-dimensional position coordinate value information. The processor (140) can track the position of the portable X-ray detector (120) in real time using the three-dimensional position coordinate value information obtained in real time.

[0117] The processor (140) can move the position of the X-ray tube (110) based on the position information of the portable X-ray detector (120). The processor (140) can move the position of the X-ray tube (110) so that the irradiation area where X-rays are irradiated by the X-ray source (112) is aligned with the portable X-ray detector (120). The X-ray tube (110) is connected to a moving carriage (40, see FIGS. 1 and 4), and the moving carriage (40) can move in the X-axis direction and the Y-axis direction along guide rails (30-1, 30-2, see FIG. 4) mounted on the ceiling of the imaging room. In one embodiment of the present disclosure, the processor (140) can control the driving unit of the moving carriage (40) to move the position of the X-ray tube (110) in the X-axis direction and the Y-axis direction so that the focal spot of the X-ray source (112) is aligned on the center area of ​​one surface of the portable X-ray detector (120). For example, the processor (140) can calculate a two-dimensional position coordinate value of the X-ray tube (110) so that the focal spot of the X-ray source (112) is aligned on the center area of ​​one surface of the portable X-ray detector (120), and control the moving carriage (40) based on the calculated two-dimensional position coordinate value, thereby moving the X-ray tube (110) in the X-axis direction and the Y-axis direction.

[0118] In one embodiment of the present disclosure, the display (172) displays a button user interface (UI) for executing an auto-tracking function of the portable X-ray detector (120), and the user input interface (160) can receive a user's touch input for selecting the button UI displayed on the display (172). When the touch input is received, the processor (140) can perform an operation according to the auto-tracking function for automatically moving the position of the X-ray tube (110) so that the X-ray irradiation area by the X-ray source (112) is aligned on the portable X-ray detector (120). In one embodiment of the present disclosure, the user input that becomes a trigger for executing the auto-tracking function is not limited to a touch input, and the auto-tracking function may also be executed through an input of pressing a key pad, a hardware button, a jog switch, or the like of the user input interface (160).

[0119] In one embodiment of the present disclosure, the camera (130) is configured as an RGB depth camera configured to measure a depth value of an object to obtain a depth map image, and the processor (140) can measure the distance between the X-ray source (112) and the target object (e.g., a patient's target area to be photographed) using the RGB depth camera. The processor (140) can calculate the Z-axis position coordinate value of the X-ray tube (110) so that the measured distance between the X-ray source (112) and the target object matches the SID set in advance according to the photographing protocol. The processor (140) can control the post frame (50, see FIG. 8) based on the calculated Z-axis position coordinate value, thereby adjusting the position of the X-ray tube (110) along the Z-axis direction. In one embodiment of the present disclosure, the processor (140) may obtain SID information for an imaging protocol determined by a user input from an APR (Anatomically Programmed Radiography) database, and adjust the position of the X-ray tube (110) along the Z-axis direction based on the obtained SID information. A specific embodiment in which the processor (140) adjusts the position of the X-ray tube (110) along the Z-axis direction based on the SID information will be described in detail with reference to FIGS. 7 to 9.

[0120] When taking an X-ray photograph using a portable X-ray detector (120), the portable X-ray detector (120) may be inclined at a specific angle with respect to the horizontal plane on a table or the ground depending on the photographing area or specific circumstances. In one embodiment of the present disclosure, the processor (140) may obtain angle information regarding the angle at which the portable X-ray detector (120) is inclined with respect to the horizontal plane, and may rotate the X-ray tube (110) so that the surface of the X-ray source (112) and the portable X-ray detector (120) form a vertical angle based on the angle information. In this case, the processor (140) may be connected to the moving carriage (40) and may control a driving unit that rotates the X-ray tube (110), thereby rotating the X-ray tube (110). The processor (140) can move the X-ray tube (110) in the X-axis direction and the Y-axis direction so that the focus position of the X-ray irradiated by the X-ray source (112) of the rotated X-ray tube (110) is aligned on the center region of the portable X-ray detector (120). A specific embodiment in which the processor (140) rotates and moves the X-ray tube (110) based on the angle information of the portable X-ray detector (120) will be described in detail with reference to FIGS. 10 and 11.

[0121] In one embodiment of the present disclosure, the processor (140) can control the camera (130) to capture an image of a user in a shooting room. The processor (140) can recognize a gesture input of the user from the image using an artificial intelligence model. In one embodiment of the present disclosure, the artificial intelligence model can include a pose estimation model trained to recognize a gesture from an input image. The processor (140) can perform a function and / or operation of the X-ray imaging device (100) including at least one of movement, position adjustment, rotation, automatic SID setting, and X-ray photography of the X-ray tube (110) based on the gesture input recognized through the pose estimation model. A specific embodiment in which the processor (140) recognizes a gesture input from an image obtained by photographing a user in a shooting room using a camera (130) and controls the X-ray imaging device (100) to automatically perform a function and / or operation based on the recognized gesture input will be described in detail in FIGS. 12 and 13.

[0122] The user input interface (160) is configured to provide an interface for operating the X-ray imaging device (100). The user input interface (160) may be configured as a control panel including hardware elements such as a key pad, a mouse, a trackball, a jog dial, a jog switch, or a touch pad, but is not limited thereto. In one embodiment of the present disclosure, the user input interface (160) may also be configured as a touch screen that receives a touch input and displays a graphical user interface (GUI).

[0123] The user input interface (160) can receive commands for operating the X-ray imaging device (100) from the user and various types of information regarding X-ray photography. The user input interface (160) can receive user input for executing, for example, an automatic tracking function that automatically moves the X-ray tube (110) to be aligned on a portable X-ray detector, a function that adjusts the Z-axis direction position of the X-ray tube (110) based on a preset SID according to a photography protocol, or an automatic X-ray photography function.

[0124] The output interface (170) is configured to output a graphic user interface (UI) for controlling the function and / or operation of the X-ray imaging device (100) or to output an X-ray image of a target object. The output interface (170) may include a display (172) and a speaker (174).

[0125] The display (172) is configured to display a graphical UI for executing or controlling the function and / or operation of the X-ray imaging device (100). The display (172) may be configured as a hardware device including, for example, at least one of a CRT display, an LCD display, a PDP display, an OLED display, an FED display, an LED display, a VFD display, a DLP (Digital Light Processing) display, a Flat Panel Display, a 3D display, and a transparent display, but is not limited thereto. In one embodiment of the present disclosure, the display (172) may be configured as a touchscreen including a touch interface. When the display (172) is configured as a touchscreen, the display (172) may be a component integrated with a user input interface (160) configured as a touch panel.

[0126] FIG. 7 is a flowchart illustrating a method for automatically adjusting a source to image distance (SID) of an X-ray imaging device (100) according to one embodiment of the present disclosure.

[0127] FIG. 8 is a drawing illustrating an operation of an X-ray imaging device (100) according to one embodiment of the present disclosure to automatically adjust a source to image distance (SID).

[0128] Hereinafter, with reference to FIGS. 7 and 8, the function and / or operation of the X-ray imaging device (100) to adjust the position of the X-ray tube (110) based on the SID information set in advance according to the photographing protocol will be described in detail.

[0129] Step S710 illustrated in FIG. 7 may be performed after the operation according to step S540 of FIG. 5 is performed. In step S710, the X-ray imaging device (100) measures the distance between the X-ray source and the object by photographing the object using a depth camera. In one embodiment of the present disclosure, the X-ray imaging device (100) may include a depth camera configured to measure a depth value of the object to obtain a depth map image. The depth camera may be, for example, a ToF camera that irradiates light to the object, detects reflected light reflected from the object, and obtains the depth value of the object based on the time of flight, which is the time difference between the time when the reflected light is detected and the time when the light is irradiated. In some cases, the ToF camera may be implemented as an RGB-ToF camera that obtains an RGB image and a depth map image of the object together. However, it is not limited thereto, and the depth camera included in the X-ray imaging device (100) may be implemented as a stereo camera or a camera including a Light Detection and Ranging (LiDAR) sensor.

[0130] Referring to operation ① of FIG. 8 together, a portable X-ray detector (120) is placed on a table (106) of an X-ray imaging device (100), and an object (e.g., a patient's target area to be photographed) (10) can be positioned on the portable X-ray detector (120) on the table (106). The X-ray imaging device (100) photographs the object (10) using a camera (130) configured as an RGB-depth camera, thereby obtaining a depth map image including depth value information of the object (10), and can measure a first distance (d1) between the object (10) and the X-ray source (112) from the obtained depth map image. In one embodiment of the present disclosure, the processor (140, see FIG. 6) of the X-ray imaging device (100) can calculate a first distance (d1) from a depth value of the object (10) using information about the positional relationship in which the camera (130) is placed on the X-ray tube (110).

[0131] Referring to operation ② of FIG. 8, the X-ray imaging device (100) can obtain SID (source to image distance) information according to a shooting protocol. The shooting protocol can be determined according to a target part to be shot. In one embodiment of the present disclosure, the shooting protocol can be determined according to a user input. Once the shooting protocol is determined, the X-ray imaging device (100) can obtain information regarding a preset SID value in the determined shooting protocol.

[0132] Referring back to FIG. 7, in step S720, the X-ray imaging device (100) adjusts the position of the X-ray tube along the Z-axis so that the distance between the X-ray source and the target matches the SID (source to image distance) preset according to the photographing protocol. Referring also to operation ③ of FIG. 8, the X-ray imaging device (100) can adjust the position of the X-ray tube (110) along the Z-axis based on the acquired SID information. In one embodiment of the present disclosure, the X-ray tube (110) is connected to a guide rail through a moving carriage (40) of the ceiling, and the moving carriage (40) can be connected through a post frame (50) that can be folded together with the X-ray tube (110). The post frame (50) can move the X-ray tube (110) in the height direction (Z-axis direction). The processor (140, see FIG. 6) of the X-ray imaging device (100) can calculate the Z-axis direction position coordinate value of the X-ray tube (110) such that the distance between the X-ray source and the object (10) measured through the RGB-depth camera matches the SID set in advance according to the photographing protocol. The processor (140) can control the post frame (50) to adjust the position of the X-ray tube (110) based on the calculated Z-axis direction position coordinate value. In the embodiment illustrated in FIG. 8, the processor (140) can adjust the Z-axis direction position of the X-ray tube (110) such that the distance between the X-ray source and the object (10) becomes a second distance (d2) equal to the SID according to the photographing protocol.

[0133] In Fig. 8, the second distance (d2) is illustrated as being shorter than the first distance (d1), but this is for convenience of explanation, and the second distance (d2) is not limited to being shorter than the first distance (d1). In one embodiment of the present disclosure, the processor (140) may move the X-ray tube (110) upward to change the first distance (d1) between the X-ray source and the object (10) to the second distance (d2) equal to the SID value.

[0134] FIG. 9 is a flowchart illustrating a method in which an X-ray imaging device (100) according to one embodiment of the present disclosure acquires preset SID information according to a photographing protocol and adjusts the position of an X-ray tube based on the acquired SID information.

[0135] Steps S910 to S930 illustrated in FIG. 9 are operations that specify the operation according to step S720 of FIG. 7. Step S910 illustrated in FIG. 9 may be performed after the operation according to step S710 of FIG. 7 is performed.

[0136] In step S910, the X-ray imaging device (100) determines a shooting protocol based on a user input. In one embodiment of the present disclosure, the X-ray imaging device (100) can display a graphic UI for determining a shooting protocol according to a shooting target part through a display (172, see FIG. 6) of an output interface (170, see FIG. 6). The X-ray imaging device (100) can receive a user input for selecting any one of the graphic UIs regarding shooting protocols displayed through the display (172), and determine a shooting protocol based on the received user input.

[0137] In step S920, the X-ray imaging device (100) obtains SID information for the determined shooting protocol from an APR (Anatomically Programmed Radiography) database. In the present disclosure, the 'APR database' is a database that stores setting values ​​of X-ray shooting according to the shooting protocol, and may include, for example, setting value information for at least one of an X-ray irradiation time, an exposure time, a tube voltage value (kVp), a mask, and an SID (source to image distance) value set in advance according to the shooting protocol. The processor (140, see FIG. 6) of the X-ray imaging device (100) may obtain information about an SID value set in advance according to the shooting protocol from the APR database.

[0138] In step S930, the X-ray imaging device (100) adjusts the Z-axis direction position of the X-ray tube based on the acquired SID information. In one embodiment of the present disclosure, the processor (140) of the X-ray imaging device (100) calculates a Z-axis direction position coordinate value of the X-ray tube at which the distance between the X-ray source and the object measured through the RGB-depth camera matches the acquired SID value, and can adjust the Z-axis direction position of the X-ray tube based on the calculated Z-axis direction position coordinate value. The processor (140) can move the X-ray tube to the calculated Z-axis position coordinate value by driving a post frame (50, see FIG. 8) connected to the X-ray tube.

[0139] The X-ray imaging device (100) according to the embodiment illustrated in FIGS. 7 to 9 measures the distance between the X-ray source (112) and the object (10) using a camera (130, see FIG. 8) composed of an RGB-depth camera, and adjusts the position of the X-ray tube (110) along the Z-axis so that the measured distance matches the SID (source to image distance) preset according to the photographing protocol, thereby automating the SID setting to streamline the workflow of a user (e.g., an operator or a radiologist) and improve user convenience. In addition, the X-ray imaging device (100) according to one embodiment of the present disclosure provides a technical effect of preventing erroneous or excessive X-ray irradiation in advance by automating the SID setting.

[0140] FIG. 10 is a flowchart illustrating a method for adjusting the position of an X-ray tube based on angle information of a portable X-ray detector by an X-ray imaging device (100) according to one embodiment of the present disclosure.

[0141] FIG. 11 is a drawing illustrating an operation of an X-ray imaging device (100) according to one embodiment of the present disclosure to rotate and / or move an X-ray tube (110) based on angle information of a portable X-ray detector (120).

[0142] Hereinafter, the function and / or operation of the X-ray imaging device (100) to rotate and / or move the X-ray tube (110) based on the angle information of the portable X-ray detector (120) will be described in detail with reference to FIGS. 10 and 11.

[0143] In step S1010 of FIG. 10, the X-ray imaging device (100) obtains angle information regarding the angle at which the portable X-ray detector is tilted with respect to the horizontal plane. When taking an X-ray image using a portable X-ray detector, the portable X-ray detector may be tilted at a specific angle with respect to the horizontal plane on a table or the ground depending on the area to be photographed or a specific situation. Referring also to operation ① of FIG. 11, the portable X-ray detector (120) may be placed on the ground (G) in a state of being tilted by θ° with respect to the horizontal plane. However, the present invention is not limited thereto, and the portable X-ray detector (120) may also be placed on a table (106, see FIGS. 3 and 4) in an examination room in a state of being tilted by θ° with respect to the horizontal plane. The X-ray imaging device (100) can obtain information regarding the tilted angle θ° of the portable X-ray detector (120).

[0144] In one embodiment of the present disclosure, a portable X-ray detector (120) may include an accelerometer and a gyroscope. The portable X-ray detector (120) may obtain a three-axis acceleration measurement value regarding acceleration of each of the three axes (X-axis, Y-axis, and Z-axis) using the acceleration sensor, and may obtain a three-axis angular velocity measurement value including angular velocities of roll, pitch, and yaw using the gyro sensor. The X-ray imaging device (100) may be connected to the portable X-ray detector (120) by wire or wirelessly, and may receive three-axis acceleration measurement value and three-axis angular velocity measurement value information from the portable X-ray detector (120) through a wired or wireless communication method. In one embodiment of the present disclosure, the portable X-ray detector (120) may further include a geomagnetic sensor.

[0145] In one embodiment of the present disclosure, a portable X-ray detector (120) is connected to an X-ray imaging device (100) via a short-range wireless communication method, and can transmit a 3-axis acceleration measurement value and a 3-axis angular velocity measurement value to the X-ray imaging device (100). The portable X-ray detector (120) can transmit the 3-axis acceleration and the 3-axis angular velocity measurement value to the X-ray imaging device (100) via a short-range wireless communication network including, for example, at least one of WiFi, Wi-Fi Direct, Bluetooth, BLE (Bluetooth Low Energy), NFC (Near Field Communication), Zigbee, Ant+, or μWave. The X-ray imaging device (100) can obtain angle information about an angle at which the portable X-ray detector (120) is inclined with respect to a horizontal plane based on the 3-axis acceleration and 3-axis angular velocity measurement values ​​received from the portable X-ray detector (120).

[0146] Referring to operation ② of FIG. 11, the X-ray imaging device (100) can align the X-ray tube (110) to the portable X-ray detector (120). The X-ray imaging device (100) can move the position of the X-ray tube (110) so that an irradiation area where X-rays are irradiated by the X-ray source (112) is aligned with the portable X-ray detector (120) based on the three-dimensional position coordinate values ​​of the portable X-ray detector (120). In one embodiment of the present disclosure, the X-ray imaging device (100) can move the X-ray tube (110) in the X-axis direction and the Y-axis direction so that a focal spot where X-rays are irradiated by the X-ray source (112) is aligned from a zero point (P0) of a corner area of ​​the portable X-ray detector (120) to a first point (P1) which is the center of the portable X-ray detector (120). Since operation ② of Fig. 11 is the same as operation ③ of Fig. 4 and step S540 of Fig. 5, overlapping descriptions are omitted.

[0147] Referring back to FIG. 10, in step S1020, the X-ray imaging device (100) rotates the X-ray tube so that the planes of the X-ray source and the portable X-ray detector form a vertical angle based on the angle information. In one embodiment of the present disclosure, the X-ray imaging device (100) may receive a user input that triggers execution of a rotation operation of the X-ray tube to form a vertical angle between the X-ray tube and the portable X-ray detector, and may perform the rotation operation of the X-ray tube as the user input is received. Referring also to operation ③ of FIG. 11, the X-ray imaging device (100) may display a graphic UI (1100) for executing an automatic rotation function of the X-ray tube (110) to align the X-ray tube (110) by reflecting the tilted angle of the portable X-ray detector (120). Upon receiving a user input touching the graphic UI (1100), the X-ray imaging device (100) can perform an operation according to the automatic rotation function of the X-ray tube (110).

[0148] Referring to operation ④ of FIG. 11, the X-ray imaging device (100) can rotate the X-ray tube (110) so that the angle between the X-ray source (112, see FIGS. 3 and 6) and the portable X-ray detector (120) within the X-ray tube (110) is 90°. In one embodiment of the present disclosure, the X-ray tube (110) may further include a driving unit capable of rotating a tube head unit (THU, or X-ray tube assembly) including the X-ray source (112), a collimator, a camera (130), a user input interface, and an output interface. The processor (140, see FIG. 6) of the X-ray imaging device (100) calculates a rotation angle value of the X-ray source (112) based on angle information of the portable X-ray detector (120) so that the angle between the X-ray source (112) and the portable X-ray detector (120) forms a vertical angle (90°), and controls the driving unit based on the calculated rotation angle value to rotate the entire tube head unit (or tube assembly).

[0149] By rotating the X-ray tube (110), the focal spot of the X-ray source can be positioned on a second point (P2) on one side of the portable X-ray detector (120).

[0150] Referring back to FIG. 10, in step S1030, the X-ray imaging device (100) moves the X-ray tube in the X-axis and Y-axis directions so that the center area of ​​the portable X-ray detector and the focal spot of the X-ray irradiation area by the rotated X-ray tube are aligned. Referring also to operation ⑤ of FIG. 11, the X-ray imaging device (100) can move the position of the X-ray tube (110) so that the center of the X-ray irradiation area by the X-ray source is aligned with the third point (P3), which is the center of the portable X-ray detector (120). In one embodiment of the present disclosure, a processor (140, see FIG. 6) of an X-ray imaging device (100) calculates two-dimensional position coordinate values ​​of an X-ray tube (110) so that a focal spot of an X-ray source is aligned with a third point (P3), which is a central area of ​​one surface of a portable X-ray detector (120), and controls a moving carriage (40, see FIG. 4) based on the calculated two-dimensional position coordinate values, thereby moving the X-ray tube (110) in the X-axis direction and the Y-axis direction.

[0151]

[0152] FIG. 12 is a flowchart illustrating a method in which an X-ray imaging device (100) according to one embodiment of the present disclosure recognizes a user's gesture input and performs an action corresponding to the recognized gesture input.

[0153] FIG. 13 is a drawing illustrating an embodiment in which an X-ray imaging device (100) of the present disclosure recognizes a gesture input of a user (13) and performs an action corresponding to the recognized gesture input.

[0154] Hereinafter, with reference to FIGS. 12 and 13, an embodiment in which an X-ray imaging device (100) recognizes a gesture input of a user (13) and performs an operation corresponding to the recognized gesture input will be described in detail.

[0155] In step S1210 of FIG. 12, the X-ray imaging device (100) acquires a hand image by photographing the user's hand using a camera. In one embodiment of the present disclosure, the X-ray imaging device (100) may further include a camera mounted on one side of the X-ray tube (110) and a camera mounted inside the imaging room. Referring also to operation ① of FIG. 13, the X-ray imaging device (100) may further include, in addition to the camera (130), a camera mounted on a stand (20) inside the imaging room and configured to photograph the entire area inside the imaging room, including the X-ray tube (110), the portable X-ray detector (120), the table (106), and the user (13). In the embodiment illustrated in FIG. 13, the camera mounted on the stand (20) is illustrated as being mounted on the camera, but the camera mounted on the stand (132) of the present disclosure is not limited thereto. The filming room camera (132) can be placed in any space or area within the filming room.

[0156] The X-ray imaging device (100) can obtain an image of the hand of the user (13) by photographing the user (13) in the imaging room using either the camera (130) or the imaging room camera (132) or both the camera (130) and the imaging room camera (132).

[0157] Referring back to FIG. 12, in step S1220, the X-ray imaging device (100) recognizes a gesture input from a hand image using an artificial intelligence model including a pose estimation model. Referring also to FIG. 13, the artificial intelligence model (1300) may include a pose estimation model trained through supervised learning that applies multiple images of hand gestures, for example, a pointing gesture using the index finger, a pinch zoom gesture using the thumb and index finger, a V-shaped gesture using the index finger and middle finger, an OK gesture making an O-shape using the index finger and thumb, etc., as inputs, and applies a label value indicating the recognition result of the gesture as a ground truth. The pose estimation model may be composed of, for example, a convolutional neural network (CNN) model. However, the posture prediction model of the present disclosure is not limited to a convolutional neural network model, and may be implemented with any known deep neural network model.

[0158] The artificial intelligence model (1300) may be implemented as instructions, program code, or algorithm stored in the memory (150, see FIG. 6) of the X-ray imaging device (100). However, the present invention is not limited thereto, and in one embodiment of the present disclosure, the artificial intelligence model (1300) may not be included in the X-ray imaging device (100). In this case, the artificial intelligence model (1300) may be included in a workstation (200, see FIG. 1).

[0159] Referring to step S1220 of FIG. 12 and operation ② of FIG. 13, the X-ray imaging device (100) transmits the hand image (i1 to i) of the user (13) to the artificial intelligence model (1300). n) can input any one of the images and perform inference using the artificial intelligence model (1300) to recognize a gesture from the input hand image. For example, when the second image (i2) is input to the artificial intelligence model (1300), the X-ray imaging device (100) can perform inference using the artificial intelligence model (1300) to recognize the first gesture of the user pointing in a specific direction from the second image (i2). For example, when the n-th image (i) is input to the artificial intelligence model (1300), the X-ray imaging device (100) can perform inference using the artificial intelligence model (1300) to recognize the first gesture of the user pointing in a specific direction from the second image (i2). n ) is input, the X-ray imaging device (100) performs inference through an artificial intelligence model (1300) to generate the nth image (i n ) can recognize grasping gestures using fingers.

[0160] In step S1230 of FIG. 12, the X-ray imaging device (100) performs at least one operation of moving, positioning, rotating, automatically setting SID, and X-ray photographing of the X-ray tube based on the recognized gesture input. Referring also to operation ③ of FIG. 13, the X-ray imaging device (100) may perform an operation of the X-ray imaging device (100) corresponding to the recognized gesture. In one embodiment of the present disclosure, a plurality of gesture inputs are mapped to each of the operations of the X-ray imaging device (100), and information regarding the mapping relationship may be stored in the memory (150, see FIG. 6) of the X-ray imaging device (100). The processor (140, see FIG. 6) of the X-ray imaging device (100) can identify an operation of the X-ray imaging device (100) mapped to correspond to a gesture input based on a mapping relationship stored in the memory (150), and control at least one of the X-ray tube (110), the portable X-ray detector (120), the moving carriage (40, see FIG. 4), and the post frame (50, see FIG. 8) to perform the identified operation.

[0161] The X-ray imaging device (100) according to the embodiment illustrated in FIGS. 12 and 13 captures a user (13) using not only a camera (130) mounted on an X-ray tube (110) but also a camera (132) positioned in a shooting room, thereby recognizing a gesture of the user (13) from an image obtained by capturing the user (13) and performing a mapped action corresponding to the recognized gesture, thereby streamlining the workflow of the user (e.g., an operator or a radiologist, etc.) and improving user convenience.

[0162] Although not shown in FIGS. 12 and 13, the X-ray imaging device (100) according to one embodiment of the present disclosure may further include a microphone for receiving a voice input from a user. The X-ray imaging device (100) may perform operations of the X-ray imaging device (100) based on the user's voice input received through the microphone. In one embodiment of the present disclosure, the processor (140, see FIG. 6) of the X-ray imaging device (100) may perform Automatic Speech Recognition (ASR) to convert the received voice input into computer-readable text. The processor (140) may analyze the converted text using a Natural Language Understanding (NLU) model, and based on the analysis result, may obtain an intent regarding a function and / or operation that the user wishes to execute among a plurality of functions and / or operations of the X-ray imaging device (100). The function and / or operation of the X-ray imaging device (100) according to the intent may include, for example, at least one of movement, position adjustment, rotation, automatic SID setting, and X-ray photography of the X-ray tube (110). The processor (140) may control at least one of the X-ray tube (110), the portable X-ray detector (120), the moving carriage (40, see FIG. 4), and the post frame (50, see FIG. 8) so that the X-ray imaging device (100) performs the function and / or operation based on the intent.

[0163] The present disclosure provides an X-ray imaging device (100) including a camera (130). The X-ray imaging device (100) according to one embodiment of the present disclosure may include an X-ray tube (110) including an X-ray source that generates X-rays and irradiates an object with X-rays and a collimator that controls a path of X-rays irradiated by the X-ray source to adjust an X-ray irradiation area, a portable X-ray detector (120) that detects X-rays irradiated by the X-ray source and transmitted through the object, a camera (130) disposed on one side of the X-ray tube (110), at least one processor (140) including a processing circuit; and a memory (150) that stores one or more instructions. By individually or collectively executing the one or more commands by the at least one processor (140), the X-ray imaging device (100) can: input an image acquired through the camera (130) into an artificial intelligence model (152), and perform inference using the artificial intelligence model (152) to recognize a portable X-ray detector (120) from the image. By individually or collectively executing the one or more commands by the at least one processor (140), the X-ray imaging device (100) can: obtain location information of the recognized portable X-ray detector (120). By individually or collectively executing the one or more commands above by the at least one processor (140), the X-ray imaging device (100) can: move the position of the X-ray tube so that the focal spot of the X-ray irradiation area by the X-ray source is aligned on the central area of ​​the portable X-ray detector (120) based on the position information of the portable X-ray detector (120).

[0164] In one embodiment of the present disclosure, the artificial intelligence model (152) may be a deep neural network model (152) trained through supervised learning that applies images of a plurality of X-ray detectors (120) having a specific shape, color, size, and border pattern (marker) as input, and applies a label value representing the recognition result of the X-ray detectors (120) as a ground truth.

[0165] In one embodiment of the present disclosure, the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: acquire a plurality of image frames of the portable X-ray detector (120) by taking a picture of the portable X-ray detector (120) in real time using the camera (130), and input the plurality of image frames into the artificial intelligence model (152), thereby recognizing the portable X-ray detector (120). The one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: track the position of the portable X-ray detector (120) by acquiring real-time position information of the recognized portable X-ray detector (120). By individually or collectively executing one or more of the above commands by the at least one processor (140), the X-ray imaging device (100) can: move the position of the X-ray tube so that the focus position of the X-ray irradiation area is aligned on the central area of ​​the tracked portable X-ray detector (120).

[0166] In one embodiment of the present disclosure, the camera (130) may include a depth camera configured to measure a depth value of an object. The one or more commands are individually or collectively executed by the at least one processor (140), whereby the X-ray imaging device (100) may: measure a distance between an X-ray source and the object based on a depth value acquired using the depth camera, and adjust a position of the X-ray tube along the Z-axis so that the distance between the X-ray source and the object matches a source image distance (SID) preset according to a photographing protocol.

[0167] In one embodiment of the present disclosure, the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: determine the photographing protocol based on a user input, and obtain SID information for the determined photographing protocol from an Anatomically Programmed Radiography (APR) database. The one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: adjust the Z-axis position of the X-ray tube based on the obtained SID information.

[0168] In one embodiment of the present disclosure, the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: obtain angle information about an angle at which the portable X-ray detector (120) is inclined with respect to a horizontal plane, and rotate the X-ray tube so that the plane of the X-ray source and the portable X-ray detector (120) forms a vertical angle based on the angle information. The one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: move the X-ray tube in the X-axis direction and the Y-axis direction so that the focus position of the X-ray irradiation area by the rotated X-ray tube is aligned on the center area of ​​the portable X-ray detector (120).

[0169] In one embodiment of the present disclosure, the portable X-ray detector (120) may include an acceleration sensor and a gyro sensor. By individually or collectively executing the one or more commands by the at least one processor (140), the X-ray imaging device (100) may: receive from the portable X-ray detector (120) three-axis acceleration measurements including X-axis acceleration, Y-axis acceleration, and Z-axis acceleration measured by the acceleration sensor, and roll, pitch, and yaw angular velocity measurements measured by the gyro sensor. By individually or collectively executing the one or more commands by the at least one processor (140), the X-ray imaging device (100) may: obtain information about an angle of inclination of the portable X-ray detector (120) with respect to a horizontal plane based on the received three-axis acceleration measurements and three-axis angular velocity measurements.

[0170] In one embodiment of the present disclosure, the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: acquire a hand image by photographing a user's hand using the camera (130), and recognize a gesture input from the hand image using a pose estimation model (152) trained to recognize a gesture from the input image. The one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: control the X-ray imaging device (100) to perform at least one operation of moving, positioning, rotating, automatically setting SID, and X-ray photographing of the X-ray tube based on the recognized gesture input.

[0171] In one embodiment of the present disclosure, the one or more commands are individually or collectively executed by the at least one processor (140), thereby controlling the X-ray imaging device (100) to perform an operation mapped to correspond to a recognized gesture input based on a preset mapping relationship between the gesture and the operations of the X-ray imaging device (100).

[0172] In one embodiment of the present disclosure, the X-ray imaging device (100) may further include a room camera (132) arranged in a room and configured to capture an entire area inside the room, including a portable X-ray detector (120), the X-ray tube, the table, and the user. The one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: recognize a gesture input from a hand image acquired by capturing the user through the room camera (132). The one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: control at least one of the portable X-ray detector (120), the X-ray tube, the moving cartridge, and the post frame to perform at least one operation of the X-ray imaging device (100) based on the recognized gesture input.

[0173] In one embodiment of the present disclosure, the X-ray imaging device (100) may further include a microphone configured to receive a voice input from a user. The one or more commands may be individually or collectively executed by the at least one processor (140), whereby the X-ray imaging device (100) may perform at least one of: movement, position adjustment, rotation, automatic SID setting, and X-ray photographing of the X-ray tube based on the voice input received through the microphone.

[0174] The present disclosure provides an operating method of an X-ray imaging device (100) including a camera (130). The operating method of the X-ray imaging device (100) according to one embodiment of the present disclosure may include a step (S510) of inputting an image acquired using the camera (130) into an artificial intelligence model (152) to recognize a portable X-ray detector (120) from the image. The operating method of the X-ray imaging device (100) according to one embodiment of the present disclosure may include a step (S520) of acquiring position information of the recognized portable X-ray detector (120). The operating method of the X-ray imaging device (100) according to one embodiment of the present disclosure may include a step (S530) of moving a position of an X-ray tube such that a focal spot of an X-ray irradiation area by an X-ray source is aligned on a central area of ​​the portable X-ray detector (120) based on the acquired position information.

[0175] In one embodiment of the present disclosure, the first artificial intelligence model (152) may be a deep neural network model (152) trained through supervised learning that applies images of a plurality of X-ray detectors (120) having a specific shape, color, size, and border pattern (marker) as input, and applies a label value representing the recognition result of the X-ray detector as a ground truth.

[0176] In one embodiment of the present disclosure, the camera (130) may include a depth camera (130) configured to measure a depth value of an object. The operating method of the X-ray imaging device (100) may further include a step (S710) of measuring a distance between an X-ray source and an object based on a depth value acquired using the depth camera (130), and a step (S720) of adjusting a position of an X-ray tube along the Z-axis so that the distance between the X-ray source and the object matches a source image distance (SID) preset according to a photographing protocol.

[0177] In one embodiment of the present disclosure, the step of adjusting the position of the X-ray tube (S720) may include a step of determining an imaging protocol based on a user input (S910), a step of obtaining SID information for the determined imaging protocol from an APR (Anatomically Programmed Radiography) database (S920), and a step of adjusting the Z-axis position of the X-ray tube based on the obtained SID information (S930).

[0178] In one embodiment of the present disclosure, the operating method of the X-ray imaging device (100) may further include a step (S1010) of obtaining angle information regarding an angle at which a portable X-ray detector (120) is inclined with respect to a horizontal plane, a step (S1020) of rotating an X-ray tube so that a plane of an X-ray source and the portable X-ray detector (120) forms a vertical angle based on the angle information, and a step (S1030) of moving the X-ray tube in the X-axis direction and the Y-axis direction so that a focus position of an X-ray irradiation area by the rotated X-ray tube is aligned on a central area of ​​the portable X-ray detector (120).

[0179] In one embodiment of the present disclosure, the portable X-ray detector (120) may include an acceleration sensor and a gyro sensor. The step (S1010) of obtaining angle information of the portable X-ray detector (120) may include a step of receiving a three-axis acceleration measurement value including an X-axis acceleration, a Y-axis acceleration, and a Z-axis acceleration measured by an acceleration sensor from the portable X-ray detector (120) and a roll, pitch, and yaw angular velocity measurement value measured by a gyro sensor, and a step of obtaining information about an angle of inclination of the portable X-ray detector (120) with respect to a horizontal plane based on the received three-axis acceleration measurement value and the three-axis angular velocity measurement value.

[0180] In one embodiment of the present disclosure, the operating method of the X-ray imaging device (100) may further include a step (S1210) of obtaining a hand image by photographing a user's hand using a camera (130), and a step (S1220) of recognizing a gesture input from the hand image using a pose estimation model (152) trained to recognize a gesture from the input image. The operating method of the X-ray imaging device (100) may further include a step (S1230) of performing at least one operation of moving, adjusting a position, rotating, automatically setting an SID, and taking an X-ray of an X-ray tube based on the recognized gesture input.

[0181] In one embodiment of the present disclosure, in the step (S1230) of performing at least one operation, the X-ray imaging device (100) may perform an operation mapped to correspond to a recognized gesture input based on a preset mapping relationship between the gesture and operations of the X-ray imaging device (100).

[0182] The present disclosure provides a computer program product including a computer-readable storage medium. The storage medium may include instructions readable by an X-ray imaging device (100), such that the X-ray imaging device (100) performs the following operations: inputting an image acquired using a camera (130) into an artificial intelligence model (152), recognizing a portable X-ray detector (120) from the image, acquiring position information of the recognized portable X-ray detector (120), and moving the position of the X-ray tube such that a focal spot of an X-ray irradiation area by an X-ray source is aligned on a central region of the portable X-ray detector (120) based on the acquired position information.

[0183] The program executed by the X-ray imaging device (100) described in the present disclosure may be implemented as hardware components, software components, and / or a combination of hardware components and software components. The program may be executed by any system capable of executing computer-readable instructions.

[0184] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to do a desired thing or may independently or collectively command a processing device to do a desired thing.

[0185] Software may be implemented as a computer program containing instructions stored on a computer-readable storage medium. Examples of computer-readable storage media include magnetic storage media (e.g., read-only memory (ROM), random-access memory (RAM), floppy disks, hard disks, etc.) and optical readable media (e.g., CD-ROMs, DVDs (Digital Versatile Discs)). The computer-readable storage media may be distributed across network-connected computer systems, so that computer-readable code may be stored and executed in a distributed manner. The media may be readable by a computer, stored in a memory, and executed by a processor.

[0186] A computer-readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory" simply means that the storage medium does not contain signals and is tangible, but does not distinguish between cases where data is stored semi-permanently or temporarily on the storage medium. For example, a "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0187] Additionally, programs according to the embodiments disclosed herein may be provided as part of a computer program product. The computer program product may be traded as a commodity between sellers and buyers.

[0188] A computer program product may include a software program, a computer-readable storage medium having the software program stored thereon. For example, the computer program product may include a product in the form of a software program (e.g., a downloadable application) distributed electronically by the manufacturer of the X-ray imaging device (100) or through an electronic market (e.g., Samsung Galaxy Store). For electronic distribution, at least a portion of the software program may be stored in a storage medium or temporarily generated. In this case, the storage medium may be a storage medium of a server of the manufacturer of the X-ray imaging device (100), a server of an electronic market, or a relay server that temporarily stores the software program.

[0189] The computer program product may include a storage medium of the server or the storage medium of the X-ray imaging device (100) in a system comprising an X-ray imaging device (100) and / or a server. Alternatively, if there is a third device (e.g., a 'workstation (200, see FIG. 1)') that is communicatively connected to the X-ray imaging device (100), the computer program product may include a storage medium of the third device. Alternatively, the computer program product may include a software program itself that is transmitted from the X-ray imaging device (100) to the third device or from the third device to an electronic device.

[0190] In this case, one of the X-ray imaging device (100) or a third device (e.g., a 'workstation (200, see FIG. 1)') may execute the computer program product to perform the method according to the disclosed embodiments. Alternatively, at least one of the X-ray imaging device (100) and the third device may execute the computer program product to perform the method according to the disclosed embodiments in a distributed manner.

[0191] For example, the X-ray imaging device (100) may execute a computer program product stored in a memory (150, see FIG. 6) to control another electronic device that is in communication with the X-ray imaging device (100) to perform a method according to the disclosed embodiments.

[0192] As another example, a third device may execute a computer program product to control an electronic device in communication with the third device to perform a method according to the disclosed embodiment.

[0193] When the third device executes the computer program product, the third device may download the computer program product from the X-ray imaging device (100) and execute the downloaded computer program product. Alternatively, the third device may execute the computer program product provided in a pre-loaded state to perform the method according to the disclosed embodiments.

[0194] Although the embodiments described above have been described with limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above description. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components such as the described computer system or modules are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

Claims

1. An X-ray tube (110) including an X-ray source that generates X-rays and irradiates the X-rays to a target object, and a collimator that controls the path of X-rays irradiated by the X-ray source to adjust an X-ray irradiation area; A portable X-ray detector (120) that detects X-rays transmitted through the object by the X-ray source; A camera (130) placed on one side of the X-ray tube (110); At least one processor (140) including a processing circuit; and A memory (150) storing one or more instructions; Including, The X-ray imaging device (100) is configured such that the one or more commands are individually or collectively executed by the at least one processor (140): The image acquired through the above camera (130) is input into the artificial intelligence model (152), and inference is performed using the artificial intelligence model (152) to recognize the portable X-ray detector (120) from the image, Obtaining the location information of the above recognized portable X-ray detector (120), An X-ray imaging device (100) that moves the position of the X-ray tube so that the focal spot of the X-ray irradiation area by the X-ray source is aligned on the central area of ​​the portable X-ray detector (120) based on the position information of the portable X-ray detector (120).

2. In paragraph 1, The X-ray imaging device (100) is configured such that the one or more commands are individually or collectively executed by the at least one processor (140): By using the above camera (130), the portable X-ray detector (120) is photographed in real time to obtain multiple image frames for the portable X-ray detector (120), By inputting the plurality of image frames into the artificial intelligence model (152), the portable X-ray detector (120) is recognized, By obtaining real-time location information of the above-mentioned recognized portable X-ray detector (120), the location of the portable X-ray detector (120) is tracked, An X-ray imaging device (100) that moves the position of the X-ray tube so that the focus position of the X-ray irradiation area is aligned on the central area of ​​the above-mentioned tracked portable X-ray detector (120).

3. In either of paragraphs 1 or 2, The above camera (130) includes a depth camera configured to measure the depth value of the object, The X-ray imaging device (100) is configured such that the one or more commands are individually or collectively executed by the at least one processor (140): Measure the distance between the X-ray source and the object based on the depth value obtained using the depth camera, An X-ray imaging device (100) that adjusts the position of the X-ray tube along the Z-axis so that the distance between the X-ray source and the target matches the SID (source image distance) set in accordance with the photographing protocol.

4. In paragraph 3, The X-ray imaging device (100) is configured such that the one or more commands are individually or collectively executed by the at least one processor (140): Determine the above shooting protocol based on user input, Obtain SID information for the above-determined shooting protocol from the APR (Anatomically Programmed Radiography) database, An X-ray imaging device (100) that adjusts the Z-axis position of the X-ray tube based on the acquired SID information.

5. In any one of paragraphs 1 to 4, The X-ray imaging device (100) is configured such that the one or more commands are individually or collectively executed by the at least one processor (140): The above portable X-ray detector (120) obtains angle information regarding the angle at which it is tilted with respect to the horizontal plane, Based on the above angle information, the X-ray tube is rotated so that the planes of the X-ray source and the portable X-ray detector (120) form a vertical angle, An X-ray imaging device (100) that moves the X-ray tube in the X-axis direction and the Y-axis direction so that the focus position of the X-ray irradiation area by the rotated X-ray tube is aligned on the central area of ​​the portable X-ray detector (120).

6. In any one of paragraphs 1 to 5, The X-ray imaging device (100) is configured such that the one or more commands are individually or collectively executed by the at least one processor (140): By taking a picture of the user's hand using the above camera (130), a hand image is obtained, Recognize gesture input from the hand image using a pose estimation model trained to recognize gestures from the input image, An X-ray imaging device (100) that controls the X-ray imaging device (100) to perform at least one operation of moving, positioning, rotating, automatically setting SID, and X-ray photographing of the X-ray tube based on the recognized gesture input.

7. In paragraph 6, A camera (132) positioned within the imaging room and configured to capture the entire area inside the imaging room, including the portable X-ray detector (120), the X-ray tube, the table, and the user; Including more, The X-ray imaging device (100) is configured such that the one or more commands are individually or collectively executed by the at least one processor (140): An X-ray imaging device (100) that recognizes a gesture input from a hand image obtained by photographing the user through the above-described camera (132) and controls at least one of the portable X-ray detector (120), the X-ray tube, the moving cartridge, and the post frame to perform at least one operation of the X-ray imaging device (100) based on the recognized gesture input.

8. In any one of paragraphs 1 to 7, A microphone configured to receive voice input from a user; Including more, The X-ray imaging device (100) is configured such that the one or more commands are individually or collectively executed by the at least one processor (140): An X-ray imaging device (100) that performs at least one operation of moving, positioning, rotating, automatically setting SID, and X-ray photographing of the X-ray tube based on a voice input received through the microphone.

9. In the operating method of the X-ray imaging device (100), A step (S510) of inputting an image acquired using a camera (130) into an artificial intelligence model (152) and recognizing a portable X-ray detector (120) from the image; Step (S520) of acquiring location information of the above recognized portable X-ray detector (120); and A step (S530) of moving the position of the X-ray tube so that the focal spot of the X-ray irradiation area by the X-ray source is aligned on the central area of ​​the portable X-ray detector (120) based on the acquired position information; A method comprising:

10. In paragraph 9, The above artificial intelligence model (152) is A method of a deep neural network model (152) trained through supervised learning that applies images of multiple X-ray detectors (120) having specific shapes, colors, sizes, and border patterns (markers) as inputs and applies label values ​​representing the recognition results of the X-ray detectors as ground truth values.

11. In either of paragraphs 9 or 10, The above camera (130) includes a depth camera (130) configured to measure the depth value of the object, The operating method of the above X-ray imaging device (100) is: A step (S710) of measuring the distance between the X-ray source and the target based on the depth value obtained using the depth camera (130); and A step (S720) of adjusting the position of the X-ray tube along the Z-axis so that the distance between the X-ray source and the target matches the SID (source image distance) set in accordance with the photographing protocol; A method further comprising:

12. In paragraph 11, The step of adjusting the position of the above X-ray tube (S720) is A step of determining the shooting protocol based on user input (S910); A step (S920) of obtaining SID information for the determined shooting protocol from the APR (Anatomically Programmed Radiography) database; and A step of adjusting the Z-axis position of the X-ray tube based on the acquired SID information (S930); A method comprising:

13. In any one of paragraphs 9 to 12, A step (S1010) of obtaining angle information regarding the angle at which the portable X-ray detector (120) is tilted with respect to the horizontal plane; Based on the above angle information, a step (S1020) of rotating the X-ray tube so that the surface of the X-ray source and the portable X-ray detector (120) form a vertical angle; and A step (S1030) of moving the X-ray tube in the X-axis direction and the Y-axis direction so that the focus position of the X-ray irradiation area by the rotated X-ray tube is aligned on the central area of ​​the portable X-ray detector (120); A method further comprising:

14. In any one of the clauses 9 to 13, A step (S1210) of obtaining a hand image by taking a picture of the user's hand using the above camera (130); A step (S1220) of recognizing a gesture input from the hand image using a pose estimation model trained to recognize a gesture from an input image; and A step (S1230) of performing at least one operation of moving, positioning, rotating, automatically setting SID, and X-ray photography of the X-ray tube based on the recognized gesture input; A method further comprising:

15. In a computer program product including a computer-readable storage medium, The above storage medium, An operation of inputting an image acquired using a camera (130) into an artificial intelligence model (152) and recognizing a portable X-ray detector (120) from the image; An operation of acquiring location information of the above recognized portable X-ray detector (120); and An operation of moving the position of the X-ray tube so that the focal spot of the X-ray irradiation area by the X-ray source is aligned on the central area of ​​the portable X-ray detector (120) based on the acquired position information; A computer program product including instructions executed by an X-ray imaging device (100) to perform an X-ray imaging device (100).

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