Robotically Controlled C-Arm Turning Center Repositioning
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Solution Overview
Problem
Conventional C-arm systems struggle to accurately reconstruct three-dimensional images of regions located at the lateral edges of a patient, as these regions often cannot be fully positioned within the cone beam of the X-ray bundle due to limitations in patient positioning and C-arm movement.
Innovation Solution
A method and robotically controlled recording device that compliantly repositions the C-arm system during rotation to ensure the region of interest remains within the X-ray cone beam at all angles, using a robotically controlled C-arm system with adjustable X-ray source and detector distance to avoid collisions and achieve complete imaging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the C-arm system rotates around a fixed turning center to capture radioscopic images, then the imaging process is simple and efficient, but regions at the lateral edges of the patient cannot be fully positioned within the cone beam
Solution Approach 1:
The C-arm system transitions from a fixed turning center rotation to a dynamically adjustable turning center that can be repositioned along the patient's body. The robot control unit calculates optimal turning centers for different regions of interest, allowing the system to adapt its rotation geometry to capture lateral edge regions completely within the cone beam while maintaining imaging efficiency.
2Manufacturing precision
If the patient positioning table is moved laterally to position lateral edge regions within the cone beam, then complete imaging of the region of interest is achieved, but severe restrictions apply to patient movement due to collision with the rotating C-arm
Solution Approach 1:
Instead of moving the patient table laterally, the system dynamically repositions the turning center along the patient's body using robotic control. This allows the C-arm to rotate around a new center that keeps lateral edge regions within the cone beam without requiring patient table movement, eliminating collision risks while achieving complete region imaging.
Solution Approach 2:
The robot control unit acts as an intermediary that calculates and determines optimal turning center positions based on the region of interest location. This intermediary computation layer translates the imaging requirement into a safe and effective C-arm rotation geometry without direct mechanical conflict between the patient table and C-arm.
3Manufacturing precision
If the C-arm is repositioned to accommodate lateral edge regions, then complete imaging is achieved, but collision between the C-arm and patient table must be avoided during rotation
Solution Approach 1:
The robot control unit pre-calculates the optimal turning center position and rotation path before the C-arm begins rotation. By determining the collision-free trajectory in advance based on the region of interest location, the system ensures complete imaging of lateral edge regions while guaranteeing collision-free operation throughout the imaging process.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate reconstruction of three-dimensional images from radioscopic data by maintaining the region of interest within the X-ray cone beam at all rotation angles, preventing truncated projections and ensuring collision-free rotation, thus allowing for precise imaging of lateral edge regions.
Implementation Method 1
an X-ray source (10) and an X-ray detector (9) which are located opposite the X-ray source (10)
Data Source
AI summary
The present invention relates to a method and a device for recording X-ray images by means of a robotically controlled C-arm system which includes an image recording system (9, 10) that can be rotated in a recording plane around a turning center (17) by means of a C-arm (7) and with which, through rotating of the C-arm (7), a plurality of radioscopic images of a region (14) of interest in an object (13) positioned on an object positioning facility (15) are recorded at different rotation angles, from which images one or more cross-sectional images or a three-dimensional image of a region (14) in the object can be reconstructed. With the method, the C-arm (7) is compliantly repositioned in a collision-free manner in synchronism with the rotation such that the region (14) of interest in an object will, at least at each rotation angle at which image recording takes place, be located within a cone beam (16) of an X-ray bundle of the image recording system (9, 10). The method and associated robotically controlled recording device thus enable the three-dimensional image reconstruction also of regions located at the edge of the object's longitudinal center line.