DE102004022803B4 - Method and device for navigation of an X-ray diagnostic device - Google Patents

Abstract

Method for navigation of an X-ray diagnostic device with an adjustable X-ray source and an adjustable X-ray imaging receiver, position measuring devices on all adjustment axes, an image processing computer and an X-ray pointer with X-ray-positive structures (31, 31 ') comprising the following method steps:
(1) triggering an X-ray of the examination object (19) together with an X-ray pointer (30), wherein the tip (36) of the X-ray pointer (30) coincides with the "point of interest" (POI) (18) and that the pointer axis ( 38) of the X-ray pointer (30) corresponds to the desired direction of the new central beam (102).
(2) Evaluation of the X-ray image in an image processing computer, wherein the position of the new central ray (102) and of the new focal point from the representation of the X-ray pointer (30) in the X-ray image and from the known shape and size of the X-ray-positive structures (31, 31 ') (92) are calculated with respect to a coordinate system connected to the X-ray source (9).
• (3) calculation of the adjustment paths of the individual adjustment axes of the X-ray diagnostic device and output to a control computer.

Description

The The invention relates to a method for navigating an X-ray diagnostic device and a device for implementation of the procedure.

From the German patent DE 282233 A a method is known for displaying and documenting radiographs for X-ray examinations, in which the doctor initiating the radiographs marks the direction of the central beam with the aid of little flags on a doll. The doll provided with the flags is used by the installer of the X-ray diagnostic device as a template for the adjustment of the recording geometry.

From the PCT application WO 01/50959 A1 An X-ray diagnostic device with a motor-adjustable C-arm is known in which the operator of the X-ray diagnostic device controls the movement of the C-arm with the aid of a joystick. When used in surgery, the joystick must be in the sterile area. The navigation of the C-arm with the help of a joystick requires the operator to imagine the kinematics of the C-arm. The adjustment of the C-arm with the help of a joystick allows, for example, that the operator himself makes the operation of the C-arm. This can only lead the C-arm responsibly, if he has an imagination of the kinematics of the C-arm. This is the case in particular when an adjustment of the central beam is to be achieved by about 90 degrees with respect to the current position.

From the document DE 69231553 T2 For example, a wireless remote control for an X-ray diagnostic device is known.

The document DE 69503814 T2 relates to a marker pen for a surgeon, wherein on the marker pen video-detectable markers are applied, which allow a location of the marker pen using a video system.

In an operative situation with a surgical X-ray diagnostic device is it for the patient, the surgeon and the payer advantageous if a desired by the surgeon Recording geometry is set quickly and reliably, without that the Surgeon must change his working position. It should the radiation exposure for doctor and patient not unnecessary elevated become.

Of the The invention is therefore based on the object, a method for navigation an X-ray diagnostic device and a device for to provide the procedure in which one of a surgeon without change his job position customer's desire for a specific Recording geometry, hereinafter called "operator request", from the X-ray diagnostic device is detected and the X-ray diagnostic device the implementation of the user request automatically makes.

The The object of the invention is achieved in that of one, by a surgeon - below also referred to as "operator" - in the surgical field focused on the point of interest (point of interest, "POI") radiopaque Pointer - below referred to as "X-ray pointer" - whose Direction the desired Direction of the central beam of the X-ray diagnostic device specifies an x-ray by means of an X-ray diagnostic device is recorded and by means of a suitable image editing program the position of the POI and the direction of the central ray in the coordinate system of the X-ray receiver become. The control computer of the X-ray diagnostic facility calculated for each adjustment axis of the C-arm the adjustment or the adjustment and leads them Adjustment to a specific control command automatically off. The next X-ray, at the X-ray pointer no longer in the surgical field, is with the surgeon desired Recording geometry recorded.

The Invention will be explained below with reference to the drawings.

In 1 a mobile X-ray diagnostic device is shown with a multi-adjustable C-arm. On a trolley 1 that by means of rollers 14 . 15 is movable on the floor, is a multi-adjustable bracket 5 arranged, which has a preferably arcuate C-arm 6 carries, wherein this along its circumference to the holder 5 is movably mounted. The C-arm 6 has at its ends an X-ray receiver 7 and an X-ray source lying opposite to it 8th on. Through the focus point 9 and the center 12 of the radiation entrance window 11 of the X-ray receiver 7 is the direction of the central ray 10 established.

For a clear description of the recording geometry in the point of interest (POI) 18 must be in addition to the direction of the central ray 10 the distance of the POI 18 from the focal point 9 be known. In 1 is in the area of the examination object 19 and the beam cone 101 an X-ray pointer 30 shown schematically. The car 1 carries a pillar 2 by means of a self-aligning bearing 21 with a horizontal guide 3 connected is. The horizontal guide 3 is by means of the column 2 height adjustable and around the swing axle 20 rotatably mounted. The horizontal guide 3 wears on the C-arm 6 facing sei te a dump camp 4 in which the holder 5 around the tilt axis 40 is rotatably mounted. The pendulum axle 20 is preferably vertical and the tilt axis 40 preferably arranged horizontally in the room. For the inventive method, it is necessary that all adjustment of the X-ray diagnostic device in the adjustment axes are detected by suitable sensors, such as encoders or Wegmeßsensoren. The detection of the adjustment is usually relative to a reference point or a reference direction. The reference points and reference directions may be fixed or fixed relative to one with the floor 16 connected coordinate system. The movement of the equipment cart 1 on the floor 16 can by means of suitable sensors on the wheels or by rolling on the floor rolling balls 22 . 23 take place, wherein taxiway and rolling direction of the rolling balls are detected by suitable sensors. It is irrelevant for the invention, if the adjustment axes are equipped only with transducers for the adjustment or if the adjustment axes are also controlled by a motor. Decisive for the invention is that with respect to a reference position of the focal point 9 and a reference direction of the central beam 10 a desired new focus point 92 and a desired new central ray 102 can be approached reproducibly by targeted adjustment of the adjustment of the X-ray diagnostic device. It is irrelevant whether the adjustment is done automatically and by motor or whether an operator to be made specifications on manually be made adjustment operations.

The invention is not limited to a 1 illustrated mobile X-ray diagnostic limited; The X-ray diagnostic device can also be a stationary system with a ceiling stand or a pedestal.

In 2 is an inventive X-ray pointer 30 schematically in a section through the axis of the direction indicator 34 and in 3 as a section in the plane AA 'off 2 shown. The X-ray pointer 30 contains defined radiopaque structures 31 . 31 ' which are detected and measured in the X-ray diagnostic device. In the example of 2 and 3 is the X-ray positive structure 31 from a thin rod and the structure 31 ' made of a thin ring, both made of X-ray absorbing material. For example, lead or stainless steel wires are used as materials. The radiopaque structure 31 . 31 ' is preferably with a shell 32 sheathed, furthermore a handle 33 and a direction indicator 34 are arranged. Because the X-ray pointer 30 is used in the sterile surgical field, it is intended to perform the X-ray pointer sterilizable. In one embodiment, the radiopaque structures are surrounded with a sterilizable plastic. The handle is made of the same plastic 33 and the direction indicator 34 formed. The production of the shell 32 with the handle 33 and the direction indicator 34 For example, by casting or encapsulating the radiopaque structure 31 . 31 ' respectively.

The X-ray pointer in 2 is on the point of interest (POI) 18 within the examination object 19 aligned, in this embodiment, the end 35 the radiopaque structure 31 a distance "a" from the POI.

• 1. Auslösen einer Röntgenaufnahme des Untersuchungsobjektes 19 zusammen mit einem Röntgenzeiger 30, wobei die Spitze 36 des Röntgenzeigers 30 mit dem "Point of interest" (POI) 18 zusammenfällt und daß die Zeigerachse 38 des Röntgenzeigers 30 der gewünschten Richtung des neuen Zentralstrahles 102 entspricht
• 2. Auswertung des Röntgenbildes in einem Bildverarbeitungsrechner, wobei aus der Darstellung des Röntgenzeigers 30 im Röntgenbild und aus der bekannten Form und Größe der röntgenpositiven Strukturen 31, 31' die Lage des neuen Zentralstrahls 102 und des neuen Fokuspunktes 92 bezüglich beispielsweise eines mit der Röntgenstrahlenquelle 9 verbundenen Koordinatensystems errechnet werden.
• 3. Berechnung der Verstellwege der einzelnen Verstellachsen der Röntgendiagnostikeinrichtung und Ausgabe auf einem Display für eine Bedienperson oder Umsetzung der Übergabe der berechneten Verstellwege an eine Achsensteuerung, die die physische Verstellung der Achsen vornimmt.

The inventive method for navigation of an X-ray diagnostic device comprises the following method steps:

• 1. triggering an X-ray of the examination subject 19 together with an X-ray pointer 30 where the top 36 of the X-ray pointer 30 with the "Point of interest" (POI) 18 coincides and that the pointer axis 38 of the X-ray pointer 30 the desired direction of the new central ray 102 corresponds to
• 2. Evaluation of the X-ray image in an image processing computer, wherein from the representation of the X-ray pointer 30 in the X-ray and from the known shape and size of the X-ray-positive structures 31 . 31 ' the location of the new central ray 102 and the new focus point 92 for example, with the X-ray source 9 connected coordinate system.
• 3. Calculation of the adjustment paths of the individual adjustment axes of the X-ray diagnostic device and output on a display for an operator or implementation of the transfer of the calculated adjustment paths to an axis control, which performs the physical adjustment of the axes.

The next x-ray after completing the procedure 3 has a recording geometry, the focal point of the new focus point 92 and as a central ray the new central ray 102 contains. Would, for example, the X-ray pointer 30 out 2 at process step 1 be positioned and also after process step 3 be positioned unchanged, the X-ray pointer would be on the radiograph after completion of process step 3 in the in 3 shown in the X-ray image.

The release of x-rays or the start of the X-ray image evaluation or the C-arm adjustment can by suitable input means the surgeon himself or optionally by another Operator.

It is intended in the handle 33 of the X-ray pointer 30 to accommodate a radio device, which cooperates with the control of the X-ray diagnostic device and allows the triggering of various method steps.

List of pictures:

1 : X-ray diagnostic facility

2 : schematic representation of an x-ray pointer

3 : Cut AA 'of the X-ray pointer 2

1

trolley

2

pillar

3

horizontal guide

4

rocker bearing

5

bracket

6

C-arm

7

X-ray receiver

8th

X-ray source

9

focus point

10

central beam

11

Radiation entrance window

12

Focus

14

role

15

role

16

floor

18

Point of interest, Point of Interest (POI)

19

object of investigation

20

swing axle

21

aligning bearing

22

trackball

23

trackball

30

X-pointer

31 31 '

radiopaque structure

32

shell

33

handle

34

direction indicator

35

End of the structure 31

36

top of the X-ray pointer

38

pointer axis

40

tilt axis

92

new focus point

101

ray cone

102

new central beam

Claims (9)

Method for navigation of an X-ray diagnostic device with an adjustable X-ray source and an adjustable X-ray imaging receiver, position measuring devices on all adjustment axes, an image processing computer and an X-ray pointer with X-ray-positive structures ( 31 . 31 ' ) consisting of the following procedural steps: (1) triggering an X-ray of the examination subject ( 19 ) together with an X-ray pointer ( 30 ), where the tip ( 36 ) of the X-ray pointer ( 30 ) with the "Point of interest" (POI) ( 18 ) coincides and that the pointer axis ( 38 ) of the X-ray pointer ( 30 ) of the desired direction of the new central ray ( 102 ) corresponds. (2) evaluation of the X-ray image in an image processing computer, wherein the representation of the X-ray pointer ( 30 ) in the X-ray image and from the known shape and size of the X-ray-positive structures ( 31 . 31 ' ) the location of the new central ray ( 102 ) and the new focus point ( 92 ) with respect to one with the X-ray source ( 9 ) coordinate system. • (3) calculation of the adjustment paths of the individual adjustment axes of the X-ray diagnostic device and output to a control computer. Method for navigating an X-ray diagnostic device according to claim 1, characterized in that the control computer, the calculated adjustment paths to an axis control, before the next x-ray the physical adjustment of the axes to the desired positions. Method for navigating an X-ray diagnostic device according to claim 1, characterized in that the calculated positions the axes to be adjusted are output from the control computer to a display and the adjustment of the adjustment axes according to these specifications an operator takes place. Device for realizing the method for navigation of an X-ray diagnostic device according to claim 1, characterized in that the X-ray pointer ( 30 ) a handle ( 33 ) and X-ray positive structures ( 31 . 31 ' ) with a pointer axis ( 38 ) having. Apparatus according to claim 4, characterized in that the X-ray pointer ( 30 ) an X-ray transparent envelope ( 32 ) of a sterilizable material. Device according to claim 4, characterized in that that the radiopaque Structures made of stainless steel wire. Device according to Claim 4, characterized in that the material of the X-ray-positive structures ( 31 . 31 ' ) is a heavy metal alloy. Apparatus according to claim 5, characterized in that the inside of the X-ray pointer ( 30 ) X-ray positive structure ( 31 ) an end ( 35 ), which in the direction of the pointer axis is arranged by the shell at a predetermined distance. Device according to Claim 4, characterized in that the X-ray-positive structures ( 31 . 31 ' ) are not mirror invariant.