KR101501086B1 - Method for operating X-ray fluoroscopy apparatus - Google Patents

Abstract

According to the present invention, even if the C-arm panning rotation is performed and the X-ray imaging is performed, the user can output the aligned image on the display together with the X-ray imaging without any special operation, X-ray exposure can also be reduced.

Description

[0001] The present invention relates to a method for operating an X-ray fluoroscopic apparatus,

The present invention relates to an X-ray fluoroscopic imaging apparatus, and more particularly, to a driving method of an X-ray fluoroscopic imaging apparatus provided with a C-arm.

The X-ray fluoroscopic imaging apparatus having the C-arm is an apparatus that continuously captures an X-ray image of the affected part of a human body and an animal body and continuously provides an X-ray image to the affected part, thereby diagnosing and reading the affected part, It is widely used in surgery. The X-ray fluoroscopic imaging apparatus having a C-arm includes a main body having an actuator for lifting and lowering, a C-arm having a C-shape and having the X-ray generator and the image acquiring device mutually spaced and fixed to each other, And a stay capable of rotating and moving. Further, the stay is connected to the FR-arm which is lifted and lowered by the lifting actuator. The FR-arm is configured to allow the C-arm to move forward and backward along the length of the FR-arm.

The C-arm also rotates about the axis of the FR-arm, i.e. about the longitudinal direction of the FR-arm, which is known as rotational rotation movement. Further, the C-arm can be rotated in the longitudinal direction of the stay along the stay connected to one end of the C-arm. This is known as orbital rotation. In addition, both ends of the C-arm are rotatable in the transverse direction of the FR-arm around an elevating actuator connected to the FR-arm, which is known as panning rotation movement.

Therefore, the C-arm can move forward and backward, move up and down, rotate the robot, move the orbiting and pan, and rotate around at least two different axes, Ray images of various angles according to the accurate diagnosis of the affected part and the insertion angle of the operation tool.

For example, in a fluoroscopic procedure for interventional procedures performed by inserting a catheter or the like, the C-arm of the C-arm X-ray fluoroscopic apparatus is required to acquire an image in real time while rotating and moving around the affected part do.

On the other hand, when the C-arm rotates in the panning direction, the image capturing device fixed to the distal end of the C-arm also rotates, and in the X-ray photographing, the rotated image is output on the display. The rotated image is difficult to grasp the position of the lesion accurately when the user proceeds the procedure, and thus it is difficult to effectively use the rotated image during diagnosis and diagnosis. Therefore, the user has to manually adjust the image to obtain the desired aligned image.

At this time, there are two methods for the user to align the images. An analog method for physically rotating the image capturing device to align the images, a digital method for rotating the captured image, (digital) method.

In the above two methods, the image alignment state is checked while irradiating the X-ray after the rotation of the C-arm, and then the rotation of the image acquisition device or the image rotation value is set through the control unit to output the aligned image on the display . However, there is a problem that unnecessary X-rays are exposed to the user and the patient during the alignment process and the procedure time increases.

The present invention relates to a driving method of a C-arm X-ray fluoroscopic imaging apparatus capable of acquiring an aligned image without any separate control when X-ray imaging is performed after panning rotation movement of a C-arm in a C- .

The present invention relates to an X-ray fluoroscopic apparatus,

A C-arm configured to provide an X-ray to a subject with an X-ray generator provided at one side and detect an X-ray passing through the subject with an image acquisition device provided at the other side; And

A driving unit for moving the C-arm; And

A control unit for controlling the X-ray fluoroscopy apparatus; And

Further comprising a sensor for measuring panning rotational movement of the C-arm,

And a rotational movement angle and a rotational movement distance of the C-arm moved through the sensor are measured.

Further, the present invention provides a C-arm X-ray fluoroscopic apparatus, wherein the rotational movement value measured by the sensor is transmitted to the controller.

Further, the controller calculates a rotational movement value transmitted from the sensor.

Further, the present invention provides a C-arm X-ray fluoroscopic apparatus characterized in that the control unit controls an image processing apparatus or an image capturing apparatus.

Further, the present invention provides a C-arm X-ray fluoroscopic apparatus characterized in that the driving unit can be driven by any one of 'manual driving', 'automatic driving', or 'manual / automatic selection driving'.

Further, in order to obtain an aligned X-ray image after panning rotation of the C-arm,

Setting a basic position of the C-arm X-ray fluoroscopy apparatus (S1); And

A step S2 of generating a panning rotation movement of the C-arm at the set basic position; And

Measuring a rotational movement angle and a rotational movement distance of the C-arm panning and rotating through the sensor (S3); And

Transferring the measured rotational movement value of the C-arm from the sensor to the controller (S4); And

Calculating (S5) a rotational movement value of the transferred C-arm by the control unit; And

And a step S6 in which an image acquiring device or an image processing device is controlled according to a value calculated by the control unit and an image aligned on a display is outputted are sequentially generated so that X- A method of driving a line-of-sight photographing apparatus is provided.

In addition, in step S6, the control unit controls the physical rotation of the image capturing apparatus. The present invention also provides a method of driving the C-arm X-ray fluoroscopic apparatus.

In addition, in step S6, the controller sets and controls an image rotation value of the image processing apparatus.

Further, the present invention provides a driving method of a C-arm X-ray fluoroscopic apparatus characterized in that forward and backward movement of the C-arm occurs according to the value calculated in the step S6.

In the use of the C-arm X-ray fluoroscopic imaging apparatus according to the present invention, when the X-ray radiography is performed after the panning rotation movement of the C-arm, the user can automatically acquire an ordered diagnostic image, There is a possible effect.

Therefore, there is a shortening of the procedure time and an effect of reducing the X-rays to be exposed to the user and the patient.

Fig. 1 is a view for explaining the present invention, and shows an example of a C-arm X-ray fluoroscopic imaging apparatus.
Figs. 2A and 2B show the basic instrument positions and X-ray images of the C-arm X-ray fluoroscopic imaging apparatus.
3A and 3B show the position of the mechanism and the X-ray image of the C-arm X-ray fluoroscopic apparatus during orbit rotation.
Figs. 4A and 4B show the X-ray image and the position of the mechanism in rotary movement of the C-arm X-ray fluoroscopic apparatus.
Figs. 5A to 5D show the position of the mechanism and the X-ray image at the time of panning rotation movement of the C-arm X-ray fluoroscopic imaging apparatus.
FIG. 6 is a flowchart illustrating a photographing method of a C-arm X-ray fluoroscopy apparatus according to an embodiment of the present invention.
FIG. 7 shows an example of a C-arm X-ray fluoroscopic apparatus having a sensor according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to facilitate a person skilled in the art to easily carry out the technical idea of the present invention. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Fig. 1 is a view for explaining the present invention, and shows an example of a C-arm X-ray fluoroscopic imaging apparatus.

1, the C-arm X-ray fluoroscopy apparatus includes an X-ray generating unit 120 for radiating X-rays to an object, an image acquiring unit 120 for converting X- Ray image generator 110 and the X-ray generator 120 and the image acquiring device 110 and integrates the image signals generated by the image acquiring device 110 to construct an X-ray image, A controller 160 for setting conditions for the user to irradiate X-rays or inputting various kinds of information, a controller 160 for controlling the rotation of the C-arm 100, And a C-arm 100 which attaches the X-ray generating device 120 and the image acquiring device 110 to one side and the other side.

The X-ray generator 120 generates an X-ray of a cone beam type by accelerating an electron beam accelerated from a filament-shaped cathode provided in a vacuum tube into a target material on the anode in a high energy state.

A collimator for determining the shape of the X-ray and the irradiation area is provided on the front surface of the X-ray generator 120. The image capturing apparatus 110 is located opposite to the X-ray generator 120. The image capturing apparatus 110 converts the X-rays transmitted through the subject into a visible light image signal and transmits the converted image signal to the image processing apparatus 170. The C- An image acquisition device 110 and an X-ray generator 120 are attached to one side and the other side, respectively.

The control unit 160 controls the X-ray irradiation region by setting the X-ray irradiation conditions or controlling the collimator by the user, and controls the X-ray imaging apparatus 110, the X-ray generator 120, the image processing apparatus 170, 180) and the like.

The image processing apparatus 170 is connected to the image capturing apparatus 110 and the display 200 and processes the image obtained from the image capturing apparatus 110 and transmits the processed image to the display 200.

The display 200 may include a CRT (Cathode-Ray Tube) cathode ray tube, an LCD (Liquid Crystal Display), and an organic EL (Organic Electroluminescence), and outputs the X-ray image transmitted from the image processing apparatus 170.

When the C-arm X-ray fluoroscopic imaging apparatus is used, the driving unit 180 refers to all the components that are driven when the C-arm 100 rotates or moves to obtain images of various positions desired by the user, and the C- 100, a stay 130, an FR-arm 140, an elevating actuator 150, and the like.

It is possible to move forward and backward by the FR-arm 140, to ascend and descend by the lifting actuator 150, to rotate the rotor 130 through the stay 130, and to orbit and rotate. The panning rotation movement means that both ends of the C-arm 100 are rotated in the transverse direction of the FR-arm 140 with the lifting actuator 150 as a central axis.

Also, the driving unit 180 may be driven by any one of 'manual driving', 'automatic driving', and 'manual / automatic selecting driving'.

The C-arm 100 can be positioned in different directions with respect to the patient through driving, thereby allowing the user to obtain X-ray images of various angles necessary for precise diagnosis of the lesion and insertion angle of the procedure tool have. However, when the panning rotation movement of the C-arm 100 occurs, the image capturing device 110 attached to the C-arm 100 is also rotated together, so that a rotated image is output.

For example, one of the interventional procedures is to perform an angiography to check for abnormally narrowed blood vessels or obstructions, and to perform angiographic procedures on abnormal blood vessels. This is because, by injecting the contrast agent into the patient before the operation, the blood vessel that can not be confirmed on the X-ray can be identified by confirming the position of the catheter inserted into the blood vessel and the blood vessel in real time on the display 200, Whether the catheter is inserted or not.

In the above procedure, a user inserts a catheter into a blood vessel while observing X-ray images continuously shot and output, and then performs a procedure of piercing a clogged blood vessel or inserting a surgical apparatus such as a balloon. The user continuously takes a fluoroscopic image while moving the C-arm 100 to check the position of the catheter and the blood vessel.

At this time, panning rotation movement of the C-arm 100 may occur, and when the panning rotation of the C-arm 100 is performed, the image capturing apparatus 110 attached to the C-arm 100 also rotates And the display 200 outputs the rotated X-ray image. The rotated X-ray image is difficult for the user to grasp the exact operation site, and it is difficult to proceed with the interventional procedure for inserting the catheter.

Accordingly, the user must arrange the images through the controller 160 so that the images aligned on the display 200 are output every time the panning rotation movement of the C-arm 100 occurs. Analogue and digital methods are used.

The analog method is a method of rotating the image acquiring device 110 after the panning rotation, and a physical control is generated. When the user directly rotates the image acquiring device 110, the X- ) Of the X-ray image. This is repeated until the aligned image is output, and the procedure of 'rotation of the image acquisition device 110 → X-ray irradiation → confirmation of the X-ray image output to the display 200' is repeated.

The digital method is a method of rotating the image by reprocessing the image transmitted from the image acquisition device 110 by setting the image rotation value in the image processing device 170, The apparatus 170 sets the image rotation value and image reprocessing → X-ray irradiation → confirms the output X-ray image of the display 200 '.

Therefore, when the procedure is performed through the above-described method, repeated X-rays are irradiated in the process of aligning the images, unnecessary X-rays are exposed to the patient and the user, and the procedure time is prolonged.

In order to solve the above problem, in order to solve the above problem, image reprocessing is performed by rotating the image capturing apparatus 110 after panning rotation of the C-arm 100 or setting the image rotation value in the image processing apparatus 170 Ray images can be output on the display 200. The X-

FIG. 2A shows a C-arm X-ray fluoroscopic apparatus at a basic position, and FIG. 2B shows an X-ray image at this time.

As shown in FIG. 2A, the C-arm X-ray fluoroscopic apparatus is positioned such that the affected site 1 (A1), the image capturing apparatus 110 and the X-ray generator 120 are in a straight line. , And photographing is performed by irradiating X-rays. In the display 200, an image as shown in FIG. 2B is output. In the present invention, an image photographed at a basic position as shown in FIG. 2B is referred to as an aligned X-ray image.

FIGS. 3A and 3B show the position and the image of the apparatus when the C-arm X-ray fluoroscopic apparatus performs orbital rotary movement. FIG.

The orbital rotational movement of the C-arm 100 is performed along the stay 130 connected to one end of the C-arm 100 in Fig. 3A in such a manner that the C- ). In this case, the output image is as shown in FIG. 3B.

FIGS. 4A and 4B are views of the position and image of the apparatus when the C-arm X-ray fluoroscopy apparatus rotates by rotation of the robot.

Rotational movement of the C-arm 100 causes the stay 130 connected to one end of the C-arm 100 in FIG. 4A to move about the axis of the FR-arm 140, ) In the longitudinal direction (C, D).

The output image is shown in FIG. 4B.

When the C-arm 100 performs the orbital rotational movement and the rotative rotational movement, only the photographing position is changed as shown in FIGS. 3B and 4B, and the aligned X-ray image is outputted.

Figs. 5A to 5D show the positions and images of the apparatus when the C-arm X-ray fluoroscopic apparatus performs panning rotation movement.

5A, the panning rotation movement of the C-arm 100 refers to the rotation of the both ends of the C-arm 100 in the E and F directions, and the lifting and lowering actuator connected to the FR- (100) is rotated in the transverse direction of the FR-arm (140) about the center axis (150) of the C-arm (100).

At this time, the rotated X-ray image is outputted as shown in FIG. 5B.

5C, in order to photograph the affected area 1 (A1) and to photograph the affected area 2 (A2), the image capturing device 110 changes from the affected area 1 (A1) to the affected area 2 (A2) Lateral movement is required. To this end, the method of moving the main body 210 of the C-arm X-ray fluoroscopic apparatus in the lateral direction so that the C-arm 100 is positioned at the ringed position 2 (A2) There is a method of moving from the photographing position 1 (P1) to the photographing position 2 (P2) of the C-arm 100 through the rotational movement.

Among the above methods, the former method requires heavy equipment to be moved every time the procedure is performed, and the latter method is used more frequently since it has difficulty in the progress of the procedure. The latter method has an advantage that the C-arm 100 can be moved more easily than the former method, but the output image is also rotated together to shift the alignment as shown in FIG. 5B, and the image quality is lowered.

In the C-arm X-ray fluoroscopic imaging apparatus, a clear image, that is, a high-quality image is obtained in the image acquiring apparatus 110 as the X-ray generating apparatus 120 is closer to the center where the X-ray is irradiated. Accordingly, as the center of the affected part of the human body and the animal coincides with the center of the image capturing apparatus 110, the image of the desired position is output clearly. 5B, when the C-arm 100 is panned and rotated, the center of the image capturing apparatus 110 is located at a position other than the center of the affected part position to be photographed, 110, that is, a video having a low image quality is output.

In order to compensate for this, when the panning rotary movement of the C-arm occurs, the user rotates the image as the photographing position 2a (P2a) at the photographing position 2 (P2) through the digital method, Backward movement of the C-arm 100 from the photographing position 2a (P2a) to the photographing position 2b (P2b) so that the center of the C-arm 100 coincides with the center of the image capturing device 110. [

However, according to the present invention, there is provided a method for acquiring an aligned X-ray image without rotation of the image capturing apparatus 110 by the user or image reprocessing process in the image processing apparatus 170 even if panning rotation movement is performed do.

The C-arm X-ray fluoroscopic apparatus further includes at least one sensor 190 capable of measuring driving such as rotation and movement of the C-arm, It can be located anywhere on the X-ray fluoroscopy device.

6 is a flowchart illustrating a method of driving a C-arm X-ray fluoroscopic apparatus according to an embodiment of the present invention.

As shown in FIG. 6, in the capturing method of the C-arm X-ray fluoroscopic apparatus according to the present embodiment, a basic position at which an image of an aligned position to be obtained by a user is obtained is set (S1). The panning rotation of the C-arm 100 is generated at the set basic position (S2). The sensor 190 measures a rotational movement angle and a rotational movement distance of the C-arm 100 panned and rotated through the sensor 190 (S3) (S4). The rotational movement value of the transferred C-arm is calculated (S5) in the control unit 160 and the rotation of the image capturing apparatus 110 or the rotation of the image processing apparatus 170 is calculated according to the value calculated by the controller 160 And a step S6 of outputting an image aligned on the display 200 through image reprocessing are sequentially generated.

Further, in the C-arm X-ray fluoroscopic apparatus in which the driving unit 180 is automatically driven, the C-arm X-ray fluoroscopic imaging apparatus is operated at the same time as the step S6 or after the completion of the step S6, Backward movement may occur. The C-arm 100 can be moved from the photographing position 2a (P2a) to the photographing position 2b (P2b) through the forward / backward movement of the C-arm 100.

In addition, the control unit 160 may be provided with a selection mode for controlling the image capturing apparatus 110 or the image processing apparatus 170, which can automatically align images, such as an 'auto-aligned image mode' So that it can be used.

7 shows that the sensor 190 is located in the image acquisition device 110 of the C-arm X-ray fluoroscopy apparatus, and the position of the sensor 190 is not limited to this, It can be located anywhere on the device.

The C-arm X-ray fluoroscopy device captures images necessary for the procedure using harmful radiation to the human body. If the patient is exposed to X-ray for a long time to take an X-ray image, it can be harmful to health. However, depending on the difficulty of the patient, the procedure time may be prolonged. In this case, the patient is obliged to take the risk of being exposed to X-rays for a long time for treatment. This also applies to the user who executes the procedure.

In the C-arm X-ray fluoroscopic apparatus according to the present invention, when the X-ray radiography is performed after the panning rotation of the C-arm 100, the angle and the distance of panning and rotating movement through the sensor 190 are calculated, Ray images are output to the display 200. The X-

Accordingly, the C-arm X-ray fluoroscopic apparatus of the present invention can be applied to the operation of the image capturing apparatus 110 or the image processing apparatus 170 to obtain an aligned X-ray image after the panning rotation of the C- Quot; X-ray image output on display 200 "," confirm X-ray image output on display 200 ", can be omitted. Therefore, omission of the above-described image alignment step results in a decrease in the X-ray dose to be applied to the patient and the user, and a reduction in the procedure time due to the reduction of the time required to repeat the image alignment step.

delete

100 C-arm 110 image acquisition device
120 X-ray generator 130 stay
140 FR-arm 150 Lift Actuator
160 Control unit 170 Imaging device
180 driver 190 sensor
200 display
A1 Location 1 A2 Location 2
P1 Recording position 1 P2 Recording position 2

Claims (9)

In an X-ray fluoroscopic imaging apparatus,
A C-arm configured to provide an X-ray to a subject with an X-ray generator provided at one side and detect an X-ray passing through the subject with an image acquisition device provided at the other side; And
A driving unit for moving the C-arm; And
A control unit for controlling the X-ray fluoroscopy apparatus; And

Further comprising a sensor for measuring panning rotational movement of the C-arm,
And a rotation movement angle and a rotation movement distance of the C-arm moved through the sensor are measured.
The method according to claim 1,
And the rotation movement value measured by the sensor is transmitted to the control unit.
The method according to claim 1,
Wherein the controller calculates the rotational movement value transmitted from the sensor.
The method according to claim 1 or 3,
Wherein the control unit controls the image processing apparatus or the image acquisition apparatus.
The method according to claim 1,
Wherein the driving unit can be driven by any one of 'manual driving', 'automatic driving', or 'manual / automatic selecting driving'.
In an X-ray fluoroscopic imaging apparatus,
After panning rotation of the C-arm, to obtain an aligned X-ray image,
Setting a basic position of the C-arm X-ray fluoroscopy apparatus (S1); And
A step S2 of generating a panning rotation movement of the C-arm at the set basic position; And
Measuring a rotational movement angle and a rotational movement distance of the C-arm panning and rotating through the sensor (S3); And
Transferring the measured rotational movement value of the C-arm from the sensor to the controller (S4); And
Calculating a rotational movement value of the delivered C-arm in the control unit (S5); And
Wherein the image acquiring device or the image processing device is controlled according to the value calculated by the controller and the step S6 of outputting an image aligned on the display is sequentially performed so that the X- A method of driving a device.
The method according to claim 6,
Wherein the control unit controls the physical rotation of the image capturing apparatus in step S6.
The method according to claim 6,
Wherein the control unit sets and controls an image rotation value of the image processing apparatus in step S6.
The method according to claim 6,
And the forward and backward movement of the C-arm further occurs in the step S6.

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