KR20140009903A - X-ray imaging apparatus and method for controlling the x-ray imaging apparatus - Google Patents

Abstract

The present invention relates to an X-ray imaging apparatus and a method for controlling the x-ray imaging apparatus. The X-ray imaging apparatus includes an X-ray projection part moving and emitting an X-ray to an object, an X-ray detection part moving and changing an electric signal by detecting the X-ray passing through the object, a position collection part collecting the position information of the object, and a control part controlling the X-ray detection part and the X- ray projection part based on the position information of the object collected by the position collection part. [Reference numerals] (110) X-ray projection part; (120) X-ray detection part; (13) Control part; (20) Position information collection part; (AA) Control instruction; (BB) Position information

Description

X-ray imaging apparatus and method for controlling the X-ray imaging apparatus}

A method of controlling an X-ray imaging apparatus and an X-ray imaging apparatus is disclosed.

The X-ray imaging apparatus radiates X-rays (X-rays, also called roentgen rays) to an object, such as a human body or a baggage, and detects tissues or structures inside the object, such as a human body, a baggage, or an object inside the object. An imaging system for acquiring an image of a human body is a device for allowing a user, for example, a doctor or a diagnostician, to visually identify tissues, structures, and objects inside an object.

The X-ray imaging apparatus utilizes a property of absorbing or penetrating according to characteristics of a material, for example, density, etc., in which X-rays arrive when X-rays are irradiated onto an object.

In detail, the operation principle of a general X-ray imaging apparatus may include: radiating X-rays to an object such as a human body, receiving X-rays passing through or passing through the object, converting the received X-rays into an electrical signal, and converting the converted electrical The X-ray image is generated by reading out the X-ray image from the signal. The generated X-ray image displays an internal tissue, a structure, or a material inside the object.

Therefore, such an X-ray imaging apparatus may be used to detect abnormalities such as lesions in the human body or to grasp the internal structure of an object or a part, and may also be used for scanning baggage at an airport or the like.

Examples of X-ray imaging apparatuses include digital radiography (DR), computed tomography (CT), and mammography (FFDM).

The X-ray imaging apparatus and the method of controlling the X-ray imaging apparatus may automatically determine the movement positions of the X-ray radiator (X-ray source) and / or the X-ray detector (detector) according to the position of the object to be photographed. It aims to do it. Accordingly, it is also an object to enable X-ray imaging in the optimal view can be performed.

In addition, it may also be an object to transmit the control information to move to a specific location or information about the location to be moved to both the X-ray radiator or the X-ray detector to be able to control the movement of both.

The X-ray imaging apparatus may include an X-ray radiator which radiates X-rays to an object, a X-ray radiator that detects X-rays transmitted through the object, converts the signal into an electrical signal, and moves the X-ray detector; And a controller configured to control the X-ray radiator or the X-ray detector based on the position information of the object collected by the information collector.

In this case, the location information collection unit may be a 3D sensor that detects the object, or may be a marker recognition sensor that collects location information on the object by recognizing a marker attached to or installed on the object.

More specifically, the location information collecting unit may include a range sensor, a 3D camera, a 3D depth camera, a 3D color depth camera, a stereo camera, and an infrared ray. At least one of a camera and a position sensitive device (PSD) sensor.

In addition, the X-ray imaging apparatus may further include an input unit configured to receive data or a command from the user, and through this, the shooting point, the shooting range, the unique information about the object, and the marker to be recognized by the user. User input information including information, various setting information necessary for the operation of the X-ray photographing apparatus or the location information collecting unit, and location information of the object.

In the control method of the X-ray imaging apparatus, the position information collecting unit collecting position information on the object, based on the position information of the object collected by the position information collecting unit to determine the moving position of the X-ray radiator or the X-ray detector; Determining and moving the X-ray radiator or the X-ray detector according to the determined movement position, wherein the location information collection unit may be a three-dimensional sensor that detects the object, and may further include a marker formed on the object. It may be a marker recognition sensor that recognizes.

According to the method of controlling the X-ray imaging apparatus and the X-ray imaging apparatus, it is possible to automatically determine the moving position of the X-ray radiator and / or the X-ray detector.

In this case, the position of the X-ray radiator and the X-ray detector is determined according to the position of the object, thereby performing X-ray imaging in an optimal view.

In addition, the inconvenience of the manual operation of the X-ray irradiation unit is reduced, and the advantage of reducing the delay of the shooting time caused by the manual operation.

In addition, both the X-ray radiator or the X-ray detector may transmit information about a position to be moved or a control command to move to a specific position to control both movements.

1 is a diagram illustrating an embodiment of an X-ray imaging apparatus.
2 is a block diagram of an embodiment of an X-ray imaging apparatus.
3A and 3B are front views of an embodiment of the X-ray imaging apparatus.
4A and 4B are diagrams for describing an exemplary embodiment of the location information collecting unit.
5 is a plan view illustrating an embodiment in which a location information collecting unit is arranged.
6 is a configuration diagram of another embodiment of the X-ray imaging apparatus.
7 is a diagram illustrating an embodiment in which a marker is attached to an object.
8A and 8B are diagrams for describing an exemplary embodiment of a marker recognition method by an X-ray imaging apparatus.
9A to 9C are diagrams for describing another exemplary embodiment of a marker recognition method by an X-ray imaging apparatus.
10 is a perspective view of an embodiment of an X-ray irradiation module.
11 is a diagram illustrating an embodiment of an X-ray radiator.
12 is a diagram illustrating an embodiment of an X-ray detector module.
13A and 13B are plan views illustrating various embodiments of the X-ray detection module.
14 is a configuration diagram of yet another embodiment of the X-ray imaging apparatus.

1 is a diagram illustrating an embodiment of an X-ray imaging apparatus.

As illustrated in FIG. 1, the X-ray imaging apparatus 10 may include the X-ray radiator 110 and the X-ray detector based on the location information collected by the location information collector 20. Allow 120 to be controlled.

In detail, the X-ray imaging apparatus 10 may include an X-ray radiator 110, an X-ray detector 120, and a location information collector 20, and may further include a controller 13 for controlling them. The X-ray imaging apparatus may identify the position of the object through the position information collecting unit 20 and collect information on the position of the object, and then use the collected position information to detect the X-ray radiator 110 and the X-ray detecting unit 120. ) May be moved to a predetermined position so as to appropriately acquire an X-ray image of the object.

2 is a block diagram of an embodiment of an X-ray imaging apparatus.

As shown in FIG. 2, the X-ray imaging apparatus 10 may specifically include an X-ray radiator 110 and an X-ray radiator 11 that irradiate X-rays to an object, and receive X-rays and convert the received radiation into electrical signals. The X-ray irradiation unit 110 according to the location information collecting unit 20 and the location information collecting unit 20, which collects the location information of the current location of the detection unit 120, the object ob. And a controller 13 that controls the X-ray detector 120. Here, the X-ray radiator 110 and the X-ray detector 120 may move to a predetermined position and irradiate the X-ray to the object or receive the irradiated X-ray at the moved position.

According to an embodiment of the X-ray imaging apparatus 10, the location information collection unit 20 collects location information of the object ob, and the collected location information is directly sent to the X-ray radiator 110 or the X-ray detector 120. The data may be transmitted to the X-ray radiator 110 or the X-ray detector 120 through the controller 13 or the like.

Alternatively, the control unit 13 receives the position information collected by the position information collecting unit 20 and generates a control command for controlling the movement of the X-ray radiator 110 and the X-ray detecting unit 120 based on the collected position information. Thereafter, the generated control command may be transmitted to the X-ray radiator 110 or the X-ray detector 120. If necessary, the control unit 13 may further receive predetermined data or commands from a user or the like, and transmit the predetermined data or commands to the X-ray radiator 110 and the X-ray detector 120. In this case, the controller 13 may generate new data or commands according to the input predetermined data or commands, and then transmit the generated information or commands to the X-ray radiator 110 or the X-ray detector 120.

The X-ray radiator 110 or the X-ray detector 120 moves to a predetermined position according to the position information or the control command received from the position information collecting unit 20 or the control unit 13. In this case, the X-ray radiator 110 or the X-ray detector 120 may move to an appropriate position for photographing the object. After the X-ray radiator 110 or the X-ray detector 120 completes the movement, the X-ray radiator 110 is controlled to radiate X-rays to the object.

The X-ray imaging apparatus may be generated by the image processor 15 and the image processor 15 that generate an X-ray image from an electrical signal converted by the input unit 20 and the X-ray detector 120 according to an embodiment. The display unit 16 may further include at least one of the display unit 16 displaying the captured X-ray image to the user.

3A and 3B are front views of an embodiment of the X-ray imaging apparatus.

As shown in FIGS. 3A and 3B, the X-ray imaging apparatus 10 may be, for example, a digital radiography apparatus DR. In this case, in the X-ray imaging apparatus 10, an X-ray irradiation module 11 having a X-ray irradiation unit 110 formed thereon, which is movable to a predetermined position, is disposed on the X-ray imaging apparatus 10, and a mounting unit 121 on which an object ob is mounted on the bottom of the X-ray imaging apparatus 10. Is formed and a table-shaped X-ray detection module 12 for detecting X-rays radiated from the X-ray irradiation module 11 is disposed.

In addition, according to the exemplary embodiment of the X-ray imaging apparatus 10, as shown in FIG. 3A, a predetermined position of the X-ray imaging apparatus 10, for example, an edge of the X-ray detecting module 12 or the X-ray irradiation module 11 may be used. At least one position information collecting unit 20 for collecting position information of the object ob, for example, as shown in FIG. 3A, may be installed at a lower end of the object ob.

As described above, the position information collecting unit 20 may be directly installed in the X-ray irradiation module 11 or the X-ray detecting module 12, but according to another embodiment of the X-ray imaging apparatus 10, illustrated in FIG. 3B. As described above, it is not necessarily necessary to directly install the X-ray irradiation module 11 or the X-ray detection module 12. However, as shown in FIG. 3B, the location information collection unit 10 is spaced apart from the X-ray detection module 12, and the location information collection unit 10 is an object (such as a time-of-flight camera). When the position information is collected by determining the position of the object ob by measuring the distance from the ob), a process of correcting the distance between the measured object ob and the position information collecting unit 20 may be further required.

Hereinafter, an embodiment of the X-ray imaging apparatus will be described based on the digital radiography apparatus DR. However, the embodiment of the X-ray imaging apparatus is not limited thereto, and the CT or mammography apparatus FFDM is not limited thereto. The same may be applied to various devices for photographing an object using other X-rays, such as).

The location information collecting unit 20 collects the location information of the object ob mounted on the holder 121 and converts the location information into a data signal that can be processed by an information processing means, for example, a processor. The X-ray imaging apparatus determines the position or direction of the X-ray imaging apparatus to be photographed using the information collected from the position information collecting unit 20, that is, the data signal.

The position information collecting unit 20 may include, for example, a range sensor, a 3D camera, a 3D depth camera, a 3D color depth camera, The sensor may be any one of various sensors that detect the position of the object ob, such as a stereo camera, an infrared camera, and a position sensitive device (PSD) sensor.

If necessary, the location information collection unit 20 may include a plurality of sensors for accurate collection of location information. In this case, the plurality of sensors may be a collection of sensors of the same type or may be a collection of sensors of different types. For example, the location information collecting unit 20 may collect location information of the object using at least one distance sensor and at least one 3D deep recognition camera.

4A and 4B are diagrams for describing a TOF camera among three-dimensional depth cameras as an embodiment of the location information collecting unit.

The 3D depth camera is a camera which measures the distance between the object ob and the camera through a camera image to acquire position information of the object ob, for example, three-dimensional spatial coordinates. have.

The TOF camera irradiates a predetermined light onto the object ob, receives light reflected from the object, measures a time elapsed between the irradiation and the light reception, and then measures the distance between the camera ob and the object ob. Based on the position information of the object ob, for example, three-dimensional space coordinates of the object ob is obtained. That is, since the speed of light is already known, the distance between the object ob and the camera can be measured by measuring the time when the irradiated light is reflected.

As shown in FIGS. 4A and 4B, according to an embodiment of the location information collecting unit 20, for example, a TOF camera, the location information collecting unit 20 may include the light emitting unit 21, the light receiving unit 22, It may include a time measuring unit 23 and the position information collecting unit control unit 24.

The light emitting unit 21 generates predetermined light, for example, visible light or infrared light, and irradiates the object ob. Accordingly, the light emitting unit 21 may include, for example, a light emitting device for converting electrical energy into light energy, such as a light emitting diode (LED) or a laser diode, and a power supply for supplying electrical energy to the light emitting device. It may include. As shown in FIG. 4B, a plurality of light emitting units 22 may be formed at predetermined positions.

The light receiving unit 22 receives light reflected from the object ob after being emitted from the light emitting unit 21. It includes at least one lens (lens) for collecting the light reflected back to the light receiving unit 22, and further includes an optical filter for filtering the light so that only a portion of the reflected light passes through the lens, if necessary can do.

In this case, the optical filter may pass only light of a predetermined wavelength or a predetermined energy band, for example. In this case, the predetermined wavelength or the predetermined energy band of the light passed through the optical filter may be the same wavelength or the energy band as the predetermined light irradiated from the light emitting unit 21. Therefore, since the light filter selectively passes only the light reflected from the object ob among the received light and blocks other light, for example, light transmitted from another light source, the light receiving unit 22 is irradiated. Only light reflecting the object ob may be received. Therefore, the location information collecting unit 20 can more accurately measure the position of the object ob.

The light receiving unit 22 is formed in the same direction as the light emitting unit 21 in the position information collecting unit 20 so as to receive the light reflected from the object ob, as shown in FIG. 4B.

The time measuring unit 23 measures the round trip time of the light emitted from the light emitting unit 21 to the object ob and then reflected from the object ob to the light receiving unit 22. Such a time measuring unit 23 may be, for example, an image sensor.

The control unit 24 calculates the distance d between the position information collecting unit 20 and the object ob by using the round trip time of the light measured by the time measuring unit 23. For example, the control unit 24 may simply calculate the distance d between the position information collecting unit 20 and the object ob by multiplying the speed of light by a round trip time and dividing the two in two. Therefore, by acquiring information about the distance d between the location information collecting unit 20 and the object ob, the location information collecting unit 20 determines which position the object ob is based on the location information collecting unit 20. Location information is obtained.

In addition, the control unit 24 generates a control command for light emission of the light emitting unit 21 as necessary, and transmits the generated control command to the light source of the light emitting unit 21, for example, the light emitting unit 21. The irradiation of the light emitting unit 21 can be controlled. It is also possible to generate various control commands for other components, for example the light receiving unit 22 or the time measuring section 23, to control them.

In addition, the position information collecting unit 20, as shown in Figure 4b, the above-described components, for example, the light emitting unit 21, the light receiving unit 22, the time measuring unit 23 and the control unit 24 It may further comprise a housing 25 to be mounted. In this case, the light emitting unit 21 and the light receiving unit 22 may be installed in the housing 25 to be exposed to the outside as shown in FIG. 4B.

5 is a plan view illustrating an embodiment in which a location information collecting unit is arranged.

According to an exemplary embodiment, the X-ray imaging apparatus 10 may have a plurality of location information collection units 20 installed on the side of the X-ray detection module 12. Each position information collecting unit 20 may be installed at four corners of the X-ray detecting module 12 as shown in FIG. 5, and in another embodiment, the position information collecting unit 20 may not be illustrated. It may be provided in a predetermined position of four sides, for example in the center of four sides.

As described above, when the plurality of location information collecting units 20 are arranged, each of the location information collecting units 20a to 20d may have respective distances between the location information collecting units 20a to 20d and the object ob at respective positions. d1 to d4) can be obtained. Therefore, the X-ray imaging apparatus may acquire accurate position information about the object ob.

In addition, the location information collecting unit 20 may be installed in the X-ray irradiation module 11. In this case, the position information collecting unit 20, for example, the TOF camera receives the reflected light after irradiating a predetermined light in the X-ray detection module 12, for example, downward, and then uses the position information collecting unit ( It is also possible to obtain the position information of the object ob, for example, the coordinate value of the object ob with respect to the vertical axis, that is, the z-axis by calculating the distance between the object 20 and the object ob.

According to another embodiment of the X-ray imaging apparatus 10, the X-ray imaging apparatus 10 may collect location information using a marker formed by attaching to an object ob or the like.

FIG. 6 is a diagram illustrating another embodiment of the X-ray imaging apparatus, and FIG. 7 is a diagram illustrating an embodiment in which a marker is attached to an object.

As shown in FIG. 6, the location information collection unit 20 recognizes the markers m and m1 to m10 formed on the object ob by attaching, installing, or combining the object ob to the object. It may also be a marker recognition sensor that collects position information of the ob.

Markers (m, m1 to m10) can be used as a target that can be distinguished and distinguished separately from other objects, for example, the object (ob), as shown in Figure 7 by the adhesive material or fastening means It may be attached or coupled to an object, for example some or all of the object ob. For example, the markers m1 to m10 may be adhesive patches or the like.

Such markers m, m1 to m10 are identified after being photographed by the position information collecting unit 20 of the X-ray imaging apparatus, for example. Therefore, the markers m, m1 to m10 are colors that are clearly distinguishable from the object ob, for example, the color of the object ob and the complementary color so that the markers m, m1 to m10 can be distinguished from the surrounding objects, for example, the object ob. Or an image such as a predetermined feature pattern or the like may be formed on the outer surface of the markers m, m1 to m10 by printing or the like. The markers m and m1 to m10 on which a predetermined feature pattern is printed may be AR markers used in augmented reality (AR). In addition, the markers m and m1 to m10 may be infrared markers.

In addition, according to the embodiment, each marker m1 to m10 may be assigned a unique identification number to identify each marker m1 to m10, and each marker m1 to m10 may be assigned to the assigned identification number. Therefore, different colors or different feature patterns may be provided.

The location information collection unit 20 may include a photographing unit 26, a marker identification unit 27, and a location information generation unit 28 as shown in FIG. 6.

The photographing unit 26 receives a visible light or infrared light reflected from an object, for example, the object ob, converts the received visible light or infrared light into a corresponding electric signal, and then converts the received light or infrared light into a corresponding electric signal. For example, a predetermined captured image of the object ob may be generated. In other words, the photographing unit 26 photographs a subject, for example, the subject ob. For example, the photographing unit 26 captures an image of the object ob, for example, a human body by photographing an object ob, for example, a human body, to which the markers m1 to m10 are attached, as shown in FIG. 7. To create it. As an embodiment of the photographing unit 26, a general camera may be applied. In addition, according to the embodiment may also be applied to the infrared camera.

The marker identifying unit 27 extracts the marker m from the captured image generated by the capturing unit 26. For example, when the marker identification unit 27 is photographed by a camera, the marker identification unit 27 may identify that the marker m in the photographed image is a marker and extract the same to generate a separate image.

According to an exemplary embodiment, the marker identification unit 27 may extract the color of the predetermined marker m from the captured image to recognize the marker m.

8A to 8B are diagrams for describing an exemplary embodiment of a marker recognition method.

As shown in FIG. 8A, in one embodiment, the markers m1 to m10 are colors that can be identified with the object ob, for example, when the object ob is a human body wearing a patient suit, For example, it may be colored with a color distinguishable from blue or white, for example red.

Then, the marker identification unit 27 extracts the colors of the markers m1 to m10, for example, red, as shown in FIG. 8B from the photographed image i1 illustrated in FIG. 8A, and thus the markers m1 to m10. Recognize.

According to another exemplary embodiment, the marker identification unit 27 may extract a predetermined feature pattern from the captured image to recognize the marker m.

9A to 9C are diagrams for describing another exemplary embodiment of a marker recognition method.

In an exemplary embodiment, a predetermined feature pattern may be formed on the markers m1 to m10 by printing or the like. For example, the feature pattern may be a predetermined shape or a combination of a plurality of shapes. For example, the feature pattern may be formed by a combination of a rectangle and an X (x) as shown in FIG. 9A.

 Then, the marker identification unit 27 retrieves the feature pattern as shown in FIG. 9A from the image i1 captured by the photographing unit 26 as shown in FIG. 9B. The markers m1 to m10 attached to the object ob are separated from other objects, for example, the object ob, and extracted as shown in FIG. 9C according to the search result.

In this way, the marker identification unit 27 makes it possible to identify the object ob, for example, the marker m attached to the human body, and as a result, the X-ray imaging apparatus is mounted on the mounting portion of the X-ray detection module 12. It is possible to identify the object (ob) mounted on the 121.

According to an exemplary embodiment, the marker identification unit 27 may recognize the markers by recognizing the infrared markers m1 to m10.

In addition, the marker identification unit 27 may identify each of the markers m1 to m10 using different colors or different feature patterns on the respective markers m1 to m10. For example, if the feature pattern of the marker (m) attached to the heart is made of a combination of X and square as shown in Fig. 9a, and the feature pattern is different from the feature pattern of the other markers (m), marker identification It is also possible for the part 27 to further identify the marker m attached to the heart.

The location information generation unit 28 of the location information collection unit 20 generates location information of the object ob by using the extracted marker m. For example, the position of the object ob, for example, a 3D coordinate value, may be calculated based on the extracted position of the marker m.

For example, the position information generator 28 may include a marker m based on the size of the extracted marker m, for example, the size of a feature pattern printed on the marker m, and the like. The distance of the object ob relative to the position information collecting unit 20 is calculated by calculating the distance between the markers m and the position information collecting unit 20. It may be.

Also, the location information generator 28 recognizes a unique identification number assigned to each of the markers m1 to m10 by using different colors or feature patterns of the respective markers m1 to m10, and accordingly, the object ob For example, it may be possible to determine the direction in which the human body lies or where each organ is located in the human body. As described above, the position information generator 28 may further measure only the position of the heart by using the marker m attached to the heart.

In addition, the location information generation unit 28 may calculate a direction in which the real marker m is disposed based on the point where the extracted marker m is located in the captured image, and based on each marker, The position of (m1 to m10) may be measured.

In addition, the location information generator 28 may calculate the size of the object ob, for example, a human body, using the extracted plurality of markers m1 to m10, and the plurality of markers m1 to m10. The center of the object ob may also be calculated to some extent.

Accordingly, the location information collecting unit 20 may use the at least one markers m1 to m10 to provide various pieces of information about the object ob or a part of the object ob, in particular, a part of the object ob or the object ob. It is possible to obtain location information for. In this case, the position information of the object ob may be, for example, a 3D coordinate value with respect to the object ob.

The X-ray imaging apparatus 10 may include the X-ray irradiation module 11 as illustrated in FIGS. 3A and 3B.

10 is a perspective view of an embodiment of an X-ray irradiation module. The X-ray irradiation module 11 is designed to be movable so that X-rays may be irradiated to the object ob at a plurality of positions. In detail, as illustrated in FIG. 10, the X-ray irradiation module 11 may further include a moving unit 111. The moving part 111 may include, for example, a rail 1111 and a connection part 1112 running along the rail 1111. The connecting portion 1112 may be provided with, for example, a wheel which is brought into contact with the rail and guided along the rail. When the connection part 1112 runs along the rail, other components of the X-ray irradiation module 11 connected to the rails 111 through the connection part 1112, for example, the X-ray irradiation part 110, may be connected to each other. It moves to a predetermined position according to the movement. In other words, the X-ray radiator 110 may move along the rail 1111. As shown in FIG. 3, the rails 112 are arranged in a row on the X-ray irradiation module 11 so that other components of the X-ray irradiation module 11 may be disposed in at least one direction, for example, in the y-axis direction. A plurality of rails may be installed in a plurality of directions such that the X-ray radiator 110 may move in one direction, for example, the y-axis direction, and may move in various directions, for example, the x-axis and the y-axis direction. May be The X-ray irradiation module 11 may include, for example, a robot arm instead of the rail 1111. The X-ray radiator or the like may be designed to be connected to the robot arm and move to a predetermined position according to the driving of the robot arm. In addition, the X-ray irradiation module 11 may be able to move the X-ray irradiation unit 110 to a predetermined position according to an operation of a pneumatic cylinder or a hydraulic cylinder connected to the X-ray irradiation unit 110 or the like. In addition, other means for moving the position of a certain object may be applied to the X-ray irradiation module 11 within a certain range.

According to an embodiment of the X-ray imaging apparatus 10, the location information collection unit 20 may be installed at the lower end of the X-ray irradiation module 11. The position information collecting unit 20 has been described above.

An X-ray radiator 110 for radiating X-rays may be installed at a lower end of the X-ray radiating module 11.

11 is a view illustrating an embodiment of the X-ray radiator 110. As shown in FIG. 11, the X-ray radiator 110 may be electrically connected to the X-ray tube to apply a predetermined voltage to the X-ray tube 1101 and the X-ray tube 1101 to generate X-rays having an energy level corresponding to the applied voltage. Includes a connected power source 1102. When a predetermined voltage is applied to the X-ray tube 1101 from the power supply 1102, electrons of the pillar (1101a) of the negative (-) pole inside the X-ray tube 1101 according to the applied voltage is the anode 1101b, the anode, It moves in an acceleration direction. When the accelerated electrons are rapidly decelerated in the anode 1101b, X-rays are generated in the anode 1101b. The generated X-rays are irradiated in a predetermined direction. X-rays generated in this way and irradiated in a predetermined direction may pass through a collimator 1103 as shown in FIG. 11. The collimator 1103 controls the irradiation direction or the irradiation range of X-rays by passing X-rays traveling in a direction desired by a user and absorbing and filtering X-rays traveling in other directions.

Referring back to FIGS. 3A and 3B, the X-ray imaging apparatus 10 may include an X-ray detection module 12.

12 is a diagram illustrating an embodiment of the X-ray detection module 12. The X-ray detection module 12 may include a mounting unit 121 on which an object ob may be mounted, and X-rays x1 that pass through the object ob or X-rays that reach directly without passing through the object ob ( and an X-ray detector 120 that receives x2) and is movable. In detail, the X-ray detector 120 may be an X-ray detection panel that detects X-rays. The X-ray detection panel may be divided into a plurality of pixels 120p and pixels, and each pixel 120p may output a scintillator 1201 that receives visible X-rays and emits visible light photons, and outputs the light. Photodiodes (photodiodes, 1202) for receiving and then converting the visible light photons into electrical signals, for example analog data, and storage capacitors (1203) for storing the converted electrical signals, for example storage capacitors. ) May be included. The X-ray detector 120 may further include a substrate on which the scintillator 1201, the photodiode 1202, and the reservoir 1203 are disposed. Although not shown in the drawings, an additional collimator may be further provided between the object ob and the X-ray detector 120 to filter scattered X-rays while passing through the object ob. The collimator may be attached to the X-ray detector 120 and move together.

13A and 13B are plan views of various embodiments of the X-ray detection module 12.

According to an embodiment of the X-ray detection module 12, as illustrated in FIGS. 13A and 13B, the X-ray detection module 12 further includes a rail 1202 for mounting the X-ray detector 120 to move to a predetermined position. It may include. The X-ray detection module 12 may include, for example, a pair of rails 1202 as shown in FIG. 13A, and may also include a plurality of pairs of rails 1202a and 1202b as shown in FIG. 13B. It may also include. As shown in FIG. 13A, when a pair of rails 1202 are installed, the X-ray detector 120 may move only in one axis direction, for example, in the x-axis direction, and as illustrated in FIG. 13B, a plurality of pairs of rails 1202 may be installed. When the rails 1202a and 1202b are included, they can be moved in multiple axes, for example, in the x-axis and y-axis directions. That is, in the latter case, the X-ray detector 120 moves in two dimensions. An X-ray detector case 1203 to which the X-ray detector 120 is fixed is mounted on an upper end of the rail 1202 or 1202a and 1202b. The X-ray detection unit case 1203 may include a wheel or the like contacting the rail 1202 and guided along the rail 1202 so that the X-ray detection unit 120 may stably move on the rail 1202. It may be installed on the side or the like. Accordingly, the X-ray detector 120 may move as the X-ray detector case 1203 moves on the rail 1202. According to another embodiment of the X-ray detection module 12, a robot arm or the like may be used to move the X-ray detector 120 instead of the rail. According to another embodiment, the X-ray detector 120 may move to a predetermined position according to the driving of a wheel installed on the X-ray detector case 1203 or the like without a rail, and also connected to the X-ray detector 120 or the X-ray detector case 1203. It may be possible to move to a predetermined position according to the operation of the pneumatic cylinder or the hydraulic cylinder. In addition, other means for moving the position of a certain object may be used to move the X-ray detector 120 within a certain range.

Referring to FIG. 2 again, the X-ray imaging apparatus 10 may include a controller 13.

The controller 13 is an X-ray radiator 110 which is information about a position to which the X-ray radiator 110 and / or the X-ray detector 120 moves according to the location information of the object ob collected by the location information collector 20. After generating the movement position information and / or the movement position information of the X-ray detector 120, the X-ray irradiation unit 110 and / or X-ray detector 120 to pass it to the X-ray irradiation unit 110 and / or X-ray detector 120 Control the movement of

In this case, the controller 13 first calculates the optimal moving position information of the X-ray radiator 110 based on the position information of the object ob collected by the position information collector 20, and then calculates the calculated X-ray radiator ( The movement position information of the X-ray detector 120 that is optimal for the movement position information of the X-ray radiator 110 may be calculated using the movement position information of the 110. On the contrary, the movement position information of the X-ray detector 120 may be calculated first.

In addition, if the moving position information of the X-ray irradiation unit 110 is predetermined through a method such as being input by the input unit 14 described later, for example, the control unit 13 is collected by the position information collecting unit 20. Using the position information of the X-ray irradiation unit 110 determined separately from the position information of the object ob, the X-ray detector 120 is an optimal position to move, for example, a position where the X-rays can be properly received. It is also possible to calculate the movement position information for. The opposite is also possible.

If necessary, the controller 13 generates a movement command to the X-ray radiator 110 and / or the X-ray detector 120 based on the location information of the object ob collected by the location information collector 20. The X-ray radiator 110 and / or the X-ray detector 120 may be moved by transferring the generated movement command to the X-ray radiator 110 and / or the X-ray detector 120.

The control unit 13 may move the position information of the X-ray radiator 110 and / or the X-ray radiator 110 or the X-ray detector 120 to photograph the object ob at an optimal position according to the position information of the object ob. The movement position information of the X-ray detector 120, the movement command of the X-ray radiator 110, and / or the movement command of the X-ray detector 120 may be generated. Accordingly, the object ob may be X-rayed at an optimal position without unnecessary manual manipulation by the user.

The control unit 13 may be a processor installed in the X-ray irradiation module 11 or the X-ray detection module 12 according to an embodiment, and may transmit / receive data with the X-ray irradiation module 11 or the X-ray detection module 12. It may be a separate information processing device, for example, a computer device or a processor of the information processing device.

According to an exemplary embodiment, the control unit 13 may separately transmit each movement position information or a movement command to the X-ray radiator 110 and the X-ray detector 120 as illustrated in FIGS. 1 and 2. That is, the control unit 13 generates the movement position information or the movement command of the X-ray radiator 110 based on the position information of the object ob through one process, and transmits the generated position information or the movement command to the X-ray radiator 110, which is separate from the above. Through the process, the movement position information or the movement command of the X-ray detector 120 may be generated based on the position information of the object ob, and then transferred to the X-ray detector 120.

According to another exemplary embodiment, as illustrated in FIG. 14, the control unit 13 moves or moves position information about any one of the X-ray radiator 110 and the X-ray detector 120 using the collected position information of the object ob. After generating only the command, the generated movement position information or the movement command may be transmitted to any one of a corresponding component, that is, the X-ray radiator 110 and the X-ray detector 120.

If any one of the X-ray radiator 110 and the X-ray detector 120 moves according to the transferred movement position information or the movement command, the controller 13 may determine the one of the X-ray radiator 110 and the X-ray detector 120. Obtain information about the location after moving again. The controller 13 generates a movement position information or a movement command for the other one of the X-ray radiator 110 and the X-ray detector 120 that has not yet moved, based on the obtained information about the position after the movement. Can be transmitted to the other moving position information or a moving command.

In other words, the controller 14 generates movement position information or a movement command for both the X-ray radiator 110 and the X-ray detector 120, but first moves any one of the X-ray radiator 110 and the X-ray detector 120. It may also be controlled to move the other one according to the position after the movement.

In addition, the control unit 13 is a control command for the location information collection unit 20, for example, a shooting control command for the image capture unit 26 of the location information collection unit 20 or the movement of the location information collection unit 20. After generating a command or the like, it may be transmitted to the location information collecting unit 20 to control the location information collecting unit 20. In this case, the control command for the location information collecting unit 20 may be determined according to the input of the input unit 14.

In addition, the control unit 13 calculates the position information on the moving position of the X-ray radiator 110 or the X-ray detector 120 according to various instructions or commands input by the user through the input unit 14 to be described later, that is, user input information. You may.

According to one embodiment of the X-ray imaging apparatus 10 may further include an input unit 14 for receiving a predetermined instruction or command from the user, as shown in FIG.

The input unit 14 may receive predetermined user input information such as various instructions or commands from the user. In this case, the user input information may include X-ray imaging of various items that the user wants to select or designate when photographing the object ob, for example, a photographing point or a photographing range (shooting area) that the user wants to photograph from the object ob. Includes various setting information necessary for the limitation or expansion of an area, the unique information of the object ob such as the size or volume of the object ob, information on a marker to be recognized, and other X-ray imaging apparatus or operation of the location information collector. You may be doing

Specifically, when the user wants to photograph only an object ob collected by the location information collecting unit 20, for example, a specific part of the human body, for example, a chest part of the human body, the user may select the input unit 14. The user may input an instruction for designating a specific part of the object ob whose position is confirmed, that is, user input information.

In addition, the user input information may include location information of the object ob. The location information of the object ob may not be collected by the location information collecting unit 20 but may be location information according to a user's decision. In addition, the user input information may include movement position information on a position after movement of at least one of the X-ray radiator 110 and the X-ray detector 120. In other words, the user may predetermine a moving position of the X-ray radiator 110 or the X-ray detector 120. In this case, the controller 13 uses the movement position information input by the user and the position information of the collected object ob to obtain movement position information of the X-ray radiator 110 and / or the X-ray detector 120 as described above. You can also compute or generate move commands.

When the user input information is input, the controller 13 may use the X-ray radiator 110 and / or the X-ray detector based on the user input information input by the user and the location information collected by the location information collection unit 20. The movement position information on the movement position of 120 may be calculated. For example, when the user inputs the location information of the object ob, the location information of the object ob is determined by correcting the location information collected by the location information collecting unit 20 based on the location information input by the user. Afterwards, accordingly, movement position information of the X-ray radiator 110 and / or the X-ray detector 120 may be generated.

The input unit 14 described above may be, for example, a joystick, a keyboard, a keypad, a touch screen, a track ball, a mouse, a tablet, or the like. Any one of them may be used as the input unit 14, or at least two of them may be combined to form the input unit 14. If the input unit 14 is a tablet, the user may touch the tablet or input predetermined information or commands using a separate tablet pen.

Although the input unit 14 may be directly installed in the X-ray imaging apparatus 10, in some embodiments, the input unit 14 may be separated from the X-ray imaging apparatus 10 to remotely transmit an instruction, a command, or information. When the input unit 14 is separated from the X-ray imaging apparatus 10, the input unit 14 may be a wired communication technology using a wired cable or information input by a user using a wireless communication technology using radio waves, light waves, sound waves, or ultrasonic waves. The command may be transmitted to the control unit 13. The radio communication technology using radio waves includes a digital mobile communication technology, and the radio communication technology using light waves includes an infrared radio communication technology that transmits commands or data using infrared light.

The image processor 15 illustrated in FIG. 2 reads an electrical signal stored in the reservoir 1203 of the X-ray detector 120 to generate an X-ray image. In addition, if necessary, contrast or contrast of the generated X-ray image may be adjusted, or a combination of the generated X-ray images may be used to generate a stereoscopic image or generate a video.

The generated X-ray image is displayed to the user by the display unit 16 and the user can view the X-ray image of the object ob photographed at an appropriate position.

15 is a flowchart of an embodiment of a method of controlling an X-ray imaging apparatus.

According to the method of controlling the X-ray imaging apparatus 10 as shown in FIG. 15, the position information collecting unit 20 first collects the position information of the object ob. (S40) Then, the X-ray imaging apparatus 10 In operation S41, at least one movement position information of the X-ray radiator 110 and the X-ray detector 120 may be calculated based on the collected position information about the object ob.

The calculated movement position information may be directly transmitted to at least one of a corresponding object, that is, the X-ray radiator 110 and the X-ray detector 120. In this case, the X-ray radiator 110 or the X-ray detector 120 that receives the movement position information moves according to the received movement position information.

If necessary, the X-ray imaging apparatus 10 may generate a movement command based on the movement position information. (S42) The generated movement command is transmitted to a corresponding object, that is, the X-ray radiator 110 or the X-ray detector 120. (S43) The X-ray radiator 110 or the X-ray detector 120 moves according to the received movement command.

16 is a flowchart of an embodiment of a method of controlling an X-ray imaging apparatus.

According to the exemplary embodiment illustrated in FIG. 16, the location information collecting unit 30 collects the location information of the object ob, specifically, the location information collecting unit 30, for example, the 3D sensor is an object. The method may include detecting ob (S401) and generating 3D position information according to the detected object ob (S402).

17 is a flowchart illustrating an embodiment of a method of controlling an X-ray imaging apparatus.

According to another exemplary embodiment illustrated in FIG. 17, the location information collecting unit 30 collects the location information of the object ob, specifically, the location information collecting unit 30, for example, a marker recognition sensor may be a marker. Photographing the object ob formed on the outer surface (s403), identifying and identifying a marker formed on the object ob (s404), and generating position information of the object ob using the recognized marker (s405).

In this case, when the object is photographed by recognizing the marker, the marker may become noise in the X-ray image according to X-ray imaging. Thus, after the recognition of the marker is completed, the user of the X-ray imaging apparatus, for example, a radiologist or an object ob For example, the patient may be asked to remove the marker directly. When the marker is removed or immediately before or after the marker is removed, as shown in FIG. 15, the X-ray X-ray radiator 110 or the X-ray detector 120 moves according to the received movement command and photographs the object ob. (s44)

10 X-ray imaging apparatus 11: X-ray irradiation module
12: X-ray detection module: 13: control unit
14: input unit 15: image processing unit
16: display unit 20: location information collection unit
110: X-ray irradiation unit 120: X-ray detection unit

Claims (20)

An X-ray irradiation unit which irradiates and moves X-rays to the object;
An X-ray detector configured to detect X-rays passing through the object, convert the X-rays into electrical signals, and move the same;
A location information collection unit for collecting location information of the object; And
A controller configured to control the X-ray radiator or the X-ray detector based on location information of the object collected by the location information collector;
X-ray photographing apparatus comprising a.
The method of claim 1,
The position information of the object, X-ray imaging apparatus that the point where the object is located is displayed in a three-dimensional coordinate axis.
The method of claim 1,
The location information collection unit, X-ray imaging apparatus that is a three-dimensional sensor for detecting the object.
The method of claim 1,
The location information collection unit recognizes a marker formed on the object and collects location information on the object.
The method of claim 1,
The location information collecting unit may include a range sensor, a 3D camera, a 3D depth camera, a 3D color depth camera, a stereo camera, an infrared camera, An X-ray imaging apparatus which is at least one of a position sensitive device (PSD) sensor.
The method of claim 1,
The controller may transmit the movement position information on the movement position to which the X-ray radiator or the X-ray detector is to be moved to the X-ray radiator or the X-ray detector,
Or transmitting a movement command generated by generating a movement command based on the movement position information to the X-ray radiator or the X-ray detector to control the X-ray radiator or the X-ray detector.
The method according to claim 6,
The control unit, X-ray imaging apparatus for transferring the position information or the movement command of the X-ray irradiation unit or the X-ray detector to the X-ray irradiation unit or the X-ray detection unit using a wired or wireless communication network.
The method according to claim 6,
The controller is configured to generate a movement command to the X-ray radiator based on movement position information of the X-ray radiator or to generate a movement command to the X-ray detector based on movement position information of the X-ray detector.
The method of claim 1,
An input unit for receiving data or a command from the outside;
Further comprising an X-ray photographing apparatus.
10. The method of claim 9,
The controller may further include movement position information about the movement position of the X-ray radiator and movement position of the X-ray detector using the user input information input through the input unit and position information of the object collected by the position information collector. X-ray imaging apparatus for calculating the movement position information.
10. The method of claim 9,
The user input information may include a photographing point, a photographing range, unique information about the object, information on a marker to be recognized, various setting information necessary for the operation of the X-ray photographing apparatus or the location information collecting unit, and the like. An X-ray imaging apparatus including at least one of position information of the object.
10. The method of claim 9,
The input unit, the X-ray imaging apparatus for transmitting the input at least one movement position information to the control unit using a wired or wireless communication network.
The method of claim 1,
The controller determines movement position information of the X-ray radiator based on position information of the object collected by the position information collecting unit, and moves position information of the X-ray detector using the calculated movement position information of the X-ray radiator. Or determine the movement position information of the X-ray detector based on the position information of the object collected by the position information collecting unit, and use the calculated movement position information of the X-ray detector to move the position of the X-ray irradiation unit. X-ray imaging device to determine the information.
The method of claim 1,
The controller determines movement position information of the X-ray detector or collects the position information based on the position information of the object collected by the position information collector and the movement position information of the X-ray radiator. And an X-ray imaging apparatus to determine movement position information of the X-ray radiator based on the position information of the object and the movement position information of the X-ray detector.
15. The method of claim 14,
The X-ray photographing apparatus of the X-ray detector or the position information of the X-ray detector, which is the basis for the movement position calculation of the X-ray detector or the X-ray radiator, is input by a user.
In the control method of the X-ray imaging apparatus comprising a X-ray irradiating to the object, a movable X-ray irradiator and X-rays transmitted through the object to convert into an electrical signal and a movable X-ray detector,
Collecting location information of the object by a location information collecting unit;
Determining a movement position of the X-ray radiator or the X-ray detector based on the location information of the object collected by the location information collector; And
Moving the X-ray radiator or the X-ray detector according to the determined movement position;
X-ray imaging apparatus control method comprising a.
17. The method of claim 16,
The location information collection unit is a three-dimensional sensor for detecting the object,
The collecting of the location information on the object by the location information collecting unit may include:
And controlling the X-ray imaging apparatus to detect and collect and generate 3D position information of the detected object.
17. The method of claim 16,
The location information collection unit is a marker recognition sensor for recognizing a marker formed on the object,
The collecting of the location information on the object by the location information collecting unit may include:
And a marker recognition sensor recognizes a marker formed on the object, and calculates position information of the object using the recognized marker.
17. The method of claim 16,
In the moving of the X-ray radiator or the X-ray detector according to the determined movement position,
Generating a movement control command to the X-ray radiator or the X-ray detector based on the determined position of the X-ray radiator or the X-ray detector;
Transmitting a movement control command to the generated X-ray radiator or the X-ray detector to the X-ray radiator or the X-ray detector; And
Moving the X-ray radiator or the X-ray detector according to the movement control command;
X-ray imaging apparatus control method comprising a.
20. The method of claim 19,
Determining a moving position of the X-ray detector or the X-ray radiator according to a position after the X-ray radiator or the X-ray detector is moved; And
Moving the X-ray detector or the X-ray radiator according to the determined position of the X-ray detector or the X-ray radiator;
X-ray imaging apparatus control method comprising a.

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