Patent Application
20150117603
The present invention relates to a detector arrangement for recording X-ray pictures of an object to be imaged, as well as to an X-ray device which comprises such a detector arrangement, and to a method for recording X-ray pictures.
X-ray devices serve for the destruction-free examination of objects to be examined. X-ray devices in the field of medicine are particularly applied for examining patients. X-ray radiation which is emitted by an X-ray source of the X-ray apparatus hereby partially penetrates the object to be examined, wherein absorption of the X-ray radiation occurs to a different extent depending on the through-radiated material. A share of the X-ray radiation which passes through the object is detected by a detector as a projection picture of the transilluminated object. Spatial information is represented in a superimposed manner in the projection picture, whereas a three-dimensional representation for example of interior of the body permits an exact reposition of bone breakages or fractures on joints or an exact positioning of implants relative to critical anatomical structures.
Several two-dimensional projection recordings of an object from different spatial directions are taken with the X-ray device, and the scanned volume is subsequently reconstructed by way of an algorithm, for producing three-dimensional image data. Computer tomographs are applied for this purpose and although permitting a very good picture quality, they are however unsuitable for inter-operative application, since here the access to the patient is blocked by the apparatus. Additionally, such apparatus require a lot of space, have a high radiation exposure, are complex in operation and entail high costs. Generally, until now there has existed no possibility of travelling a path of more than 180° close to the patient without parts which are moved and are therefore dangerous.
It is the object of the present invention, to suggest a detector arrangement which avoids the mentioned disadvantages, with which therefore several X-ray recordings can be made from arbitrary positions, with an as small as possible detector, wherein an object to be imaged is accessible between the recordings.
According to the invention, this object is achieved by a detector arrangement according to patent claim 1. Advantageous further developments are described in the remaining claims.
Patent claim 1 relates to a detector arrangement for recording X-ray pictures of an object which is to be imaged and is located on a rest of a table, wherein the table comprises at least one adjustable support foot for moving the rest, comprising: a detector for detecting an X-ray radiation and a positioning device for moving the detector with respect to the object, wherein the detector is movable into several recording positions spatially fixed with respect to the object, and the positioning device is fastenable on the support foot in a manner such that the positioning device is moved together with the rest, and the positioning device comprises an articulated arm which is movable via at least one rotation axis and/or a linear axis.
Huge advantages result from the fact that the positioning device for moving the detector is regularly co-moved with the rest. A quality and simplicity of the picture recording of an object (preferably a human patient) lying on the rest is rendered possible due to this. Moreover, the spatial requirement of such an arrangement is minimal, since less standing surface is taken up by the positioning device and the detector in the operating room.
A further development hereby envisages the positioning device being fastenable between the support foot and rest. This has the advantage that the positioning device can be assembled as an additional component between an existing support foot and an existing rest. For this reason, it is not necessary here to view a “complete unit” (consisting of rest, positioning device, support foot and possibly X-ray source) as the smallest unit capable of being marketed, but instead such a positioning device can also be envisaged for retrofitting existing systems.
A further development moreover envisages the rest at least in regions consisting of a material which is transparent to X-rays, for example a carbon-fibre-reinforced plastic material (CFP material). Recordings can made directly below the rest in the idle position or initial position of the detector by way of this, in order to take X-ray recordings of a person located on the rest.
A further development envisages the support foot being designed such that the rest and positioning device together are adjustable in height and/or in inclination. Hereby, the height is of particular interest, in order to provide operating personnel of a different height with an optimal access to the patient or in order to accompany sitting or standing positions of operating person. It is also advantageous that an inclination of the rest can be provided, and this makes particular sense for the targeted influencing of the vessel pressure with certain medical indications. The inclination hereby can be adjusted in one or two spatial directions; for example a tilting of the patient to the operator (tilting about the longitudinal axis of the rest, indicated in the Figures as the “x-direction”, see
A further development envisages the rest being held on precisely one support foot. This is particularly usefully for reasons of space, since only a central column must be provided, and the standing surface around the rest/patient can thus be optimally utilised.
A further development envisages the rest and the positioning device being positioned with respect to the support foot in a manner such that an operator can accommodate his legs below the rest. It is also advantageous if the rest is linearly displaceable in its longitudinal direction with respect to the support foot, in order to render the spatial alignment and the space below the rest better utilisable. This movement can be effected together with the positioning device and/or independently of the positioning device. For example, it is possible for a co-guiding of the positioning device to be effected in unison with the rest; and additionally the detector itself may yet envisage a linear drive for “fine adjustment”.
A further development moreover envisages the positioning device comprising an articulated arm in the form of a robot arm with at least three robot arm axes, preferably however all four, five or six robot arms axes can be envisaged for positioning the detector. Hereby, it is advantageous if three of the robot arm axes are arranged parallel to one another. Very space-saving arrangements are possible by way of this, and moreover it is easily possible to run an arched, elliptical etc. path around the rest. In this manner, good spatial representations can be achieved without a very space-intensive C-arm having to be provided.
It is moreover advantageous if the detector, which is preferably attached at the end of the robot arm (synonymous with articulated arm), additionally to the rotation degrees of freedom by way of the robot arm axes, can yet additionally be positioned translatorily with respect to the rest.
It is to be emphasised that the movement of the detector or of the articulated arm in all spatial directions (i.e. about all rotation axes or in al linear directions) is effected motorically. However, it is also possible for non-motoric movements to be provided here and also to envisage the rotation joints or linear guides being self-locking, so that a position can be held without the provision of a motor. Amongst other things, it is also advantageous if the longitudinal direction of the rest is parallel to at least one robot arm axis, preferably parallel to two or three robot arm axes, since this is very favourable with regard to the spatial requirement of the articulated arm/robot arm.
It is also advantageous if the positioning device is designed in a manner such that the detector can be moved from at least two sides of the rest, from below the rest to above the rest. This ensures that an operator standing on one side of the rest is not inhibited by a positioning device/detector located on the same side
The detector arrangement described above can preferably be applied in an X-ray device which moreover yet comprises an X-ray source. Hereby, it can be useful for the X-ray source to be fastened on a further articulated arm/robot arm, wherein this articulated arm/robot arm is held on a ceiling of a room. This makes particular sense with regard to the space requirements as well as to the sterility requirements.
The interaction of the X-ray source with the detector arrangement is effected as described in the text below. Once again, it is to be emphasised that all features shown in the description, in particular all features shown in the general description introduction can be combined with one another inasmuch as this is not explicitly ruled out in the following text.
Further aspects or details of the patent application are as follows:
A detector arrangement for recording X-ray pictures of an object to be imaged comprises a detector, which serves for detecting X-ray radiation, and a positioning device for moving the detector with respect to the object to be imaged. The detector hereby is movable on an imaging surface along the positioning device into several recording positions which are spatially fixed with respect to the object. Moreover, the positioning device comprises at least one side element which can be angled with respect to the imaging surface.
The detector arrangement can be designed with a smaller construction size by way of the side element which can be angled, since the beaming-in of X-ray radiation from several sides at arbitrary angles is rendered possible, without the detector arrangement assuming an excessively large area. Different recording positions can be moved to, due to the movement of the detector on the imaging surface, and these positions despite this are spatially defined by the positioning device and permit an unambiguous assignment of X-ray images to positions of the detector. Thus projection pictures of the object to be imaged which in medicine is typically a patient, can be taken in a defined manner and be led to a further processing.
In a particularly preferred embodiment, the detector is arranged on an articulated arm as a positioning device, wherein the articulated arm is movable via at least one, preferably two, particularly preferably at least three articulation axes and/or a linear axis and/or has a combination of the at least one linear axis and/or at least one rotation axis. The articulated arm thus functions as an articulated mechanism. The detector itself can be arranged at an end of the articulated arm.
In an advantageous further development, the detector can be moved into the side element, so that recording positions situated in the side element can also be achieved without further mechanical modification of the detector arrangement.
The detector in at least one recording position situated on the side element can also lie completely outside the imaging surface. The detector arrangement turns out to be particularly space-saving during the recording on account of this, since the side element is bent or angled such that no part of the detector intersects the imaging surface, thus a width of the detector arrangement is minimised. “Imaging surface” hereby should be understood as a surface, on which or along which the detector can move, for example with its central point. The imaging surface hereby should not extend into the side element, but however can be continued via a side imaging surface in the side element. Typically, the detector arrangement however comprises two side elements which are located on parts of the detector arrangement which lie opposite one another. This permits a large region of incident angles of the X-ray radiation to be covered.
The at least one side element is preferably angled at an angle of 15° to 85°, preferably 30° to 70°, particularly preferably 40° to 60° with respect to the imaging surface in a middle part of the detector arrangement.
In a particularly preferred manner, the positioning device is U-shaped, so that the detector can be moved into several positions around a middle of the “U”. The element to be imaged is placed in the middle of the “U” and thus can be imaged from different directions.
The positioning device and the detector can be arranged within a housing. By way of this, these components are protected from mechanical damage and with operations for example, there is no danger that a physician or another person located in the room inadvertently damages one of the apparatus, or an undesired collision taking placed during an automated movement. Preferably, the housing comprises a material which is transparent to the X-ray radiation or consists completely of such a material. Likewise, the positioning device can also consist of a material which is transparent to X-ray radiation or comprise such a material. This permits a beaming-through of the housing and thus recordings from a greater angular region. The term “X-ray radiation” in the context of this document is to be understood as an electromagnetic radiation with a wavelength between 0.01 nm and 10 nm. In a particularly preferred manner, the housing comprises a closed surface, thus a surface without holes or openings, in order to minimise the danger to the patient or to keep the danger of a mechanical damage to the detector and to the positioning device to a minimum. Moreover, the positioning device and the detector are typically connected to one another.
In an advantageous further development, the detector arrangement is removably fastenable on a rest, with medical applications typically a table of an operating room, by way of a holder, wherein the object to be imaged lies on the rest. This fastening can be effected above as well as below or laterally of the rest. The detector arrangement can thus be attached onto different rests and be detached from the rests. Thus an access to the object to be imaged is given between the X-ray recordings, and the detector arrangement can be attached in a variable manner in different positions and attitudes.
Particularly preferably, the housing serves as a rest, so that the object to be imaged is held directly in front of the detector arrangement without further components.
The middle part of the detector arrangement which lies along the imaging surface, is typically fastened parallel to a plane which runs through the rest, inasmuch as the detector arrangement is fastened on the rest. This plane running through the rest is arranged horizontally in a particularly preferred manner. The middle part of the detector arrangement for this can be fastened above the rest, laterally to it or below it.
The side element preferably has a width which is smaller than a width of the middle part of the detector arrangement and/or is smaller than a width of the rest, in order to permit a space-saving construction manner. In further embodiments, the widths however can also be equally large, or the width of the side element can even be greater than the width of the middle part. The width of the rest can correspond to the width of the middle part.
The at least one side element can be removably attachable onto the positioning device, thus can be fastened on the positioning device as well as detached from this. Moreover, the detector arrangement can be folded away from the positioning device, for example by way of a hinge, or can be pulled out of the positioning device. The side element in particular can also be under the middle part and be pulled out for recording pictures. In the case of a side element which can be folded away, the side element is typically guided in its movement, for example by way of one or more rods. If the side element is not required, it can therefore be removed from the positioning device in a space-saving manner.
The side element preferably projects beyond a plane, which runs through the object to be imaged in a manner parallel to the rest. The detector can also be moved laterally to the object to be imaged by way of this, and pictures are obtained with a complete through-beaming of the object from the side. In a particularly preferred manner, the detector arrangement can also be folded to over the object to be imaged, thus encompass the object. Recordings of the object can be made at any angle by way of this.
In an advantageous further development, the positioning device comprises at least one rail system, on which the detector is mounted. This permits a mechanically stable mounting and movement of the detector. Preferably, several rail systems can be operated in a cascaded manner, thus several rail systems joined together, in order to permit a movement in a multitude of degrees of freedom. The rail systems can be linear, arcuate or freely shaped, at least in regions, in order to permit an as free as possible movement of the detector. Alternatively or additionally, the positioning device can also comprise a linear drive and/or the articulation mechanism, wherein a combination of the linear drive and the articulation mechanism is also possible.
One can envisage the positioning device being displaceable below, above and/or laterally to the object to be imaged. Elongate objects can also be imaged without any problem by way of this. For this, the positioning device can be arranged in a support foot of the rest or on a bearing guided below the rest. Alternatively, the positioning device can also be arranged on a displaceable vehicle.
The detector can be movable on the positioning device by way of the linear drive. In a further embodiment, the detector can be moveable by way of a rack and a pinion on a bearing guide of the positioning device. This permits a traversing or movement into precisely settable positions. Moreover, such arrangements are mechanically stable and thus permit a more reliable movement of the detector.
Moreover, the detector can be movable on the positioning device by way of a motor. Preferably, the detector in this case can be moved in an automated manner by way of a computation unit controlling the motor. This, apart from a more reliable movement to the recording positions, also permits an automatic movement of the detector, so that several projection pictures can be created without the intervention of a user.
An evaluation of the projection pictures taken or recorded by the detector is preferably effected by way of an evaluation unit which can also be part of the computation unit. The evaluation unit for this computes a three-dimensional representation of the object to be imaged and issues this at an output unit, such as on a screen for example, in a manner recognisable to the user. Thus two-dimensional and three-dimensional recordings can thus be created with the detector arrangement. For this, typically several recordings of the object at different angles are combined for creating three-dimensional recordings.
Preferably, the detector is rotated along a spatial axis and/or about a spatial axis. The spatial axis can hereby be a translatory axis, a rotatory axis or a freely shaped axis. The rotatory axis for this can run perpendicularly or parallel to a surface normal of the detector. This permits a particularly simple transformation of detector coordinates and thus a simple and rapid computation of the reconstructions. Inasmuch as a movement is effected about several spatial axes, these in a particularly preferred manner lie orthogonally to one another in a plane.
In a particularly advantageous further development, the detector can be rotatable about a central axis by way of the movement on the positioning device. The surface normal of the detector in this case always has the central axis which lies outside the positioning device, which permits a simple transformation and thus a rapid processing of recorded data. Typically, the central axis runs through a middle point of the object to be imaged.
The detector arrangement can also comprise at least two detectors which are movable independently of one another, in order to achieve as large as possible variability and to simultaneously obtain as many X-ray pictures as possible.
The detector itself is typically a flat detector, i.e. a length and a width of the detector are larger than a depth of the detector. Moreover, the detector is preferably a solid-state detector. This detector type is common for a multitude of applications. A longitudinal axis of the detector and a transverse axis of the detector preferably lie in the imaging surface.
In an advantageous further development, the positioning device is positionable in a spatially fixed manner with regard to the object to be imaged. Thus the position of the detector is determined by two possible movements, specifically the movement of the detector on the positioning device and the movement of the detector together with the positioning device.
A linear displacement drive in combination with a rotation drive for positioning the detector arrangement or the detector can also be used instead of a rail system. A variable positioning of the detector on the positioning device is rendered possible by way of this.
A rest for receiving an object to be imaged by X-ray pictures, in an interior comprises a detector arrangement with the described features. Alternatively, a detector arrangement with the described features can also be attached on an outer side of the rest in a removable manner. A mechanical stability is increased due to a fixed connection of the detector arrangement to the rest. In contrast, a removable fastening has an increased variability.
An X-ray device comprises an X-ray source, an evaluation unit for computing two-dimensional and/or three dimensional reconstructions from the recorded X-ray pictures and a detector arrangement with the previously described features. This permits a recording and further processing of projection pictures from different angles. The X-ray source is preferably fastened on a stand arm and is freely movable into arbitrary positions. Preferably, the X-ray source is fastened on a robot or robot arm, which is fastened on a ceiling of a room. This makes sense for reasons of sterility and spatial requirement.
In a further advantageous further development, the X-ray device also comprises the rest with the previously described characteristics. Thus a complete system is present, with which the object to be imaged can also be securely held.
In a particularly preferred manner, the detector arrangement and/or the X-ray source is arranged in each case on an arm of a robot which is movable by way of three robot arm axes. The arm hereby can be movable in at least three degrees of freedom, in particular in four degrees of freedom, preferably in five degrees of freedom, particularly preferably in six degrees of freedom. The six degrees of freedom hereby include three translatory and three rotatory degrees of freedom. The X-ray source and the X-ray detector can be positioned arbitrarily to one another by way of the movement carried out by the robot or robots, so that projection pictures of the object to be imaged can be obtained amongst a multitude of freely selectable angles.
A method for recording X-ray pictures with an X-ray device, which comprises the X-ray source with the previously described features and the detector arrangement with the previously described features, has several steps. In one step, the X-ray source is moved into several positions for recording individual X-ray pictures of the object to be imaged. The detector arrangement and/or the detector are moved for recording the individual X-ray pictures. Finally, a plurality of projection pictures recorded by the detector is recorded as X-ray pictures by way of the evaluation unit. This serves for the reconstruction of a three-dimensional model of the object to be imaged.
This permits obtaining recordings of the object to be imaged, from a multitude of perspectives and to further process these into a three-dimensional reconstruction. The mentioned elements can be moved into arbitrary positions to one another by way of the movement of the X-ray source and of the detector arrangement or of the detector to one another.
Preferably, a projection picture is recorded in each in each of the recording positions. This permits an unambiguous assignment of the projection pictures to the recording positions. The detector arrangement and/or the detector, for recording, are preferably moved into a position lying opposite the X-ray source, wherein lying opposite does not necessarily imply an orthogonal incidence of the X-ray beams on the detector. The X-ray source can hit the detector at an arbitrary angle, which significantly simplifies the recording of the projection pictures.
In order to save time, for example during an operation, the X-ray source and the X-ray detectors or detector can be moved simultaneously.
In a preferred manner, several regions of the object and which are to be imaged (which are also indicated as a target region) are reconstructed by way of projection pictures which to some extent are equal, in order to reduce the beam exposure of the object due to excessively many recordings.
Moreover, one can envisage the X-ray source travelling through a path, preferably a circular-arc-shaped path with an elliptical defection of at least 90°, above the object to be imaged, in order to be able to obtain a multitude of projection pictures on a predefined path, for taking the projections pictures.
Typically, a plurality of projection pictures is put together into a coherent projection or an individual projection picture of the target region to be imaged or of the respective target regions to be imaged, for imaging and reconstructing a larger target region which is to be imaged and which cannot be covered by a single projection picture, and/or a plurality of individual target regions which are possibly distanced to one another. Inasmuch as individual ones of the projection pictures image several of the target regions, these projection pictures can be used several times, in order to obtain a preferably three-dimensional reconstruction of the respectively desired target region. The target region to be imaged can thus be imaged with a reduced number of projection pictures and with a reduced radiation exposure.
The present invention is not limited to the embodiments which have been described up to now. The following embodiments in each case taken on their own also represent inventions. These embodiments can also comprise the already disclosed features of the previously described further developments. In particular, an X-ray device can comprise a detector arrangement according to one of the following embodiments and a method carried out with this X-ray device. The method of course can also be carried out with the detector arrangement according to one of the following embodiments.
A rest for an object to be imaged, preferably in an interior comprises a detector arrangement with a positioning device and with a detector for X-ray radiation, wherein the detector is movable on the positioning device in the rest in at least two spatial axes. The detector can be moved to different points in a simple manner by way of this, without the object to be imaged itself having to be moved.
The two spatial axes preferably lie in a horizontal plane, which simplifies the movement. The positioning device can comprise a rail system, which can also be cascaded. A mechanically stable and reliable guiding of the detector is achieved by way of this. The rail system hereby can have the already described characteristics.
Moreover, the detector can also be moved by a linear drive, in particular a motor, with the previously described characteristics. This permits an automated displacement of the detector and a defined movement to selected positions.
The detector arrangement can be arranged below the rest as a separate component. In a preferred manner, the positioning device in this case is arranged in a housing, whilst the detector can be displaced in at least two spatial axes which preferably lie in a horizontal plane. The housing can comprise the already described features, thus preferably consist of a material which is transparent to X-ray radiation, or comprise such a material. The detector arrangement is thus removably attachable onto different rests and can be moved or exchanged in a simple manner.
Preferably, the detector is arranged in a housing such as a support foot, which is movable below the rest and which can be moved into at least one, preferably two spatial directions. The housing for this can be connected to the rest via a linear bearing, and particularly preferably have no contact to a floor, on which the rests stands.
The positioning device can comprise at least one side element, into which the detector can preferably be moved. This side element is typically arranged in a manner such that it can be removably attached to a middle part or folded away from this. The side element can also lie in a plane with a middle part of the positioning device. An imaging surface runs along the middle part and in the case of the side element attached onto the middle part can also continue along the side element as a side imaging surface.
The detector is preferably a flat detector. In a particularly preferred manner, the detector is a solid state detector. These are common detector forms which can be constructed in a space-saving manner.
Embodiment examples of the invention are represented in the drawings and are hereinafter explained by way of the figures.
There are shown in:
A support foot 10 is attached on a floor 9 of an operating room via a fastening 11, for example a screw connection. The rest 3 is horizontally mounted on the support foot 10 in a manner parallel to the floor 9, and this rest in the embodiment example represented in
The detector arrangement 1 below the rest can be removably fastened on the rest 3 by way of a clamping holder 105. Instead of by clamping, the detector arrangement 1 can also be screwed or latched onto the rest 3. Alternatively, the detector arrangement 1 can also be fastened on the rest 3 above it or laterally of the rest 3. The detector arrangement 1 comprises a detector 12, in the shown embodiment example a flat detector which is positioned parallel to the rest 3. Moreover, the detector arrangement 1 comprises a positioning device 13, to which the detector 12 is connected and on which the detector 12 can be moved. The movement of the detector 12 on the positioning device 13 in this embodiment example as well as in the following embodiment examples can be effected manually or by way of a motor. The positioning device 13 comprises a rail system in the embodiment example represented in
An X-ray cone beam 14 which is emitted by the X-ray source 2 onto the detector 12 arranged lying opposite the X-ray source hits the detector 12 which is designed as a solid state detector. Inasmuch as an object to be imaged lies on the rest 3 within the X-ray cone beam 14, X-ray radiation beams through this object. The X-ray cone beam 14 can be varied in its dimensions by way of a movable aperture in front of the X-ray source 2. The X-ray radiation is absorbed to a different extent depending on materials which are distributed differently spatially in the object, so that X-ray radiation with a spatially different intensity is incident on the detector 12. A projection picture is produced on the detector 12 by way of this, and this picture is led further from the detector 12 to an evaluation unit for further processing and from the evaluation unit is finally represented on an output unit.
The detector arrangement 1 is arranged in a housing 15 of plastic. The housing 15 has a closed surface without holes and completely encloses the detector arrangement 1. The housing 15 is permeable to the X-ray radiation emitted by the X-ray source 2, thus does not or only slightly absorbs the X-ray radiation. Generally, the closer the X-ray source 2 is brought to the detector 12, the larger is the recorded projection picture. The further an origin of the X-ray cone beam 14 is distanced to the target region to be imaged, the greater is the recorded target region, with a simultaneously reduction of the X-ray beam cone angle. Larger regions to be imaged can be reconstructed due to a free positioning of the X-ray source 2 and of the detector 2, by way of a superposition of different target regions contained on the different projection recordings, wherein these larger regions to be imaged are to be understood in particular as regions whose dimensions in at least one direction are greater than a cone beam diameter. Hereby, a part of the projection pictures is used for two or more target regions, by which means a relative dose for the object to be imaged is reduced.
In further embodiment examples, the rest 3 and the detector arrangement 1 can also be designed in a single-part manner, i.e. that the rest 3 at least in a part of its interior comprises the detector arrangement 1.
The detector arrangement 1 comprises a middle part 19 as well as two side elements 21 which can be angled or bent away from the middle part 19. The side elements 21 can be folded away and lowered with resects to the middle part. The middle part 19 is parallel to a plane running through the rest 3 and is horizontal. The middle part 19 in
The rest 3 with a detector arrangement 1 fastened thereon is represented in
The imaging surface 20 which extends through the middle part 19 and the two side elements 21 is arcuate, and the detector 12 can be moved on the imaging surface 20 or the side imaging surface 20a into several recording positions 12a, 12b, 12c, 12d which are spatially fixed with respect to the rest 3 and the object to be imaged. The detector 12 for this can be moved in the middle part 19 on the imaging surface 20 into several recording positions, such as the recording position 12a. All of the recording positions on the middle part 19, in further embodiments can lie parallel to the rest 3, i.e. the detector 12 in these cases is likewise aligned parallel to the rest 3. The detector 12 can be moved into the side elements 21 by way of a rotation of the detector 12, as is represented in the recording positions 12d and 12b. The recording position 12c characterises an abutment point in the side element 21, i.e. the detector 12 can no longer be moved further. In this recording position 12c, the detector 12 is located completely above the rest 3 and above a middle plane 24 which is arranged centrally between two surfaces of the housing 15 of the middle part 19 and in further embodiments corresponds to the imaging surface 20 of the middle part 19. The imaging surface 20 is not intersected by the detector 12, since the detector 12 with all its components lies above the imaging surface 20. Only the side imaging surface 20 which is angled with respect to the imaging surface 20 is affected by the detector 12 in the recording position 12c.
In further embodiments, the detector arrangement 1 can also be U-shaped or half-round. In the half-round shape, the surface normal 17 of the detector 12 in each position has a central axis 108 which preferably lies parallel to a longitudinal axis of the detector arrangement 1. The central axis 108 in
A further embodiment of the detector arrangement 1 with side elements 21 which are arcuate with respect to the middle part 19 are represented in
A further embodiment of the detector arrangement 1 corresponding to
A further embodiment of the detector arrangement 1 in a lateral view corresponding to
An embodiment of the X-ray device 4, with which the detector 12 and the X-ray source 2 can be moved into several recording positions, is shown in
In the embodiment of the X-ray device 4 which in
Projection pictures of the first target region 31 and of the second target region 32 of the object 29 to be imaged and which are taken in the different recording positions can be led together, in order to reconstruct a three-dimensional model of the respective target region 31, 32 by way of a computation unit 33 as an evaluation unit. For this, the computation unit 33 is connected to the detector 12 via a cable 34. Alternatively, instead of via a cable 34, the projection pictures can also be transferred from the detector 12 to the computation unit 33 in a wireless manner, for example via a radio connection. The computation unit 33 evaluates the projection pictures and computes the reconstruction of the examined target region. The reconstruction is transmitted to an output unit 36, in the present embodiment a screen, either via a further cable 35 or in a wireless manner, and is displayed on the output unit 36. The output unit 36 for this can also be located directly on the detector arrangement 1. Individual projection recordings can also be used for several target regions, given target regions which are imaged several times by way of different projection recordings. In the example shown in
An arrangement of rail systems 23 and detector 12 which corresponds to
The rail system 23, as is shown in
The embodiment example shown in
A further embodiment of the detector arrangement 1 fastened on the rest 3 is shown in
A representation of the detector arrangement 1 with a guide by way of a pinion 51 is represented in
The detector arrangement 1 represented in
An embodiment of the X-ray device 4 is shown in a lateral view in
A further embodiment of the X-ray device 4 of
The detector arrangement 1 is arranged below, but parallel to the rest 3, in the embodiment example shown in
As is represented in a lateral view in
A further embodiment example is likewise shown in the lateral view in
An embodiment example is shown in
A plan view of the detector 12 which is rotatably mounted on the rail system 23 is shown in
With the embodiment of the detector arrangement 1 which is represented in a lateral view in
The first arm section 102 and the second arm section 103 can be set parallel to one another as well as vertically to the rest 3, in order to hold the detector 12 below the rest 3 and parallel to this. Alternatively, a parking position 104 can be moved to, with which the detector 12 lies parallel to the rest 3, but the first arm section 102 and the second arm section 103 have been moved into a horizontal position. The second arm section 103 is set parallel to the rest 3, and the second arm section 103 is angled by the second rotation axis 100, in order to move the detector 12 laterally to the rest 3.
Lateral views of the positioning device are shown in the
The
Features of the different embodiments which are merely disclosed in the embodiment examples can be combined with one another and individually claimed.
The present intellectual property application amongst other things relates to the following aspects:
1. A detector arrangement for recording X-ray pictures of an object to be imaged, comprising
a detector for detecting X-ray radiation and
a positioning device for moving the detector with respect to the object, wherein the detector is movable on an imaging surface along the positioning device into several recording positions which are spatially fixed with respect to the object,
characterised in that
the positioning device comprises at least one side element which can be angled with respect to the imaging surface
or the positioning device comprise an articulated arm, which is movable via at least one rotation axis and/or a linear axis.
2. A detector arrangement according to aspect 1, characterised in that the detector can be moved into the side element.
3. A detector arrangement according to aspect 2, characterised in that the detector in at least one recording position situated on the side element lies completely outside the imaging surface.
4. A detector arrangement according to one of the preceding aspects, characterised in that the positioning device and the detector are arranged within a housing, wherein the housing preferably comprises a material which is transparent to X-ray radiation and particularly preferably comprises a closed surface.
5. A detector arrangement according to one of the preceding aspects, characterised in that the detector arrangement by way of a holder is removably fastenable on a rest, on which the object to be imaged lies.
6. A detector arrangement according to one of the preceding aspects, characterised in that the at least one side element is removably attachable onto the positioning device, can be folded away from the positioning device and/or can be pulled out of the positioning device.
7. A detector arrangement according to aspect 5 or aspect 6, characterised in that the side element projects beyond a plane which runs parallel to the rest through the object to be imaged.
8. A detector arrangement according to one of the preceding aspects, characterised in that the positioning device comprises at least one rail system, a linear drive, an articulated mechanism or a combination of rail system, a linear drive and an articulated mechanism, wherein the detector is mounted on the rail system.
9. A detector arrangement according to one of the preceding aspects, characterised in that the positioning device is movable below, above and/or laterally to the object.
10. A detector arrangement according to one of the preceding aspects, characterised in that detector is displaceable on the positioning device by way of a linear drive.
11. A detector arrangement according to one of the preceding aspects, characterised in that the detector is movable by a rack and a pinion on a bearing guide of the positioning device.
12. A detector arrangement according to one of the preceding aspects, characterised in that the detector is movable on the positioning device by way of a motor, wherein preferably the detector is movable in an automated manner by a computation unit controlling the motor.
13. A rest for recording an object to be imaged by way of X-ray pictures, characterised in that the rest in an interior comprises a detector arrangement according to one of the preceding aspects, or a detector arrangement according to one of the preceding aspects is removably attachable onto an outer side of the rest.
14. An X-ray device, comprising an X-ray source, an evaluation unit for computing two-dimensional and/or three dimensional reconstructions from the recorded X-ray pictures and a detector arrangement according to one of the aspects 1 to 12.
15. A X-ray device according to aspect 14, characterised in that the detector arrangement and/or the X-ray source is arranged in each case on an arm of a robot which is movable by way of at least three robot arm axes, wherein the arm is movable in at least three degrees of freedom, in particular four degrees of freedom, preferably five degrees of freedom, particularly preferably six degrees of freedom.
16. A method for recording X-ray pictures with an X-ray device, which comprises a X-ray source and a detector arrangement according to one of the aspects 1-12, comprising the steps of:
18. A method according to aspect 16 or aspect 17, characterised in that a plurality of projection pictures is composed into a coherent projection of the target region to be imaged or of the respective target regions to be imaged, for imaging and reconstructing a larger target region or a plurality of target regions.
19. A method according to aspect 18, characterised in that individual ones of the projection pictures are used several times for reconstructing several of the target regions which are imaged by several projection pictures.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2012 005 899.3 | Mar 2012 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2013/055458 | 3/15/2013 | WO | 00 |
