Method of and device for position detection in X-ray imaging

• US 6,050,724 A
• Filed: 01/28/1998
• Issued: 04/18/2000
• Est. Priority Date: 01/31/1997
• Status: Expired due to Fees

• Current Assignee: US Philips Corporation (Koninklijke Philips N.V.)
• Original Assignee: US Philips Corporation (Koninklijke Philips N.V.)
• Inventors: Schmitz, Georg, Sabczynski, Jorg
• Primary Examiner(s): Porta, David P.
• Assistant Examiner(s): Dunn, Drew A.
• Application Number:
  US09/014,714
• Time in Patent Office: 811 Days
• Field of Search: 378/62, 378/205, 378/206
• US Class Current: 378/205
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 6/08 Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4405 the apparatus being movable or portable, e.g. handheld or mounted on a trolley
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/463 characterised by displaying multiple images or images and diagnostic data on one display
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 6/583 using calibration phantoms
• CPC Class Codes: G01N 2223/419 computed tomograph
• CPC Class Codes: G01N 2223/612 biological material
• CPC Class Codes: G01N 23/046 using tomography, e.g. computed tomography [CT]

Abstract

The invention relates to a method of position detection in X-ray imaging, and to a device for carrying out such a method by means of an X-ray apparatus, a detector device, including at least two detector elements, and an indicator device. The exact association of the X-ray image with the object imaged is very important notably for intraoperative imaging. Exact knowledge of the position and orientation of the components of the X-ray apparatus associated with the imaging system is required for this purpose. However, it is often problematic that the lines of sight of the position measuring system are obscured by attending staff or other apparatus. Therefore, in the device according to the invention the detector device is mounted on the X-ray apparatus and the indicator device is provided so as to be stationary on the object to be examined or stationary relative to the object to be examined. Also described is a method of position detection in X-ray imaging by means of such a device.

Claims

1. A method of position detection in X-ray imaging, in which

at least one X-ray image of an object to be examined is formed by means of an X-ray apparatus and the position of an indicator device, provided so as to be stationary relative to the object to be examined, in a detector co-ordinate system coupled to the detector device is determined by means of a detector device mounted on the X-ray apparatus,

the position of the X-ray apparatus is determined in an object co-ordinate system, which is coupled to the object to be examined, and subsequently the position of an object point which is imaged, as an image point in an X-ray image, is determined in the object co-ordinate system.

2. A method as claimed in claim 1, characterized in that at least two X-ray images of the object to be examined are formed from different directions, the position of the focal point and the position of the imaging plane of the X-ray apparatus in the object coordinate system being determined simultaneously with the X-ray image acquisition.

3. A method as claimed in claim 2, characterized in that the position of the object point is determined by means of two straight lines, the first straight line extending through the image point associated with the object point in a first X-ray image and through the first position of the focal point, whereas the second straight line extends through the image point associated with the object point in a second X-ray image and through the second position of the focal point, the object point being the point of intersection of the two straight lines or the central point of the shortest connecting line between the two straight lines.

4. A method as claimed in claim 3, characterized in that the detector device detects the position of a medical apparatus, provided with a further indicator device, in the detector co-ordinate system, the position of the medical apparatus in the image coordinate system of an X-ray image being determined from its position in the detector co-ordinate system.

5. A method as claimed in claim 4, characterized in that the position of the medical apparatus in the image co-ordinate system is calculated from the point of intersection between the imaging plane and a straight line which extends through the focal point and the position of the medical apparatus in the object co-ordinate system.

6. A method as claimed in claim 2, characterized in that the detector device detects the position of a medical apparatus, provided with a further indicator device, in the detector co-ordinate system, the position of the medical apparatus in the image coordinate system of an X-ray image being determined from its position in the detector co-ordinate system.

7. A method as claimed in claim 6, characterized in that the position of the medical apparatus in the image co-ordinate system is calculated from the point of intersection between the imaging plane and a straight line which extends through the focal point and the position of the medical apparatus in the object co-ordinate system.

8. A method as claimed in claim 1, characterized in that the detector device detects the position of a medical apparatus, provided with a further indicator device, in the detector co-ordinate system, the position of the medical apparatus in the image co-ordinate system of an X-ray image being determined from its position in the detector co-ordinate system.

9. A method as claimed in claim 8, characterized in that the position of the medical apparatus in the image co-ordinate system is calculated from the point of intersection between the imaging plane and a straight line which extends through the focal point and the position of the medical apparatus in the object co-ordinate system.

10. A device for X-ray imaging, including an X-ray apparatus, a detector device mounted on the X-ray apparatus with at least two detector elements and an indicator device which is provided so as to be stationary relative to an object to be examined, and control and processing means configured for determining the position of the X-ray apparatus in an object co-ordinate system, which is coupled to the object to be examined, and for determining subsequently the position in the object co-ordinate system of an object point which is imaged as an image point in an X-ray image.

11. A device as claimed in claim 10, characterized in that the detector device is mounted on the X-ray source or on the X-ray image pick-up or X-ray image intensifier device.

12. A device as claimed in claim 11, characterized in that a further indicator device is mounted on a treatment instrument or a radiation therapy device.

13. A device as claimed in claim 12, characterized in that the indicator devices include optical light source markers, for example light emitting diodes which emit infrared light or visible light, retro-reflective markers or markers provided with a recognition pattern.

14. A device as claimed in claim 11, characterized in that the indicator devices include optical light source markers, for example light emitting diodes which emit infrared light or visible light, retro-reflective markers or markers provided with a recognition pattern.

15. A device as claimed in claim 10, characterized in that a further indicator device is mounted on a treatment instrument or a radiation therapy device.

16. A device as claimed in claim 15, characterized in that the indicator devices include optical light source markers, for example light emitting diodes which emit infrared light or visible light, retro-reflective markers or markers provided with a recognition pattern.

17. A device as claimed in claim 10, characterized in that the indicator devices include optical light source markers, for example light emitting diodes which emit infrared light or visible light, retro-reflective markers or markers provided with a recognition pattern.

18. A device as claimed in claim 10, characterized in that the detector device includes two optical detectors, detecting a respective two-dimensional position, or three optical detectors, each of which detects a respective one-dimensional position, said detectors being capable of detecting infrared light or visible light and preferably being infrared CCD cameras, each of the indicator devices including at least three light emitting diodes emitting infrared light or visible light.

19. A device as claimed in claim 10, characterized in that the indicator device includes at least one electromagnetic transmitter device, the detector device including at least one electromagnetic receiver device.

20. A device as claimed in claim 10, characterized in that the X-ray apparatus is a C-arm X-ray apparatus.