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WO2025211948A1 - Dispositif d'imagerie par rayons x comprenant une caméra et son procédé de fonctionnement - Google Patents

Dispositif d'imagerie par rayons x comprenant une caméra et son procédé de fonctionnement

Info

Publication number
WO2025211948A1
WO2025211948A1 PCT/KR2025/099804 KR2025099804W WO2025211948A1 WO 2025211948 A1 WO2025211948 A1 WO 2025211948A1 KR 2025099804 W KR2025099804 W KR 2025099804W WO 2025211948 A1 WO2025211948 A1 WO 2025211948A1
Authority
WO
WIPO (PCT)
Prior art keywords
ray
imaging device
portable
camera
ray detector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/KR2025/099804
Other languages
English (en)
Korean (ko)
Inventor
전학수
양종호
이영준
조현희
이기태
이미노
김종필
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of WO2025211948A1 publication Critical patent/WO2025211948A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/587—Alignment of source unit to detector unit
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/46—Arrangements for interfacing with the operator or the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/46—Arrangements for interfacing with the operator or the patient
    • A61B6/467—Arrangements for interfacing with the operator or the patient characterised by special input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices

Definitions

  • the present disclosure relates to an X-ray imaging device including a camera and an operating method thereof. Specifically, the present disclosure relates to an X-ray imaging device that automatically tracks and controls the position of an X-ray tube using an image acquired by photographing a portable X-ray detector using a camera.
  • 'X-ray' is an electromagnetic wave with a wavelength of generally 0.01 to 100 angstroms ( ⁇ ), and has the property of penetrating objects, so it can be widely used in medical equipment that takes pictures of the inside of a living body and in non-destructive testing equipment in general industry.
  • an auto tracking technology is used to match the range of the X-ray irradiation area with the X-ray detector while the X-ray tube moves left and right within the tray stroke range.
  • a user e.g., an operator
  • the X-ray irradiation area may not be precisely aligned with the center area of the X-ray detector, the photographing procedure may be cumbersome, and the photographing time may be long.
  • the X-ray imaging device may include an X-ray tube including an X-ray source that generates X-rays and irradiates an object with X-rays and a collimator that controls a path of X-rays irradiated by the X-ray source to adjust an X-ray irradiation area, a portable X-ray detector that detects X-rays irradiated by the X-ray source and transmitted through the object, a camera disposed on one side of the X-ray tube, at least one processor including a processing circuit; and a memory that stores one or more instructions.
  • the X-ray imaging device can: move the position of the X-ray tube such that the focal spot of the X-ray irradiation area by the X-ray source is aligned on the central region of the portable X-ray detector based on the position information of the portable X-ray detector.
  • Another aspect of the present disclosure provides a method of operating an X-ray imaging device including a camera.
  • the method of operating the X-ray imaging device according to one embodiment of the present disclosure may include a step of inputting an image acquired using the camera into an artificial intelligence model and recognizing a portable X-ray detector from the image.
  • the method of operating the X-ray imaging device according to one embodiment of the present disclosure may include a step of acquiring position information of the recognized portable X-ray detector.
  • the method of operating the X-ray imaging device may include a step of moving a position of an X-ray tube such that a focal spot of an X-ray irradiation area by an X-ray source is aligned on a central area of the portable X-ray detector based on the acquired position information.
  • FIG. 8 is a drawing illustrating an operation of an X-ray imaging device according to one embodiment of the present disclosure to automatically adjust a source to image distance (SID).
  • SID source to image distance
  • the processor may be composed of one or more processors.
  • one or more processors may be a general-purpose processor such as a CPU, AP, or DSP (Digital Signal Processor), a graphics-only processor such as a GPU or VPU (Vision Processing Unit), or an artificial intelligence-only processor such as an NPU.
  • One or more processors control the processing of input data according to predefined operation rules or artificial intelligence models stored in memory.
  • the artificial intelligence-only processor may be designed with a hardware structure specialized for processing a specific artificial intelligence model.
  • the predefined operation rules or artificial intelligence models are characterized by being created through learning.
  • being created through learning means that the basic artificial intelligence model is trained using a learning algorithm using a plurality of learning data, thereby creating a predefined operation rules or artificial intelligence model set to perform a desired characteristic (or purpose).
  • This learning may be performed on the device itself on which the artificial intelligence according to the present disclosure is performed, or may be performed through a separate server and/or system.
  • Examples of the learning algorithm include, but are not limited to, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning.
  • an 'artificial intelligence model' may be composed of a plurality of neural network layers.
  • Each of the plurality of neural network layers has a plurality of weight values, and performs neural network operations through operations between the operation results of the previous layer and the plurality of weights.
  • the plurality of weights of the plurality of neural network layers may be optimized based on the learning results of the artificial intelligence model. For example, the plurality of weights may be updated so that the loss value or cost value obtained from the artificial intelligence model during the learning process is reduced or minimized.
  • the artificial neural network model may include a deep neural network (DNN), and examples thereof include, but are not limited to, a convolutional neural network, a recurrent neural network, a restricted Boltzmann machine, a deep belief network, a bidirectional recurrent deep neural network, or deep Q-networks.
  • DNN deep neural network
  • a guide rail (30) can be installed on the ceiling of the imaging room where the X-ray system (1000) is placed, and an X-ray tube (110) can be connected to a moving carriage (40) that moves along the guide rail (30) to move the X-ray tube (110) to a position corresponding to the target object (10), and the moving carriage (40) and the X-ray tube (110) can be connected through a foldable post frame (50) to adjust the height of the X-ray tube (110).
  • the workstation (200) may be provided with an input interface (240) for receiving a user's command and an output interface (250) for displaying information.
  • the X-ray system (1000) can be connected to an external device (e.g., an external server (2000), a medical device (3000), and a portable terminal (4000) (e.g., a smart phone, a tablet PC, a wearable device, etc.)) through a communication interface (210) to transmit or receive data.
  • an external device e.g., an external server (2000), a medical device (3000), and a portable terminal (4000) (e.g., a smart phone, a tablet PC, a wearable device, etc.)
  • a communication interface (210) e.g., a communication interface (210) to transmit or receive data.
  • the communication interface (210) may include one or more components that enable communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.
  • the communication interface (210) to receive a control signal from an external device and transmit the received control signal to the control unit (220) so that the control unit (220) controls the X-ray system (1000) according to the received control signal.
  • the X-ray detector (120) may be implemented as a portable X-ray detector.
  • the X-ray detector (120) may operate wirelessly by including a battery that supplies power, or, as illustrated in FIG. 2, the charging port (122) may be connected to a separate power supply unit and a cable (C) to operate.
  • a detection element that detects X-rays and converts them into image data
  • a memory that temporarily or non-temporarily stores the image data
  • a communication module that receives a control signal from the X-ray system (1000) or transmits image data to the X-ray system (1000)
  • a battery may be provided inside the case (124) forming the exterior of the X-ray detector (120).
  • the memory may store image correction information of the detector and unique identification information of the X-ray detector (120), and the stored identification information may be transmitted together when communicating with the X-ray system (1000).
  • the X-ray imaging device (100) may include an X-ray tube (110), an X-ray detector (120), a camera (130), a user input interface (160), and a display (172).
  • FIG. 4 only the minimum components for explaining the function and/or operation of the X-ray imaging device (100) are illustrated, and the components included in the X-ray imaging device (100) are not limited as illustrated in FIG. 4. The components of the X-ray imaging device (100) will be described in detail in FIG. 6.
  • the X-ray imaging device (100) recognizes a portable X-ray detector (120) from an image taken by the portable X-ray detector using an artificial intelligence model (152) and obtains location information of the recognized portable X-ray detector (120) (Operation 2).
  • the X-ray imaging device (100) moves the position of the X-ray tube so that the X-ray irradiation area (X) is aligned with the portable X-ray detector (120) (Operation 3).
  • the 'detector image' is a candidate image for the portable X-ray detector and may include an image area of the portable X-ray detector (120).
  • the detector image may not include a portable X-ray detector.
  • the X-ray imaging device (100) can input an image acquired through a camera (130) and recognize a portable X-ray detector (120) from the image.
  • the detector image may include a portable X-ray detector (120), but may not include a portable X-ray detector.
  • the X-ray imaging device (100) can recognize a portable X-ray detector (120) from the detector image by analyzing the detector image using an artificial intelligence model, and can determine whether a portable X-ray detector (120) is included in the detector image based on the recognition result.
  • the X-ray imaging device (100) obtains position information of the recognized portable X-ray detector.
  • the X-ray imaging device (100) can obtain three-dimensional position coordinate values of the recognized portable X-ray detector from the image.
  • the X-ray imaging device (100) uses the camera (130) to photograph the portable X-ray detector (120) in real time to obtain a plurality of image frames regarding the portable X-ray detector (120), inputs the plurality of image frames into the artificial intelligence model (152), recognizes the portable X-ray detector (120), and obtains real-time position information of the recognized portable X-ray detector (120), for example, real-time three-dimensional position coordinate value information.
  • the X-ray imaging device (100) can track the position of the portable X-ray detector (120) in real time using the three-dimensional position coordinate value information obtained in real time.
  • the X-ray imaging device (100) can move the X-ray tube (110) in the X-axis direction and the Y-axis direction so that the focal spot (F) where X-rays are irradiated by the X-ray source (112) is aligned with the center (C) of one side of the portable X-ray detector (120).
  • the X-ray tube (110) includes an X-ray source (112) and a collimator (114, see FIGS. 1 and 3), and can be connected to a moving carriage (40).
  • the moving carriage (40) can be moved in the X-axis direction and the Y-axis direction along guide rails (30-1, 30-2) mounted on the ceiling of the imaging room.
  • the X-ray imaging device (100) calculates a two-dimensional position coordinate value of the X-ray tube (110) so that the focal position (F) of the X-ray source (112) is aligned with the center (C) of the portable X-ray detector (120) based on the three-dimensional position coordinate value of the portable X-ray detector (120), and controls the moving carriage (40) based on the calculated two-dimensional position coordinate value, thereby moving the X-ray tube (110) in the X-axis direction and the Y-axis direction.
  • the X-ray tube (110) may include a driving unit that moves the position of the X-ray tube (110) through a moving carriage (40).
  • the present disclosure is not limited thereto, and the X-ray imaging device (100) according to one embodiment of the present disclosure may also perform the 'auto-tracking function' by receiving a gesture input such as a hand gesture or a body gesture of the user, or by receiving a voice input according to a voice command of the user.
  • a gesture input such as a hand gesture or a body gesture of the user
  • a voice input according to a voice command of the user.
  • an auto-tracking technology is used to match the range of the X-ray irradiation area with the X-ray detector while the X-ray tube moves left and right within the tray stroke range.
  • the user e.g., operator, radiologist, etc.
  • the user had to manually move the X-ray tube to set the position of the X-ray detector placed on the table, and the user had to manually set the SID (source to image distance).
  • the present disclosure provides an X-ray imaging device (100) that can automatically recognize and track a portable X-ray detector (120) from an image captured using a camera (130) mounted on one side of an X-ray tube (110), and automatically move the X-ray tube (110) so that the X-ray irradiation area is aligned with the center of the portable X-ray detector (120) to automate the X-ray photographing procedure, thereby improving the user's workflow and shortening the photographing time.
  • an X-ray imaging device (100) measures the distance between an X-ray source (112) and a target object (10) using a camera (130) configured as a depth camera, and adjusts the position of the X-ray tube (110) along the Z-axis so that the measured distance matches a source to image distance (SID) set in advance according to a photographing protocol, thereby improving the accuracy of the SID and providing a technical effect capable of preventing erroneous or excessive X-ray irradiation in advance.
  • SID source to image distance
  • the X-ray imaging device (100) may include an X-ray tube (110), an X-ray detector (120), a camera (130), a processor (140), a memory (150), a user input interface (160), and an output interface (170).
  • the X-ray tube (110), the X-ray detector (120), the camera (130), the processor (140), the memory (150), the user input interface (160), and the output interface (170) may each be electrically and/or physically connected to each other. Only essential components for explaining the operation of the X-ray imaging device (100) are illustrated in FIG. 6, and the components included in the X-ray imaging device (100) are not limited as illustrated in FIG. 6.
  • the X-ray imaging device (100) may further include a communication interface for performing data communication with a workstation (200, see FIG. 1), a server (2000, see FIG. 1), another medical device (3000, see FIG. 1), or an external portable terminal (4000, see FIG. 1).
  • the output interface (170) of the X-ray imaging device (100) may not include a speaker (174).
  • An X-ray tube (110) is configured to generate X-rays and irradiate X-rays to a target object.
  • the X-ray tube (110) may further include a high voltage generator (HVG) that applies a high voltage to an X-ray source (112).
  • the X-ray tube (110) may include an X-ray source (112) that receives the high voltage generated by the high voltage generator (HVG) to generate and irradiate X-rays, and a collimator (124) that guides the path of X-rays irradiated from the X-ray source (112) to adjust the irradiation area of the X-rays.
  • the X-ray source (112) includes an X-ray tube, which can be implemented as a bipolar vacuum tube having an anode and a cathode.
  • the inside of the X-ray tube is made into a high vacuum state of about 10 mmHg, and the filament of the cathode is heated to a high temperature to generate thermionic electrons.
  • a tungsten filament can be used as the filament, and a voltage of 10 V and a current of about 3-5 A can be applied to the electric wire connected to the filament to heat the filament.
  • the thermionic electrons are accelerated and collide with the target material of the anode, thereby generating X-rays.
  • the generated X-rays are irradiated to the outside through a window, and a berium thin film can be used as the material of the window. At this time, most of the energy of the electrons colliding with the target material is consumed as heat, and the remaining energy is converted into X-rays.
  • the anode is mainly composed of copper, and the target material is placed on the side facing the cathode.
  • High-resistance materials such as Cr, Fe, Co, Ni, W, and Mo can be used as the target material.
  • the target material can be rotated by a rotating magnetic field, and when the target material rotates, the electron impact area increases, and the heat accumulation rate can increase by more than 10 times per unit area compared to when the target material is fixed.
  • the voltage applied between the cathode and anode of an X-ray tube is called the tube voltage, which is applied from a high voltage generator (HVG), and its magnitude can be expressed as the peak value kVp.
  • HVG high voltage generator
  • the current flowing in the X-ray tube is called the tube current, which can be expressed as an average value mA, and as the tube current increases, the number of thermionic electrons emitted from the filament increases, which consequently increases the dose of the X-rays (the number of X-ray photons) generated when they collide with the target material. Therefore, the energy of the X-rays can be controlled by the tube voltage, and the intensity or dose of the X-rays can be controlled by the tube current and the X-ray exposure time.
  • An X-ray detector (120) is configured to detect X-rays irradiated by an X-ray tube (110) and transmitted through an object.
  • the X-ray detector (120) may be implemented as a thin film transistor (TFT) or a digital detection unit implemented as a charge coupled device (CCD).
  • the X-ray detector (120) may be detachably mounted on a mounting portion (14, see FIG. 1) in a table (10, see FIG. 1) or on a mounting portion (24, see FIG. 1) of a stand (20, see FIG. 1), or may be implemented as a portable X-ray detector or a mobile X-ray detector that can be used at any location.
  • the portable X-ray detector or the mobile X-ray detector may be implemented as a wired type or a wireless type depending on a data transmission method and a power supply method.
  • ‘X-ray detector (130)’ and ‘portable X-ray detector (130)’ refer to the same configuration.
  • the X-ray detector (120) is illustrated as a component included in the X-ray imaging device (100), but the X-ray detector (120) may be a separate device that can be connected and detached from the X-ray imaging device (100).
  • the camera (130) is configured to photograph the X-ray detector (120) to obtain a detector image.
  • the camera (130) may include a lens module, an image sensor, and an image processing module.
  • the camera (130) may obtain a still image or a video of the X-ray detector (120) by the image sensor (e.g., CMOS or CCD).
  • the video may include a plurality of image frames obtained in real time by photographing an object through the camera (130).
  • the image processing module may encode a still image composed of a single image frame obtained through the image sensor or video data composed of a plurality of image frames and transmit the encoded data to the processor (140).
  • the camera (130) may be implemented with a small form factor so that it can be mounted on one side of the X-ray tube (110) of the X-ray imaging device (100), and may be a lightweight RGB camera that consumes low power.
  • the present disclosure is not limited thereto, and in one embodiment of the present disclosure, the camera (130) may be implemented with any type of camera known in the art, such as an RGB-depth camera including a depth estimation function, a stereo fish-eye camera, a grayscale camera, or an infrared camera.
  • the camera (130) may capture an image by photographing a user (e.g., an operator or a radiologist) within the imaging room.
  • a user e.g., an operator or a radiologist
  • the processor (140) can execute one or more instructions of a program stored in the memory (150).
  • the processor (140) may be configured with hardware components that perform arithmetic, logic, and input/output operations and image processing. Although the processor (140) is illustrated as a single element in FIG. 6, it is not limited thereto. In one embodiment of the present disclosure, the processor (140) may be configured with one or more multiple elements.
  • One or more processors constituting the processor (140) may be circuitry such as a System on Chip (SoC), an Integrated Circuit (IC), or the like.
  • SoC System on Chip
  • IC Integrated Circuit
  • the processor (140) may be a general-purpose processor such as a Central Processing Unit (CPU), an Application Processor (AP), a Digital Signal Processor (DSP), a graphics-only processor such as a Graphics Processing Unit (GPU), a Vision Processing Unit (VPU), or an artificial intelligence-only processor such as a Neural Processing Unit (NPU).
  • CPU Central Processing Unit
  • AP Application Processor
  • DSP Digital Signal Processor
  • GPU Graphics Processing Unit
  • VPU Vision Processing Unit
  • NPU Neural Processing Unit
  • the processor (140) may include various processing circuits and/or multiple processors.
  • the term “processor” as used in this disclosure, including the claims, may include various processing circuits, including at least one processor.
  • One or more processors in at least one processor may be configured to perform various functions described in this disclosure, individually and/or collectively, in a distributed fashion.
  • “processor,” “at least one processor,” and “one or more processors” may be configured to perform various functions. However, these terms encompass, without limitation, situations where one processor performs some of the functions and other processor(s) perform other parts of the functions, and situations where a single processor may perform all of the functions.
  • at least one processor may include a combination of processors that perform various functions of the disclosed functions in a distributed manner. At least one processor may execute program instructions to achieve or perform various functions.
  • the memory (150) is a hardware configuration that stores at least one instruction, program code, or data, and may be configured as a storage medium or a combination of storage media such as a ROM, a RAM, a hard disk, a CD-ROM, and a DVD.
  • the memory (150) may be configured as a volatile memory, a non-volatile memory, or a combination of volatile memory and non-volatile memory.
  • the memory (150) may be configured as at least one type of storage medium among, for example, a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), or an optical disk.
  • a flash memory type e.g., a hard disk type
  • a multimedia card micro type e.g., SD or XD memory, etc.
  • a RAM Random Access Memory
  • SRAM Static Random Access Memory
  • ROM Read-Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • the memory (150) may store at least one of commands, commands, algorithms, data structures, program codes, and application programs for causing the X-ray imaging device (100) to perform functions and/or operations according to embodiments described hereinbelow.
  • the commands, algorithms, data structures, and program codes stored in the memory (150) may be implemented in a programming or scripting language such as, for example, C, C++, Java, or an assembler.
  • the memory (150) may also provide stored data to the processor (140) at the request of the processor (140).
  • the processor (140) may be implemented by executing instructions or program codes stored in the memory (150).
  • the memory (150) is illustrated and described in FIG. 6 as being a separate component from the processor (140), it is not limited thereto. In one embodiment of the present disclosure, the memory (150) may not exist separately and may be configured to be included in the processor (140).
  • the processor (140) can capture a detector image by taking a picture of the portable X-ray detector (120) through the camera (130).
  • the camera (130) can capture a detector image by taking a picture of the portable X-ray detector (120) placed within a field of view (FOV) on a table (106, see FIG. 4) or at any location.
  • the camera (130) can provide image data of the acquired detector image to the processor (140).
  • the 'detector image' may be an image acquired through the camera (130) by setting the portable X-ray detector (120) as a shooting target.
  • the 'detector image' may include an image area of the portable X-ray detector as a candidate image of the portable X-ray detector.
  • the detector image may not include the portable X-ray detector.
  • a 'detector image' is a two-dimensional image obtained through a camera (130) having an image sensor (e.g., CMOS or CCD), and is different from an X-ray image obtained through image processing by receiving X-rays that have passed through a target object (e.g., a patient) through a portable X-ray detector (120).
  • an image sensor e.g., CMOS or CCD
  • the processor (140) can recognize the portable X-ray detector (120) from the detector image using an artificial intelligent model (AI model) (152).
  • AI model artificial intelligent model
  • the processor (140) inputs the detector image into the artificial intelligent model (152) and performs inference using the artificial intelligent model (152) to recognize the portable X-ray detector from the detector image.
  • the 'artificial intelligent model (152)' can be implemented as a deep neural network model trained through supervised learning that applies images of a plurality of X-ray detectors having preset shapes, colors, sizes, and border patterns (markers) as learning data, and applies a label value indicating the recognition result of the X-ray detector as a ground truth.
  • fine tuning can be performed by using images of X-ray detectors with predetermined colors, sizes, and shapes, X-ray detectors containing specific patterns (e.g., triangles or squares), or X-ray detectors whose corners or edges are marked with fluorescent materials as learning data during the learning process.
  • the deep neural network model may be composed of, for example, a convolutional neural network (CNN) model including an object detection model.
  • CNN convolutional neural network
  • the deep neural network model of the present disclosure is not limited to a convolutional neural network model, and the deep neural network model may be implemented using a known neural network model, such as, for example, a recurrent neural network, a restricted Boltzmann machine, a deep belief network, a bidirectional recurrent deep neural network, or a deep Q-network.
  • the artificial intelligence model (152) is illustrated and described as being implemented as instructions, program code, or algorithm stored in the memory (150), but is not limited thereto.
  • the artificial intelligence model (152) may not be included in the X-ray imaging device (100). In this case, the artificial intelligence model may be included in the workstation (200, see FIG. 1).
  • the processor (140) can obtain position information of the portable X-ray detector (120) recognized through the artificial intelligence model (152). In one embodiment of the present disclosure, the processor (140) can obtain three-dimensional position coordinate values of the portable X-ray detector (120). In one embodiment of the present disclosure, the processor (140) can capture the portable X-ray detector (120) in real time using the camera (130) to obtain a plurality of image frames regarding the portable X-ray detector (120), input the plurality of image frames into the artificial intelligence model (152), recognize the portable X-ray detector (120), and obtain real-time position information of the recognized portable X-ray detector (120), for example, real-time three-dimensional position coordinate value information. The processor (140) can track the position of the portable X-ray detector (120) in real time using the three-dimensional position coordinate value information obtained in real time.
  • the processor (140) can move the position of the X-ray tube (110) based on the position information of the portable X-ray detector (120).
  • the processor (140) can move the position of the X-ray tube (110) so that the irradiation area where X-rays are irradiated by the X-ray source (112) is aligned with the portable X-ray detector (120).
  • the X-ray tube (110) is connected to a moving carriage (40, see FIGS. 1 and 4), and the moving carriage (40) can move in the X-axis direction and the Y-axis direction along guide rails (30-1, 30-2, see FIG. 4) mounted on the ceiling of the imaging room.
  • the processor (140) can control the driving unit of the moving carriage (40) to move the position of the X-ray tube (110) in the X-axis direction and the Y-axis direction so that the focal spot of the X-ray source (112) is aligned on the center area of one surface of the portable X-ray detector (120).
  • the processor (140) can calculate a two-dimensional position coordinate value of the X-ray tube (110) so that the focal spot of the X-ray source (112) is aligned on the center area of one surface of the portable X-ray detector (120), and control the moving carriage (40) based on the calculated two-dimensional position coordinate value, thereby moving the X-ray tube (110) in the X-axis direction and the Y-axis direction.
  • the display (172) displays a button user interface (UI) for executing an auto-tracking function of the portable X-ray detector (120), and the user input interface (160) can receive a user's touch input for selecting the button UI displayed on the display (172).
  • the processor (140) can perform an operation according to the auto-tracking function for automatically moving the position of the X-ray tube (110) so that the X-ray irradiation area by the X-ray source (112) is aligned on the portable X-ray detector (120).
  • the camera (130) is configured as an RGB depth camera configured to measure a depth value of an object to obtain a depth map image
  • the processor (140) can measure the distance between the X-ray source (112) and the target object (e.g., a patient's target area to be photographed) using the RGB depth camera.
  • the processor (140) can calculate the Z-axis position coordinate value of the X-ray tube (110) so that the measured distance between the X-ray source (112) and the target object matches the SID set in advance according to the photographing protocol.
  • the processor (140) can control the post frame (50, see FIG.
  • the processor (140) may obtain SID information for an imaging protocol determined by a user input from an APR (Anatomically Programmed Radiography) database, and adjust the position of the X-ray tube (110) along the Z-axis direction based on the obtained SID information.
  • APR atomically Programmed Radiography
  • the portable X-ray detector (120) When taking an X-ray photograph using a portable X-ray detector (120), the portable X-ray detector (120) may be inclined at a specific angle with respect to the horizontal plane on a table or the ground depending on the photographing area or specific circumstances.
  • the processor (140) may obtain angle information regarding the angle at which the portable X-ray detector (120) is inclined with respect to the horizontal plane, and may rotate the X-ray tube (110) so that the surface of the X-ray source (112) and the portable X-ray detector (120) form a vertical angle based on the angle information.
  • the processor (140) can control the camera (130) to capture an image of a user in a shooting room.
  • the processor (140) can recognize a gesture input of the user from the image using an artificial intelligence model.
  • the artificial intelligence model can include a pose estimation model trained to recognize a gesture from an input image.
  • the processor (140) can perform a function and/or operation of the X-ray imaging device (100) including at least one of movement, position adjustment, rotation, automatic SID setting, and X-ray photography of the X-ray tube (110) based on the gesture input recognized through the pose estimation model.
  • FIG. 7 is a flowchart illustrating a method for automatically adjusting a source to image distance (SID) of an X-ray imaging device (100) according to one embodiment of the present disclosure.
  • the X-ray imaging device (100) can obtain SID (source to image distance) information according to a shooting protocol.
  • the shooting protocol can be determined according to a target part to be shot. In one embodiment of the present disclosure, the shooting protocol can be determined according to a user input. Once the shooting protocol is determined, the X-ray imaging device (100) can obtain information regarding a preset SID value in the determined shooting protocol.
  • the post frame (50) can move the X-ray tube (110) in the height direction (Z-axis direction).
  • the processor (140, see FIG. 6) of the X-ray imaging device (100) can calculate the Z-axis direction position coordinate value of the X-ray tube (110) such that the distance between the X-ray source and the object (10) measured through the RGB-depth camera matches the SID set in advance according to the photographing protocol.
  • the processor (140) can control the post frame (50) to adjust the position of the X-ray tube (110) based on the calculated Z-axis direction position coordinate value.
  • FIG. 6 the embodiment illustrated in FIG.
  • the processor (140) can adjust the Z-axis direction position of the X-ray tube (110) such that the distance between the X-ray source and the object (10) becomes a second distance (d 2 ) that is equal to the SID according to the photographing protocol.
  • the second distance (d 2 ) is illustrated as being shorter than the first distance (d 1 ), but this is for convenience of explanation, and the second distance (d 2 ) is not limited to being shorter than the first distance (d 1 ).
  • the processor (140) may move the X-ray tube (110) upward to change the first distance (d 1 ) between the X-ray source and the object (10) to the second distance (d 2 ) equal to the SID value.
  • FIG. 9 is a flowchart illustrating a method in which an X-ray imaging device (100) according to one embodiment of the present disclosure acquires preset SID information according to a photographing protocol and adjusts the position of an X-ray tube based on the acquired SID information.
  • Steps S910 to S930 illustrated in FIG. 9 are operations that specify the operation according to step S720 of FIG. 7.
  • Step S910 illustrated in FIG. 9 may be performed after the operation according to step S710 of FIG. 7 is performed.
  • the X-ray imaging device (100) determines a shooting protocol based on a user input.
  • the X-ray imaging device (100) can display a graphic UI for determining a shooting protocol according to a shooting target part through a display (172, see FIG. 6) of an output interface (170, see FIG. 6).
  • the X-ray imaging device (100) can receive a user input for selecting any one of the graphic UIs for shooting protocols displayed through the display (172), and determine a shooting protocol based on the received user input.
  • the X-ray imaging device (100) obtains SID information for the determined shooting protocol from an APR (Anatomically Programmed Radiography) database.
  • the 'APR database' is a database that stores setting values of X-ray shooting according to the shooting protocol, and may include, for example, setting value information for at least one of an X-ray irradiation time, an exposure time, a tube voltage value (kVp), a mask, and an SID (source to image distance) value set in advance according to the shooting protocol.
  • the processor (140, see FIG. 6) of the X-ray imaging device (100) may obtain information about an SID value set in advance according to the shooting protocol from the APR database.
  • the X-ray imaging device (100) adjusts the Z-axis direction position of the X-ray tube based on the acquired SID information.
  • the processor (140) of the X-ray imaging device (100) calculates a Z-axis direction position coordinate value of the X-ray tube at which the distance between the X-ray source and the object measured through the RGB-depth camera matches the acquired SID value, and can adjust the Z-axis direction position of the X-ray tube based on the calculated Z-axis direction position coordinate value.
  • the processor (140) can move the X-ray tube to the calculated Z-axis position coordinate value by driving a post frame (50, see FIG. 8) connected to the X-ray tube.
  • the X-ray imaging device (100) measures the distance between the X-ray source (112) and the object (10) using a camera (130, see FIG. 8) composed of an RGB-depth camera, and adjusts the position of the X-ray tube (110) along the Z-axis so that the measured distance matches the SID (source to image distance) preset according to the photographing protocol, thereby automating the SID setting to streamline the workflow of a user (e.g., an operator or a radiologist) and improve user convenience.
  • the X-ray imaging device (100) according to one embodiment of the present disclosure provides a technical effect of preventing erroneous or excessive X-ray irradiation in advance by automating the SID setting.
  • FIG. 10 is a flowchart illustrating a method for adjusting the position of an X-ray tube based on angle information of a portable X-ray detector by an X-ray imaging device (100) according to one embodiment of the present disclosure.
  • FIG. 11 is a drawing illustrating an operation of an X-ray imaging device (100) according to one embodiment of the present disclosure to rotate and/or move an X-ray tube (110) based on angle information of a portable X-ray detector (120).
  • the X-ray imaging device (100) obtains angle information regarding the angle at which the portable X-ray detector is tilted with respect to the horizontal plane.
  • the portable X-ray detector may be tilted at a specific angle with respect to the horizontal plane on a table or the ground depending on the area to be photographed or a specific situation.
  • the portable X-ray detector (120) may be placed on the ground (G) in a state of being tilted by ⁇ ° with respect to the horizontal plane.
  • the portable X-ray detector (120) may also be placed on a table (106, see FIGS. 3 and 4) in an examination room in a state of being tilted by ⁇ ° with respect to the horizontal plane.
  • the X-ray imaging device (100) can obtain information regarding the tilted angle ⁇ ° of the portable X-ray detector (120).
  • a portable X-ray detector (120) may include an accelerometer and a gyroscope.
  • the portable X-ray detector (120) may obtain a three-axis acceleration measurement value regarding acceleration of each of the three axes (X-axis, Y-axis, and Z-axis) using the acceleration sensor, and may obtain a three-axis angular velocity measurement value including angular velocities of roll, pitch, and yaw using the gyro sensor.
  • the X-ray imaging device (100) may be connected to the portable X-ray detector (120) by wire or wirelessly, and may receive three-axis acceleration measurement value and three-axis angular velocity measurement value information from the portable X-ray detector (120) through a wired or wireless communication method.
  • the portable X-ray detector (120) may further include a geomagnetic sensor.
  • a portable X-ray detector (120) is connected to an X-ray imaging device (100) via a short-range wireless communication method, and can transmit a 3-axis acceleration measurement value and a 3-axis angular velocity measurement value to the X-ray imaging device (100).
  • the portable X-ray detector (120) can transmit the 3-axis acceleration and the 3-axis angular velocity measurement value to the X-ray imaging device (100) via a short-range wireless communication network including, for example, at least one of WiFi, Wi-Fi Direct, Bluetooth, BLE (Bluetooth Low Energy), NFC (Near Field Communication), Zigbee, Ant+, or ⁇ Wave.
  • the X-ray imaging device (100) can obtain angle information about an angle at which the portable X-ray detector (120) is inclined with respect to a horizontal plane based on the 3-axis acceleration and 3-axis angular velocity measurement values received from the portable X-ray detector (120).
  • the X-ray imaging device (100) can align the X-ray tube (110) to the portable X-ray detector (120).
  • the X-ray imaging device (100) can move the position of the X-ray tube (110) so that an irradiation area where X-rays are irradiated by the X-ray source (112) is aligned with the portable X-ray detector (120) based on the three-dimensional position coordinate values of the portable X-ray detector (120).
  • the X-ray imaging device (100) can move the X-ray tube (110) in the X-axis direction and the Y-axis direction so that a focal spot where X-rays are irradiated by the X-ray source (112) is aligned from a zero point (P 0 ) of a corner area of the portable X-ray detector (120) to a first point (P 1 ) which is the center of the portable X-ray detector (120). Since operation 2 of Fig. 11 is the same as operation 3 of Fig. 4 and step S540 of Fig. 5, overlapping descriptions are omitted.
  • the X-ray imaging device (100) rotates the X-ray tube so that the planes of the X-ray source and the portable X-ray detector form a vertical angle based on the angle information.
  • the X-ray imaging device (100) may receive a user input that triggers execution of a rotation operation of the X-ray tube to form a vertical angle between the X-ray tube and the portable X-ray detector, and may perform the rotation operation of the X-ray tube as the user input is received. Referring also to operation 3 of FIG.
  • the X-ray imaging device (100) may display a graphic UI (1100) for executing an automatic rotation function of the X-ray tube (110) to align the X-ray tube (110) by reflecting the tilted angle of the portable X-ray detector (120).
  • the X-ray imaging device (100) can perform an operation according to the automatic rotation function of the X-ray tube (110).
  • the X-ray imaging device (100) can rotate the X-ray tube (110) so that the angle between the X-ray source (112, see FIGS. 3 and 6) and the portable X-ray detector (120) within the X-ray tube (110) is 90°.
  • the X-ray tube (110) may further include a driving unit capable of rotating a tube head unit (THU, or X-ray tube assembly) including the X-ray source (112), a collimator, a camera (130), a user input interface, and an output interface.
  • the focal spot of the X-ray source can be positioned on a second point (P 2 ) on one side of the portable X-ray detector (120).
  • the X-ray imaging device (100) moves the X-ray tube in the X-axis and Y-axis directions so that the center area of the portable X-ray detector and the focal spot of the X-ray irradiation area by the rotated X-ray tube are aligned.
  • the X-ray imaging device (100) can move the position of the X-ray tube (110) so that the center of the X-ray irradiation area by the X-ray source is aligned with the third point (P 3 ), which is the center of the portable X-ray detector (120).
  • a processor 140, see FIG.
  • an X-ray imaging device calculates two-dimensional position coordinate values of an X-ray tube (110) so that a focal spot of an X-ray source is aligned with a third point (P 3 ), which is a central area of one surface of a portable X-ray detector (120), and controls a moving carriage (40, see FIG. 4) based on the calculated two-dimensional position coordinate values, thereby moving the X-ray tube (110) in the X-axis direction and the Y-axis direction.
  • FIG. 12 is a flowchart illustrating a method in which an X-ray imaging device (100) according to one embodiment of the present disclosure recognizes a user's gesture input and performs an action corresponding to the recognized gesture input.
  • FIG. 13 is a drawing illustrating an embodiment in which an X-ray imaging device (100) of the present disclosure recognizes a gesture input of a user (13) and performs an action corresponding to the recognized gesture input.
  • an X-ray imaging device (100) recognizes a gesture input of a user (13) and performs an operation corresponding to the recognized gesture input will be described in detail.
  • the X-ray imaging device (100) acquires a hand image by photographing the user's hand using a camera.
  • the X-ray imaging device (100) may further include a camera mounted on one side of the X-ray tube (110) and a camera mounted inside the imaging room.
  • the X-ray imaging device (100) may further include, in addition to the camera (130), a camera mounted on a stand (20) inside the imaging room and configured to photograph the entire area inside the imaging room, including the X-ray tube (110), the portable X-ray detector (120), the table (106), and the user (13).
  • the camera mounted on the stand (20) is illustrated as being mounted on the camera, but the camera mounted on the stand (132) of the present disclosure is not limited thereto.
  • the filming room camera (132) can be placed in any space or area within the filming room.
  • the X-ray imaging device (100) can obtain an image of the hand of the user (13) by photographing the user (13) in the imaging room using either the camera (130) or the imaging room camera (132) or both the camera (130) and the imaging room camera (132).
  • the X-ray imaging device (100) recognizes a gesture input from a hand image using an artificial intelligence model including a pose estimation model.
  • the artificial intelligence model (1300) may include a pose estimation model trained through supervised learning that applies multiple images of hand gestures, for example, a pointing gesture using the index finger, a pinch zoom gesture using the thumb and index finger, a V-shaped gesture using the index finger and middle finger, an OK gesture making an O-shape using the index finger and thumb, etc., as inputs, and applies a label value indicating the recognition result of the gesture as a ground truth.
  • the pose estimation model may be composed of, for example, a convolutional neural network (CNN) model.
  • CNN convolutional neural network
  • the posture prediction model of the present disclosure is not limited to a convolutional neural network model, and may be implemented with any known deep neural network model.
  • the artificial intelligence model (1300) may be implemented as instructions, program code, or algorithm stored in the memory (150, see FIG. 6) of the X-ray imaging device (100). However, the present invention is not limited thereto, and in one embodiment of the present disclosure, the artificial intelligence model (1300) may not be included in the X-ray imaging device (100). In this case, the artificial intelligence model (1300) may be included in a workstation (200, see FIG. 1).
  • the X-ray imaging device (100) inputs one of the hand images (i 1 to i n ) of the user (13) into the artificial intelligence model (1300) and performs inference using the artificial intelligence model (1300) to recognize a gesture from the input hand image. For example, when a second image (i 2 ) is input into the artificial intelligence model (1300), the X-ray imaging device (100) can perform inference using the artificial intelligence model (1300) to recognize a first gesture of the user pointing in a specific direction from the second image (i 2 ).
  • the X-ray imaging device (100) can perform inference through the artificial intelligence model (1300) to recognize a grasping gesture using a finger from the nth image (i n ).
  • the X-ray imaging device (100) performs at least one operation of moving, positioning, rotating, automatically setting SID, and X-ray photographing of the X-ray tube based on the recognized gesture input.
  • the X-ray imaging device (100) may perform an operation of the X-ray imaging device (100) corresponding to the recognized gesture.
  • a plurality of gesture inputs are mapped to each of the operations of the X-ray imaging device (100), and information regarding the mapping relationship may be stored in the memory (150, see FIG. 6) of the X-ray imaging device (100).
  • the X-ray imaging device (100) can identify an operation of the X-ray imaging device (100) mapped to correspond to a gesture input based on a mapping relationship stored in the memory (150), and control at least one of the X-ray tube (110), the portable X-ray detector (120), the moving carriage (40, see FIG. 4), and the post frame (50, see FIG. 8) to perform the identified operation.
  • the X-ray imaging device (100) captures a user (13) using not only a camera (130) mounted on an X-ray tube (110) but also a camera (132) positioned in a shooting room, thereby recognizing a gesture of the user (13) from an image obtained by capturing the user (13) and performing a mapped action corresponding to the recognized gesture, thereby streamlining the workflow of the user (e.g., an operator or a radiologist, etc.) and improving user convenience.
  • the X-ray imaging device (100) may further include a microphone for receiving a voice input from a user.
  • the X-ray imaging device (100) may perform operations of the X-ray imaging device (100) based on the user's voice input received through the microphone.
  • the processor (140, see FIG. 6) of the X-ray imaging device (100) may perform Automatic Speech Recognition (ASR) to convert the received voice input into computer-readable text.
  • ASR Automatic Speech Recognition
  • the processor (140) may analyze the converted text using a Natural Language Understanding (NLU) model, and based on the analysis result, may obtain an intent regarding a function and/or operation that the user wishes to execute among a plurality of functions and/or operations of the X-ray imaging device (100).
  • the function and/or operation of the X-ray imaging device (100) according to the intent may include, for example, at least one of movement, position adjustment, rotation, automatic SID setting, and X-ray photography of the X-ray tube (110).
  • the processor (140) may control at least one of the X-ray tube (110), the portable X-ray detector (120), the moving carriage (40, see FIG. 4), and the post frame (50, see FIG. 8) so that the X-ray imaging device (100) performs the function and/or operation based on the intent.
  • the present disclosure provides an X-ray imaging device (100) including a camera (130).
  • the X-ray imaging device (100) may include an X-ray tube (110) including an X-ray source that generates X-rays and irradiates an object with X-rays and a collimator that controls a path of X-rays irradiated by the X-ray source to adjust an X-ray irradiation area, a portable X-ray detector (120) that detects X-rays irradiated by the X-ray source and transmitted through the object, a camera (130) disposed on one side of the X-ray tube (110), at least one processor (140) including a processing circuit; and a memory (150) that stores one or more instructions.
  • the X-ray imaging device (100) can: input an image acquired through the camera (130) into an artificial intelligence model (152), and perform inference using the artificial intelligence model (152) to recognize a portable X-ray detector (120) from the image.
  • the X-ray imaging device (100) can: obtain location information of the recognized portable X-ray detector (120).
  • the X-ray imaging device (100) can: move the position of the X-ray tube so that the focal spot of the X-ray irradiation area by the X-ray source is aligned on the central area of the portable X-ray detector (120) based on the position information of the portable X-ray detector (120).
  • the artificial intelligence model (152) may be a deep neural network model (152) trained through supervised learning that applies images of a plurality of X-ray detectors (120) having a specific shape, color, size, and border pattern (marker) as input, and applies a label value representing the recognition result of the X-ray detectors (120) as a ground truth.
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: acquire a plurality of image frames of the portable X-ray detector (120) by taking a picture of the portable X-ray detector (120) in real time using the camera (130), and input the plurality of image frames into the artificial intelligence model (152), thereby recognizing the portable X-ray detector (120).
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: track the position of the portable X-ray detector (120) by acquiring real-time position information of the recognized portable X-ray detector (120).
  • the X-ray imaging device (100) can: move the position of the X-ray tube so that the focus position of the X-ray irradiation area is aligned on the central area of the tracked portable X-ray detector (120).
  • the camera (130) may include a depth camera configured to measure a depth value of an object.
  • the one or more commands are individually or collectively executed by the at least one processor (140), whereby the X-ray imaging device (100) may: measure a distance between an X-ray source and the object based on a depth value acquired using the depth camera, and adjust a position of the X-ray tube along the Z-axis so that the distance between the X-ray source and the object matches a source image distance (SID) preset according to a photographing protocol.
  • SID source image distance
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: determine the photographing protocol based on a user input, and obtain SID information for the determined photographing protocol from an Anatomically Programmed Radiography (APR) database.
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: adjust the Z-axis position of the X-ray tube based on the obtained SID information.
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: obtain angle information about an angle at which the portable X-ray detector (120) is inclined with respect to a horizontal plane, and rotate the X-ray tube so that the plane of the X-ray source and the portable X-ray detector (120) forms a vertical angle based on the angle information.
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: move the X-ray tube in the X-axis direction and the Y-axis direction so that the focus position of the X-ray irradiation area by the rotated X-ray tube is aligned on the center area of the portable X-ray detector (120).
  • the portable X-ray detector (120) may include an acceleration sensor and a gyro sensor.
  • the X-ray imaging device (100) may: receive from the portable X-ray detector (120) three-axis acceleration measurements including X-axis acceleration, Y-axis acceleration, and Z-axis acceleration measured by the acceleration sensor, and roll, pitch, and yaw angular velocity measurements measured by the gyro sensor.
  • the X-ray imaging device (100) may: obtain information about an angle of inclination of the portable X-ray detector (120) with respect to a horizontal plane based on the received three-axis acceleration measurements and three-axis angular velocity measurements.
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: acquire a hand image by photographing a user's hand using the camera (130), and recognize a gesture input from the hand image using a pose estimation model (152) trained to recognize a gesture from the input image.
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: control the X-ray imaging device (100) to perform at least one operation of moving, positioning, rotating, automatically setting SID, and X-ray photographing of the X-ray tube based on the recognized gesture input.
  • the one or more commands are individually or collectively executed by the at least one processor (140), thereby controlling the X-ray imaging device (100) to perform an operation mapped to correspond to a recognized gesture input based on a preset mapping relationship between the gesture and the operations of the X-ray imaging device (100).
  • the X-ray imaging device (100) may further include a room camera (132) arranged in a room and configured to capture an entire area inside the room, including a portable X-ray detector (120), the X-ray tube, the table, and the user.
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: recognize a gesture input from a hand image acquired by capturing the user through the room camera (132).
  • the one or more commands are individually or collectively executed by the at least one processor (140), so that the X-ray imaging device (100) can: control at least one of the portable X-ray detector (120), the X-ray tube, the moving cartridge, and the post frame to perform at least one operation of the X-ray imaging device (100) based on the recognized gesture input.
  • the X-ray imaging device (100) may further include a microphone configured to receive a voice input from a user.
  • the one or more commands may be individually or collectively executed by the at least one processor (140), whereby the X-ray imaging device (100) may perform at least one of: movement, position adjustment, rotation, automatic SID setting, and X-ray photographing of the X-ray tube based on the voice input received through the microphone.
  • the present disclosure provides an operating method of an X-ray imaging device (100) including a camera (130).
  • the operating method of the X-ray imaging device (100) may include a step (S510) of inputting an image acquired using the camera (130) into an artificial intelligence model (152) to recognize a portable X-ray detector (120) from the image.
  • the operating method of the X-ray imaging device (100) may include a step (S520) of acquiring position information of the recognized portable X-ray detector (120).
  • the operating method of the X-ray imaging device (100) may include a step (S530) of moving a position of an X-ray tube such that a focal spot of an X-ray irradiation area by an X-ray source is aligned on a central area of the portable X-ray detector (120) based on the acquired position information.
  • the first artificial intelligence model (152) may be a deep neural network model (152) trained through supervised learning that applies images of a plurality of X-ray detectors (120) having a specific shape, color, size, and border pattern (marker) as input, and applies a label value representing the recognition result of the X-ray detector as a ground truth.
  • the camera (130) may include a depth camera (130) configured to measure a depth value of an object.
  • the operating method of the X-ray imaging device (100) may further include a step (S710) of measuring a distance between an X-ray source and an object based on a depth value acquired using the depth camera (130), and a step (S720) of adjusting a position of an X-ray tube along the Z-axis so that the distance between the X-ray source and the object matches a source image distance (SID) preset according to a photographing protocol.
  • SID source image distance
  • the step of adjusting the position of the X-ray tube may include a step of determining an imaging protocol based on a user input (S910), a step of obtaining SID information for the determined imaging protocol from an APR (Anatomically Programmed Radiography) database (S920), and a step of adjusting the Z-axis position of the X-ray tube based on the obtained SID information (S930).
  • the operating method of the X-ray imaging device (100) may further include a step (S1010) of obtaining angle information regarding an angle at which a portable X-ray detector (120) is inclined with respect to a horizontal plane, a step (S1020) of rotating an X-ray tube so that a plane of an X-ray source and the portable X-ray detector (120) forms a vertical angle based on the angle information, and a step (S1030) of moving the X-ray tube in the X-axis direction and the Y-axis direction so that a focus position of an X-ray irradiation area by the rotated X-ray tube is aligned on a central area of the portable X-ray detector (120).
  • a step (S1010) of obtaining angle information regarding an angle at which a portable X-ray detector (120) is inclined with respect to a horizontal plane a step (S1020) of rotating an X-ray tube so that a plane of an X-ray source and
  • the portable X-ray detector (120) may include an acceleration sensor and a gyro sensor.
  • the step (S1010) of obtaining angle information of the portable X-ray detector (120) may include a step of receiving a three-axis acceleration measurement value including an X-axis acceleration, a Y-axis acceleration, and a Z-axis acceleration measured by an acceleration sensor from the portable X-ray detector (120) and a roll, pitch, and yaw angular velocity measurement value measured by a gyro sensor, and a step of obtaining information about an angle of inclination of the portable X-ray detector (120) with respect to a horizontal plane based on the received three-axis acceleration measurement value and the three-axis angular velocity measurement value.
  • the operating method of the X-ray imaging device (100) may further include a step (S1210) of obtaining a hand image by photographing a user's hand using a camera (130), and a step (S1220) of recognizing a gesture input from the hand image using a pose estimation model (152) trained to recognize a gesture from the input image.
  • the operating method of the X-ray imaging device (100) may further include a step (S1230) of performing at least one operation of moving, adjusting a position, rotating, automatically setting an SID, and taking an X-ray of an X-ray tube based on the recognized gesture input.
  • the X-ray imaging device (100) may perform an operation mapped to correspond to a recognized gesture input based on a preset mapping relationship between the gesture and operations of the X-ray imaging device (100).
  • the present disclosure provides a computer program product including a computer-readable storage medium.
  • the storage medium may include instructions readable by an X-ray imaging device (100), such that the X-ray imaging device (100) performs the following operations: inputting an image acquired using a camera (130) into an artificial intelligence model (152), recognizing a portable X-ray detector (120) from the image, acquiring position information of the recognized portable X-ray detector (120), and moving the position of the X-ray tube such that a focal spot of an X-ray irradiation area by an X-ray source is aligned on a central region of the portable X-ray detector (120) based on the acquired position information.
  • Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to do a desired thing or may independently or collectively command a processing device to do a desired thing.
  • Software may be implemented as a computer program containing instructions stored on a computer-readable storage medium.
  • Examples of computer-readable storage media include magnetic storage media (e.g., read-only memory (ROM), random-access memory (RAM), floppy disks, hard disks, etc.) and optical readable media (e.g., CD-ROMs, DVDs (Digital Versatile Discs)).
  • the computer-readable storage media may be distributed across network-connected computer systems, so that computer-readable code may be stored and executed in a distributed manner.
  • the media may be readable by a computer, stored in a memory, and executed by a processor.
  • a computer-readable storage medium may be provided in the form of a non-transitory storage medium.
  • “non-transitory” simply means that the storage medium does not contain signals and is tangible, but does not distinguish between cases where data is stored semi-permanently or temporarily on the storage medium.
  • a “non-transitory storage medium” may include a buffer in which data is temporarily stored.
  • programs according to the embodiments disclosed herein may be provided as part of a computer program product.
  • the computer program product may be traded as a commodity between sellers and buyers.
  • a computer program product may include a software program, a computer-readable storage medium having the software program stored thereon.
  • the computer program product may include a product in the form of a software program (e.g., a downloadable application) distributed electronically by the manufacturer of the X-ray imaging device (100) or through an electronic market (e.g., Samsung Galaxy Store).
  • a software program e.g., a downloadable application
  • the storage medium may be a storage medium of a server of the manufacturer of the X-ray imaging device (100), a server of an electronic market, or a relay server that temporarily stores the software program.
  • the computer program product may include a storage medium of the server or the storage medium of the X-ray imaging device (100) in a system comprising an X-ray imaging device (100) and/or a server.
  • a third device e.g., a 'workstation (200, see FIG. 1)'
  • the computer program product may include a storage medium of the third device.
  • the computer program product may include a software program itself that is transmitted from the X-ray imaging device (100) to the third device or from the third device to an electronic device.
  • one of the X-ray imaging device (100) or a third device may execute the computer program product to perform the method according to the disclosed embodiments.
  • a third device e.g., a 'workstation (200, see FIG. 1)'
  • the computer program product may be executed to perform the method according to the disclosed embodiments.
  • at least one of the X-ray imaging device (100) and the third device may execute the computer program product to perform the method according to the disclosed embodiments in a distributed manner.
  • the X-ray imaging device (100) may execute a computer program product stored in a memory (150, see FIG. 6) to control another electronic device that is in communication with the X-ray imaging device (100) to perform a method according to the disclosed embodiments.
  • a third device may execute a computer program product to control an electronic device in communication with the third device to perform a method according to the disclosed embodiment.
  • the third device may download the computer program product from the X-ray imaging device (100) and execute the downloaded computer program product.
  • the third device may execute the computer program product provided in a pre-loaded state to perform the method according to the disclosed embodiments.

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Abstract

L'invention concerne un dispositif d'imagerie par rayons X comprenant une caméra et son procédé de fonctionnement. Le dispositif d'imagerie par rayons X peut introduire une image obtenue à l'aide d'une caméra dans un modèle d'intelligence artificielle, ce qui permet de reconnaître et de suivre un détecteur de rayons X portable à partir de l'image, et peut effectuer une opération selon une fonction de suivi automatique du détecteur de rayons X portable pour déplacer automatiquement la position d'un tube à rayons X de telle sorte que le foyer d'une région d'irradiation de rayons X est aligné sur la région centrale du détecteur de rayons X portable.
PCT/KR2025/099804 2024-04-04 2025-03-13 Dispositif d'imagerie par rayons x comprenant une caméra et son procédé de fonctionnement Pending WO2025211948A1 (fr)

Applications Claiming Priority (2)

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KR10-2024-0046218 2024-04-04
KR1020240046218A KR20250147563A (ko) 2024-04-04 2024-04-04 카메라를 포함하는 x선 영상 장치 및 그 동작 방법

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WO2025211948A1 true WO2025211948A1 (fr) 2025-10-09

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140226794A1 (en) * 2013-02-08 2014-08-14 Siemens Medical Solutions Usa, Inc. Radiation Field and Dose Control
JP2015126864A (ja) * 2013-11-29 2015-07-09 富士フイルム株式会社 放射線画像解析装置および方法並びにプログラム
KR20160072024A (ko) * 2014-12-12 2016-06-22 삼성전자주식회사 엑스선 장치 및 그 동작 방법
KR20170024560A (ko) * 2015-08-25 2017-03-07 삼성전자주식회사 엑스선 영상 장치 및 그 제어 방법
JP2019080909A (ja) * 2017-09-06 2019-05-30 ゼネラル・エレクトリック・カンパニイ 撮像で使用する仮想位置合わせ画像

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140226794A1 (en) * 2013-02-08 2014-08-14 Siemens Medical Solutions Usa, Inc. Radiation Field and Dose Control
JP2015126864A (ja) * 2013-11-29 2015-07-09 富士フイルム株式会社 放射線画像解析装置および方法並びにプログラム
KR20160072024A (ko) * 2014-12-12 2016-06-22 삼성전자주식회사 엑스선 장치 및 그 동작 방법
KR20170024560A (ko) * 2015-08-25 2017-03-07 삼성전자주식회사 엑스선 영상 장치 및 그 제어 방법
JP2019080909A (ja) * 2017-09-06 2019-05-30 ゼネラル・エレクトリック・カンパニイ 撮像で使用する仮想位置合わせ画像

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