X-ray or gamma ray systems or devices – Source support – Including movable source
Reexamination Certificate
1998-11-27
2001-03-13
Bruce, David V. (Department: 2876)
X-ray or gamma ray systems or devices
Source support
Including movable source
C378S196000, C378S198000
Reexamination Certificate
active
06200024
ABSTRACT:
BACKGROUND OF THE INVENTION
The present invention is directed to the art of radiographic medical imaging and, more particularly, to a robotic support system for positioning an x-ray source and receptor pair relative to an examination region to generate and transmit an x-ray beam through the examination region. The invention finds particular application in conjunction with imaging or interventional procedures that have heretofore been performed in association with C-arm or L/U-arm fluoroscopic x-ray systems and will be described with particular reference thereto. It is to be appreciated, however, that the invention is also applicable to a wide range of other medical or industrial imaging apparatus that operate through the use of spaced apart radiographic energy source and receptor pairs to monitor or image a region of a patient or other item disposed between the source and receptor pair.
In some operating rooms, such as operating rooms for vascular catheter procedures, a projection x-ray imaging device is provided in association with an operating table. More specifically, an x-ray tube or generator and an x-ray detector are mounted on a C-arm which is positioned such that a patient or an area of interest lies between the x-ray source and receptor. The x-ray source and receptor are rotatable and longitudinally displaceable as a unit to select a region and angle for projection imaging. Once the surgeon has positioned the x-ray source and detector in the proper position, the surgeon actuates the x-ray tube sending x-rays through the patient and onto the x-ray detector for a preselected exposure time. The x-rays received by the detector are converted into electric video image data signals representing a projection or shadow-graphic image. The projection or shadow-graphic image is stored electronically or displayed on a video monitor which is viewable by the physician.
One such prior art imaging system is shown in FIG.
1
. As illustrated, a C-arm C is supported by a curved support carriage A adjacent an examination region E. The examination region E is describable by orthogonal axes X, Y, and Z. An x-ray transparent couch
10
is positioned such that a region of interest of a subject lying upon the couch is positioned in the examination region E.
The rotational support assembly A includes a rotational mount or bearing
14
mounted to a fixture for rotation about a horizontal axis X. The rotational mount
14
can be movably fixed to a track or other mechanism
18
to also allow movement of the mount in the Y and Z directions.
The midpoint
22
of the C-arm C is rotatably attached to the bearing
14
. The C-arm C defines two opposing parallel ends
24
,
26
on either side of the examination region E. A detector
28
, such as a flat panel detector or the like for detecting x-ray radiation, is attached to the first end
24
. Common detectors include solid state devices, such as a grid of amorphous silicon detector elements for generating x-ray intensity signals for each element on the grid. An x-ray source
30
is attached on the second end
26
of the C-arm. The C-arm C has sufficient size and bulk to maintain the detector
28
and the x-ray source
30
within a fairly repeatable fixed spatial relationship.
In the system shown, the curved support carriage A is adapted to permit rotational movement of the x-ray source and detector along an arcuate path B to enable left and right anterior oblique image views to be collected. The bearing mount
14
enables cranial and caudal image views to be collected. Compound anterior oblique, cranial, and caudal views can be collected by moving the mechanical C-arm system C carriage support and bearing mount into the appropriate respective orientations.
Due to the mass of the x-ray tube and the weight of the detector carried on opposite ends of the C-arms, the curved support assembly is designed to provide adequate support and rigidity and, therefore, is large and bulky. Similarly, the C-arm assembly C is necessarily large in order to enable head to toe imaging capabilities of a patient disposed between the x-ray source and detector.
During most interventional procedures, the C-arm and curved support carriage A obstruct access to the patient because of their size. The awkwardness of the mechanical support system can cause confusion in the operating room when the surgical procedure requires gross movements of the components such as, for example, when it is necessary to first image the head area, followed by an image of the foot area of the patient. Using the above mechanical system it is also awkward and inconvenient to rotate the C-arm C from the vertical orientation shown in
FIG. 1
to either the left or right anterior oblique views.
It is therefore desirable to provide a virtual C-arm support system that has all of the functionality of the prior C-arm system described above, including the carriage and orbit motions, but without the bulky and inconvenient overhead rotational support assembly or the C-arm member rotatably attached to the support assembly.
The present invention provides a new and improved method and apparatus which overcomes the above referenced problems in the prior art and others by eliminating the inconvenient overhead support arm and C-shaped structures found in the prior art systems.
SUMMARY OF THE INVENTION
In accordance with the present invention, a robotic support system is provided for use in a radiographic imaging apparatus of the type including an x-ray source adapted to transmit an x-ray beam along a path through an examination region and an x-ray detector adapted to receive the x-ray beam and generate electric signals indicative of an intensity of the received x-ray beam. The robotic support system includes a first positioning system connected to the x-ray source for selectively positioning the x-ray source in a range of first orientations relative to the examination region. A second positioning system is included and is connected to the x-ray detector for selectively positioning the x-ray detector in a range of second orientations relative to the examination region. The first and second positioning systems are independently operable and are connected to a control unit for coordinating their relative movements and positions. The control unit is in operative command of at least one of the first and second positioning systems to maintain a predetermined spatial relationship between the x-ray source and the x-ray detector for each of the ranges of first and second orientations of the source and receptor relative to the examination region.
In accordance with a more limited aspect of the invention, the robotic support system provides a virtual C-arm support system having all of the capabilities of the prior art mechanical C-arm imaging devices but without the bulky mechanical joints and arms.
In accordance with yet a more limited aspect of the invention, the control unit of the virtual C-arm support system is in operative command of both the first positioning system and the second positioning system and is adapted to selectively generate the first and second command signals to respectively position the x-ray source and the x-ray receptor at a plurality of sets of first and second positions in relative alignment with each other on opposite sides of the examination region. The control unit generates the first and second command signals in a manner that the x-ray source and the x-ray receptor are positioned in relative alignment with each other on opposite sides of the examination region at each of the plurality of sets of first and second positions. Further, the first and second command signals are generated by the control unit to position the x-ray source so that the x-ray beam transmitted from the x-ray source passes through the examination region. Still further, the first and second command signals are generated by the control unit in a manner to control the second positioning system so that the x-ray detector is disposed along the path of the x-ray beam to intercept the x-ray beam and generate electric signals indicative
Bruce David V.
Dunn Drew A.
Fay Sharpe Fagan Minnich & McKee LLP
Picker International Inc.
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