Abstract:
Apparatus for wirelessly controlling a guided imaging system based upon the relative motion of the user. The system includes a power supply, a memory, an x-ray source, an image intensifier and a wireless transceiver coupled to the image intensifier. A separate wireless input device comprising a wireless transmitter for communicating with the wireless transceiver of the imaging system may comprise one or more sensors capable of detecting force and directional movement. This detection of movement may then be transmitted to the imaging system and translated into position signals that may direct movement and position of the image intensifier (I-I) as part of the imaging system.

Description:
TECHNICAL FIELD 
     The present invention generally relates to medical imaging devices, more particularly, to devices for the wireless controlled movement of medical imaging equipment. 
     BACKGROUND OF THE INVENTION 
     Most interventional imaging systems use an X-ray source connected to an image intensifier (I-I) which can be utilized before, during and after a procedure. As in other medical procedures, the operator may be an assistant to the medical practitioner guided under the practitioner&#39;s directions. Typically, this requires either the operator or an assistant to physically move or adjust the imaging system using a joystick (or other manual mechanism requiring hands on) on an examination table. The medical practitioner may prefer the benefit of both controlling such an imaging system while performing the procedure. In order to operate such imaging systems, the unit is moved in various directions using hand held controls on the operating table. Movement of this device is necessary to obtain desired views of the object/patient being studied. 
     Potential problems with this approach include the operator having to take his hands off of the procedure to adjust the imaging, which can lead to complications of a medical error or increased time to perform the procedure. In another example, an assistant may have other responsibilities during the procedure such that repositioning the camera may introduce positional error and, similarly, prevents the assistant from concentrating on another related task. There are instances when considerable movement occurs during a critical part of the procedure, thus adding to complexity and risk of a medical error or injury to the subject. 
     Current operation of such imaging systems have progressed over the years to allow not only improved optical resolution and subminiature size but also improved responsiveness through the use of various user interface options such as handheld controls, joystick, mouse, or touch screen. These advances, though furthering the capacity and utility of this technology, still leave room for improvement by still sharing the common requirement to utilize the hands of the person controlling the system. This presents complications when the medical practitioner needs use of the hands for other related tasks. Therefore, as medical procedures get increasing complex there is a need for a device that can help solve or reduce the need for medical personnel to correct imaging apparatus or take away the medical personnel from the surgical treatment at hand. 
     In light of the foregoing considerations, and relative to the present state of the art, the need for hands-free control or guidance of I-I imaging systems remains to be sufficiently addressed. Furthermore, it remains desirable and advantageous to more efficiently maneuver such imaging systems without taking attention from other related tasks so as to create an error or risk to the subject. Finally, having a hands-free solution that can track a medical practitioner&#39;s movements, without the need for third party interaction satisfies the operators visualization requirement without having to interrupt the procedure. 
     SUMMARY OF THE INVENTION 
     It is therefore an object of the present invention to provide a wireless control device that will enable the user to guide the position of an I-I imaging system without the use of the user&#39;s hands. It is a further object of the present invention to a provide a highly responsive wireless control that may enable the user to multitask by performing an independent task with the hands while simultaneously guiding the imaging system. In one embodiment of the present invention, the wireless control mechanism that controls the guided imaging system may be mounted on the body of the user. In one embodiment of the present invention, the wireless control mechanism that controls the guided imaging system may be mounted on the head or upon a headpiece of the user. In a further embodiment of the present invention, the wireless control mechanism that controls the guided imaging system may include a voice activated control system for enabling the user to use voice commands to activate and operate the guided imaging system. The voice activated control system may comprise an audio microphone configured to receive audio or voice input commands or signals from the user, an audio receiving unit for receiving the audio or voice input commands or signals, and an audio or voice signal processor coupled to the audio receiving unit for processing the audio or voice input commands or signals. In one embodiment of the present invention, the guided imaging system may be used in a sterile environment. In a further embodiment of the present invention, the guided imaging system may be used in a healthcare facility. 
     In yet another embodiment of the present invention, the guided imaging system may respond similarly to that of the Nintendo Wii® controller. In one embodiment of the present invention the wireless controller may be capable of responding to direction in one or more of the following linear directions: horizontal (X), vertical (Y) and depth (Z) directions and communicate these directions to the I-I. In one embodiment of the present invention the I-I may be capable of responding to direction in one or more of the following rotational directions: pitch (rotation about the vertical axis), roll (rotation about the horizontal axis), and yaw (rotation about the depth axis). In a further embodiment of the present invention, the speed of movement of the user may be translated into the speed at which the guided imaging system, (I-I) movement, responds. The speed of movement may further accompany one of the linear directions or one or more of the rotational directions. 
     In another embodiment of the present invention the imaging monitors may be capable of responding to direction independently or in concert with the movement of the I-I, as shown in  FIG. 3 . 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The foregoing and other objects, aspects and advantages will be better understood from the following detailed description of preferred embodiments of the invention with reference to the drawings. In the drawings, like reference characters generally refer to the same parts throughout the different views. Also, the drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the principals, elements and inter-relationships of the invention. 
         FIG. 1  is a drawing of a C-arm imaging system having an image intensifier and controllers to position both the imager and table holding the object under observation. 
         FIG. 2  is a drawing of an image system having an image sensor in multiple positions relative to the x-ray source that can include single or multiple image arrays. 
         FIG. 3  is a drawing of an image system mountable from a wall or ceiling that incorporates monitors and having a swivel adjustable sensor. 
         FIG. 4  is a drawing of an image system having an image sensor mountable on an examination table. 
         FIG. 5  is a drawing of a headband mountable device having a wireless transmitter and sensors built therein. 
         FIG. 6  is a drawing of a wireless controller for an image system that is attachable to eyewear of the user. 
         FIG. 7  is a drawing of a wireless controller for an image system that is built into eyewear. 
         FIG. 8  is a drawing of a wireless controller for an image system that is built into gloves. 
         FIG. 9  is a drawing of a voice activating system. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  illustrates two configurations of an interventional guided imaging system  100 , according to one embodiment of the present invention, having an x-ray source  101  opposite an image intensifier (I-I)  120 . Imaging systems of this type may be moved in various directions using handheld controls on or near an examination table. Movement of the imager is necessary to obtain desired views of the object/patient under examination without the need to move object/patient. Typically, the user or an assistant will physically reposition the camera and monitors using a joystick control on the examination table. This occurs during a medical procedure, which can distract the operator from the procedure and present complications for the patient. In  FIG. 2 , the sensor of the image intensifier is located above a flat plane. This may include either a single or a multiple array (bi-plane) configuration. 
     Referring further to  FIG. 1 , which illustrates one embodiment of construction of a single plane type x-ray interventional guided imaging system  100  in accordance with the present invention. The x-ray interventional guided imaging system  100  includes an x-ray source  101  for irradiating x-rays onto an object P and an x-ray detecting unit  102  for collecting x-ray projection data by two dimensionally detecting x-rays penetrated through an object P. The x-ray source  101  and the penetrated x-ray detecting unit  102  are respectively supported at opposed edge portions of the C-shaped support arm  132   a . The x-ray interventional guided imaging system  100  further includes a drive unit  103  for implementing rotating movements of C-shaped support arm  132   a  and position movements of top plate  131   a  in order to support an object P and a high voltage generator  141 . The high voltage generator  141  supplies a high voltage sufficient for production of x-rays and irradiation of x-ray to the x-ray source  101 . 
     The drive unit  103  includes a top plate moving mechanism  131 , a C-shaped support arm  132   a  and a C-arm/top plate mechanism controller  133  for controlling movements of both mechanisms  131  and  132 . The top plate moving mechanism  131  moves the top plate  131   a  for supporting an object P along a body axis direction, a width direction of the top plate and up and down. The C-arm rotation-moving mechanism  132  performs rotation movements of C-shaped support arm  132   a  around an object P. C-shaped support arm  132   a  supports the x-ray source  101  and the penetrated x-ray detecting unit  102 . The C-arm/top plate mechanism controller  133  controls each operations of the respective movements of the top plate moving mechanism  131  and movements or rotations of the C-arm rotation-moving mechanism  132  based on control signals supplied from the system controller  110  so as to position an imaging object, such as blood vessel, and x-ray radiation unit at a plurality of different angle positions in order to perform x-ray radiography at appropriate angle positions while avoiding obstacles, such as bones, as explained later. 
     The top plate moving mechanism  131  includes a sensor (not shown), such as an encoder, for detecting a moved distance of the top plate  131   a . C-arm/top plate mechanism controller  133  controls the top plate moving mechanism  131  based on the detected signals supplied from the moved distance sensor. The top plate moving mechanism  131  moves the top plate  131   a  so as to set it at desired positions based on the control signals from the C-arm/top plate mechanism controller  133 . Similarly, C-arm rotating-moving mechanism  132  includes a rotating angle sensor (not shown), such as an encoder for detecting rotated angles of the C-shaped support arm  132   a . C-arm rotation-moving mechanism  132  rotates the C-shaped support arm  132   a  under control from the C-arm/top plate mechanism controller  133  based on the angle position of the detected living body. By the rotations of the C-shaped support arm  132   a , a pair of the x-ray interventional guided imaging system  100  and the x-ray detecting units  102  are positioned at desired radiography angle positions and distances based on the controlling signals from the C-arm/top plate mechanism controller  133 . When the C-shaped support arm  132   a  is positioned at a desired position, the C-arm rotation-moving mechanism  132  supplies an angle positioned signal of the positioned radiography angle position to the system controller  110 . 
     The x-ray interventional guided imaging system  100  includes an x-ray tube  111  for generating x-rays and an x-ray collimator  112 . The x-ray collimator  112  restricts an x-ray irradiation area over an object P from the x-ray tube  111 . A high voltage generating unit  104  supplies a high voltage to the x-ray tube  111  in x-ray interventional guided imaging system  100 . The high voltage generating unit  104  includes a high voltage generator  141  and an x-ray controller  142  that controls the high voltage generator  141  based on control signals supplied from a system controller  110 . 
     X-ray detecting unit  102  includes an image intensifier (I.I.)  120  that detects x-rays penetrated through an object P and converts the penetrated x-rays to light signals, a television (TV) camera  122  for converting the light signals to electric signals and an analog-to-digital (A/D) converter (not shown) for converting electric signals from the TV camera  122  to digital signals. X-ray projection data converted to digital signals are thereby supplied to a pixel data processing unit  106 . I.I.  120  includes a moving mechanism so as to move its positions forward and backward so as to face the x-ray interventional guided imaging system  100 . Thus, a distance between the x-ray generating source and the x-ray detector (Source to Detector Distance: SDD) can be adjusted. Further adjustment can be made to the x-ray incidence view size (Field Of View: FOV) by controlling electric voltages of an x-ray receiving surface electrode of I.I.  120 . In this embodiment, an I.I. is illustrated as a detector. It is, of course, possible to apply a plate surface type detector (Flat Panel Detector: FPD) in order to convert the detected x-rays to electric charges. 
     Pixel data processing unit  106  generates pixel data from x-ray projection data that are generated in the x-ray detecting unit  102 . The generated pixel data are stored. Thus, the pixel data processing unit  106  includes a pixel data generating unit  161  for generating pixel data and a pixel data memory unit  162  for storing the generated pixel data. Pixel data generating unit  161  generates pixel data in accordance with x-ray radiography data being supplied from the detector  102  and managing vital data of an object P being supplied from a vital data measuring unit  105  through a system controller  110 . The vital data measuring unit  105  includes a sensor  151  for detecting and measuring various physiological statistics of object P, and a signal processing unit  152  for converting and processing the measured various physiological statistics in vital data for pixel data generating unit  161 . The generated pixel data are stored in a pixel data memory unit  162 . 
     Pixel data that are collected, which include at least at two different angle positions and stored in the pixel data memory unit  162 , are supplied to a three dimensional image generating unit  166 . The three dimensional image generating unit  166  generates three dimensional image data from pixel data collected at least at two different positions. To generate three dimensional image data, vital data are supplied from a vital data measuring unit  105  through the system controller  110  in order to select pixel data of the same phase of at least two different positions. The generated three dimensional data is displayed on a display unit  108 . 
     The interventional guided imaging system  100  further includes a pixel data searching unit  107  for searching a plurality of pixel data stored in the pixel data memory unit  162 . Pixel data searching unit  107  searches for a plurality of pixel data of the same phase among a plurality of pixel data stored in the pixel data memory unit  162 , and a reduced pixel data generating unit  172  generates reduced pixel data from the searched pixel data of the same phase. A plurality of sets of the generated reduced pixel data of the same phase are displayed on a screen of a display unit  108 . Thus, either a plurality of sets of pixel data of the same phase that are generated in the three dimensional image data generating unit  166  or a plurality of sets of reduced pixel data reduced of the same phase that are generated in the pixel data generating unit  172  are displayed on the display unit  108 . 
     The interventional guided imaging system  100  further includes an operation unit  109  for inputting various setting conditions or commands. The operation unit  109  designates various inputs of radiography conditions, such as, input operations of an object ID, such as a name of an object P and respective times of radiography, image magnifying ratio, designation of setting positions of the C-arm, designation of setting position of radiography angles, designation of setting position of the top plate, and a selection of static images or successive images that are collected at a time series during a certain time period (hereinafter, simply referred to as “a motion image”), and various conditions for displaying. In order to select a motion image, the operation unit  109  further inputs additional radiography conditions of a frame rate indicating a frame number in a unit time and an irradiation time. The system controller  110  totally controls the overall operation of the apparatus in accordance with the inputted conditions from the operation unit  109 . 
       FIG. 2  illustrates an image system  200  having an image sensor in mountable positions relative to the x-ray source, according to one embodiment of the present invention. Such configurations may include single or multiple image arrays. C-arm imaging system  210  includes a C-shaped support arm which contains both the I-I and sensor  215  at the top to communicate with an external position controller (not shown). G-Image system  220  includes a support arm similar in function to the C-shaped support arm of C-Image system  210 , however, having a planar vertical surface extending between the I-I with sensor  215  and the x-ray source  216 . Such configurations may include either flat plane or adjustable plane mechanisms. 
       FIG. 3  illustrates a ceiling mountable guided imaging system  300 , having a swivel mount sensor  315  and adjacent multiple monitors  325 , according to one embodiment of the present invention. In this configuration, the sensing of rotational directions on the user-worn wireless transmitter (not shown) sends communication signals to the swivel mount sensor  315 , which may implement rotational or linear movement of the multiple monitors  325 . 
       FIG. 4  illustrates a table-mounted guided imaging system  400 , according to one embodiment of the present invention, in which the I-I and sensor  415  mounts on the side of the examination/observation table  430 . The I-I and sensor  415  points horizontally across the plane of the table  430  toward an x-ray source (not shown). 
       FIG. 5  is a drawing of a head-mountable wireless controller  500 . In this configuration, the control device includes an elastic membrane  505  on a first side opposite a second side which may contain one or more sensors  515 . The sensors  515  also send communications to the system controller  110  for controlling movements of both the top plate moving mechanism  131 , and the C-arm rotation-moving mechanism  132 , by the C-arm/top plate mechanism controller  133 , including, for example, implementing rotating movements of C-shaped support arm  132   a  and position movements of top plate  131   a , as described above. The sensors  515  also send communications to the system controller  110  for controlling the multiple monitors  325  as described above. Motion of the head may direct motion of the imaging system  500  and monitors  325  either independently or on concert with one another. 
     It is within the scope of this invention that a control mechanism such as a switch or button on the wireless embodiments that will allow the user to differentiate commands from the position or movement of the user to one or more controlled systems (e.g., remotely controlling the C-arm imaging system  210  or the multiple monitors  325  or individual I-I&#39;s in a multi-plane system). The sensors  515  may comprise the ability to sense position or movement in one or more of the following linear directions: horizontal (X), vertical (Y) and depth (Z) directions. In one embodiment of the present invention the wireless controller  500  may comprise sensors  515  capable of sensing movement in one or more of the following rotational directions: pitch (rotation about the vertical axis), roll (rotation about the horizontal axis), and yaw (rotation about the depth axis). One example of this type of wireless control response is that of the Nintendo Wii® controller used with the Nintendo Wii® game system. This design concept utilizes accelerometers that allow the wireless controller to detect the motion of the controller. The motion is communicated to the I-I which is translated into motion of the imaging system  210  and may be used to position the I-I or monitors  325  or both. There are also tiny silicon springs inside the controller that detect motions, positions, and tilt. The wireless communication between the handheld unit and console is infrared. Although infrared is common in industry as a wireless communication protocol, there are several others which are contemplated to be used in the present invention. Some examples include Bluetooth, wireless fidelity radio frequency (also known as WiFi) which follows IEEE standard 802.11a/b/g/n and cellular frequencies. Some RF wireless modules available on the market include Linx Technologies LT, LR and LC Series transceivers. These provide either uni-directional or bi-directional communication with serial data and command signals. 
     In a further embodiment of the present invention, the sensors  515  may be capable of sensing speed of movement of the user. This sensed speed may then be translated into the speed at which the guided imaging system  100  responds to movement by the user. 
       FIG. 6  is a drawing of a head-mountable wireless controller  600 , according to one embodiment of the present invention. In this configuration, the control device includes sensors  615  which may be attachable to the eyewear of the user. Eyewear may include eyeglasses, safety glasses/goggles or other eyewear commonly utilized while operating an imaging system. 
       FIG. 7  is a drawing of a head-mountable wireless controller  700 , according to one embodiment of the present invention. In this configuration, the control device includes eyewear  705  comprising sensors  715  mounted or molded into the frame of the eyewear  705 . Similarly, as contemplated in the example of  FIG. 6 , this embodiment can be utilized in a variety of types of eyewear. 
       FIG. 8  illustrates a glove-mounted wireless controller  800 , according to one embodiment of the present invention. In this embodiment, either the dorsal side  804  or the palm side  806  of the glove-mounted controller  800  comprise sensors  815 . It is contemplated that even both sides of the glove-mounted wireless controller  800  may comprise sensors  815  capable of linear or rotational direction as well as speed sense. 
       FIG. 9  is a drawing of a voice activated system  900 , according to one embodiment of the present invention. In this configuration, a microphone  901  is coupled to an audio mixer/preamplifier  902 . Embodiments of the microphone  901  may include a wired microphone, a wireless microphone, or a shotgun microphone which allows the user to be move about without being tethered to by wires or cables, or without wearing a wireless microphone system. The voice activated system  900  further includes an audio amplifier  903  coupled to the audio mixer/preamplifier  902 . Audio mixer/preamplifier  902  and audio amplifier  903  are coupled to an audio processing unit  904 . Audio processing unit  904  may be communicatively coupled to the I-I or monitors  325  or both. The means of communication between the audio processing unit  904  and the I-I or monitors  325  or both may include Bluetooth, wireless fidelity radio frequency (also known as WiFi) which follows IEEE standard 802.11a/b/g/n and cellular frequencies. Examples of the audio processing unit  904  may include a computer comprising a memory and a processor. Audio processing unit  904  may operate under the control of voice recognition software. The voice control system recognizes a series of key words which corresponds to a command or series of commands that may otherwise be initiated through manual commands or controls. After recognition, the voice control system may repeat the recognized command or series of commands, and execute the command. The command or series of commands are communicated to the I-I which is translated into motion of the imaging system  210  and may be used to position the I-I or monitors  325  or both. Operations controlled by the voice activated control system may include directing the guided imaging system, (I-I), in one or more of the following linear directions: horizontal (X), vertical (Y) and depth (Z) directions, directing the I-I in one or more of the following rotational directions: pitch (rotation about the vertical axis), roll (rotation about the horizontal axis), and yaw (rotation about the depth axis), and adjusting the speed at which the I-I moves at one of the linear directions or one or more of the rotational directions. Operations controlled by the voice activated control system may also include directing the imaging monitors independently or in concert with the movement of the I-I. Operations controlled by voice activated control system may also include designation of various inputs of radiography conditions, such as, input operations of an object ID, such as a name of an object and respective times of radiography, image magnifying ratio, designation of setting positions of the C-arm, designation of setting position of radiography angles, designation of setting position of the top plate, and a selection of static images or successive images that are collected at a time series during a certain time period, and various conditions for displaying. 
     There are other variations or variants of the described methods of the subject invention which will become obvious to those skilled in the art. It will be understood that this disclosure, in many respects is only illustrative. Although various aspects of the present invention have been described with respect to various embodiments thereof, it will be understood that the invention is entitled to protection within the full scope of the appended claims.