# US 10,869,639 B2 · Method and system for determining a trajectory of an X-ray imaging system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,869,639 B2 - Document ID: US10869639B2 - Status: Granted - Kind: B2 - Application number: 16/345,187 - Filed: 2017-10-26 - Published: 2019-09-19 - Granted: 2020-12-22 - Earliest claimed: 2016-10-28 - Assignees: Surgivisio - Applicants: Surgivisio - Inventors: David Armand; Arnaud Pierre; Laurence Van Beek; Stephane Lavallee - Web page: https://patentgrep.com/patent/US10869639B2 ## CPC - A61B 6/027: {characterised by the use of a particular data acquisition trajectory, e.g. helical or spiral} - A61B 6/025: {Tomosynthesis} - A61B 6/032: {Transmission computed tomography [CT]} - A61B 6/4441: {the rigid structure being a C-arm or U-arm} - A61B 6/4476: {related to motor-assisted motion of the source unit} - A61B 6/505: {for diagnosis of bone} - A61B 6/545: {involving automatic set-up of acquisition parameters} - A61B 6/583: {using calibration phantoms} - A61B 6/584: {determining position of components of the apparatus or device using images of the phantom} - A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for} - A61B 6/469: {for selecting a region of interest [ROI]} - A61B 2017/00712: {simulating mathematical properties, e.g. for testing of positioning in the isocentre or focus} - A61B 2034/2059: {Mechanical position encoders} - A61B 2090/367: {creating a 3D dataset from 2D images using position information} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61B 2090/3966: {Radiopaque markers visible in an X-ray image} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract The invention relates to a method for determining a trajectory of a motorized X-ray imaging system for acquiring images of a patient to whom a phantom comprising radiopaque fiducials having a known spatial arrangement has been attached so as to be visible on at least one 2D image of a body region of interest acquired by the X-ray imaging system by acquiring one first 2D image of the phantom by the X-ray imaging system in a given position; detecting the fiducials of the phantom in the acquired first image; based on the detected fiducials, determining the position of the phantom in a referential of the X-ray imaging system; determining a set of positions of the X-ray imaging system configured to acquire a set of 2D X-ray images of the region of interest such that the set of 2D X-ray images complies with at least one imposed requirement on the position of the phantom relative to a part of the set of images and combining the set of determined positions to determine a trajectory of the X-ray imaging system with respect to the position of the phantom. ## Claims ### Claim 1 A method for determining a trajectory of a motorized X-ray imaging system for acquiring images of a patient to whom a phantom comprising radiopaque fiducials having a known spatial arrangement has been attached so as to be visible on at least one 2D image of a body region of interest acquired by the X-ray imaging system, the method comprising the following steps: acquiring one first 2D image of the phantom by the X-ray imaging system in a given position; detecting the fiducials of the phantom in said acquired first 2D image; based on said detected fiducials, determining the position of the phantom in a referential of the X-ray imaging system; determining a set of positions of the X-ray imaging system configured to acquire a set of 2D X-ray images of the region of interest such that said set of 2D X-ray images complies with at least one imposed requirement on the position of the phantom relative to a part of said set of 2D X-ray images, combining said set of determined positions to determine a trajectory of the X-ray imaging system with respect to the position of the phantom. ### Claim 2 (depends on 1) The method according to claim 1, wherein the imposed requirement varies depending on the position of the X-ray imaging system. ### Claim 3 (depends on 1) The method according to claim 1, further comprising implementing said determined trajectory to acquire 2D X-ray images and reconstructing a 3D volume of the body region of interest of the patient from said acquired 2D X-ray images. ### Claim 4 (depends on 1) The method according to claim 1, wherein the imposed requirement on the position of the phantom is an estimated position of the region of interest relative to the phantom. ### Claim 5 (depends on 1) The method according to claim 1, further comprising interactively entering the imposed requirement on the position of the phantom. ### Claim 6 (depends on 1) The method according to claim 1, wherein the trajectory of the X-ray imaging system is determined such that a substantial number of acquired 2D X-ray images contain a substantial portion of the phantom. ### Claim 7 (depends on 6) The method according to claim 6, wherein all acquired 2D X-ray images contain all fiducials of the phantom. ### Claim 8 (depends on 1) The method according to claim 1, further comprising a step of displaying instructions to move the X-ray imaging system relative to the phantom to achieve said determined trajectory. ### Claim 9 (depends on 1) The method according to claim 1, further comprising a step of automatically moving the X-ray imaging system relative to the phantom to achieve said determined trajectory. ### Claim 10 (depends on 1) The method according to claim 1, wherein the fiducials of the phantom comprise spheres. ### Claim 11 (depends on 1) The method according to claim 1, wherein the body region of interest comprises a vertebra. ### Claim 12 (depends on 1) The method according to claim 1, wherein the first image of the phantom is a frontal view and wherein one position of the set of positions of the X-ray imaging system is a lateral view. ### Claim 13 (depends on 1) The method according to claim 1, wherein the first image of the phantom is a lateral view and wherein one position of the set of positions of the X-ray imaging system is a frontal view. ### Claim 14 A system for determining a trajectory of a motorized X-ray imaging system, comprising a processor configured for being coupled to the X-ray imaging system and for: obtaining a first 2D image of a phantom comprising radiopaque fiducials having a known spatial arrangement attached to a patient, acquired by the X-ray imaging system in a given position, detecting the fiducials of the phantom in said acquired first 2D image; based on said detected fiducials, determining the position of the phantom in a referential of the X-ray imaging system; determining a set of positions of the X-ray imaging system configured to acquire a set of 2D X-ray images of the region of interest such that said set of 2D X-ray images complies with at least one imposed requirement on the position of the phantom relative to a part of said set of 2D X-ray images, combining said set of determined positions to determine a trajectory of the X-ray imaging system with respect to the position of the phantom. ### Claim 15 (depends on 14) The system according to claim 14, further comprising a motorized X-ray imaging system coupled to the processor.