| 摘要 |
A method of performing X-ray imaging, particularly for medical purposes like mammography, comprises placing the object of interest (e.g. the breast) on a support plate 6 above an X-ray detector (4 in figure 1), moving the X-ray source relative to the object along a non-planar trajectory 34, and activating the X-ray source 2 and detector to obtain the images. The X-ray source is mounted on a positioning assembly which comprises an arm (12 in figure 1), which can be robotic and controlled by the physician in a collaborative way (cobot) or by a computer. The non-planar trajectory 34 can be achieved by rotating and/or translating arm portions 12a,b,c of the arm through mechanical joints 12a,b. The method may further comprise simultaneously moving an auxiliary interventional or biopsy device 20b along a non-planar trajectory using a similar robotic arm 20, and the trajectories can be selected to avoid a collision between the X-ray source and the secondary device. Alternatively, the trajectory can be computed by taking into account the environment, the patient position, or pre-examination data. |
