CN107693118A - X-ray imaging equipment and its target area indicating means - Google Patents
X-ray imaging equipment and its target area indicating means Download PDFInfo
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- CN107693118A CN107693118A CN201610640735.XA CN201610640735A CN107693118A CN 107693118 A CN107693118 A CN 107693118A CN 201610640735 A CN201610640735 A CN 201610640735A CN 107693118 A CN107693118 A CN 107693118A
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Abstract
The invention discloses a kind of x-ray imaging equipment, including the detector and X ray bulb being oppositely arranged, during imaging, thing to be checked is between detector and X ray bulb, the x-ray imaging equipment also includes, and indicates the target-designator of the target location on examining object table.The target location on examining object table is voluntarily pointed to by target-designator according to the x-ray imaging equipment of the present invention, the step of simplifying target positioning, eliminates unnecessary auxiliary locating tool.
Description
Technical field
The present invention relates to medical imaging field, more particularly to a kind of x-ray imaging equipment with Target indication function and
Its Target indication method.
Background technology
Early stage perform the operation, it is necessary to be positioned in body surface entry point or surgical incision site, in actual mechanical process, although drawing
Enter the imaging device that such as portable C arm machine is suitable to operating room, but because the effective localization method of shortage, doctor are general
Repeatedly perspective of having to goes for sites.During such as minimally invasive spine surgical, in order to position intervertebral foramen, after the completion of patient puts position, doctor
It is raw by an iron wire or other can be imaged fine needle, the body surface of close-proximity target zone is placed on, by observing fluoroscopy images after perspective
In the position relationship of the iron wire and intervertebral foramen, to adjust iron wire, be further continued for repeating to have an X-rayed and the operation of adjustment iron wire position, until
Iron wire is in fluoroscopy images above intervertebral foramen, and now doctor reuses marking pen and carries out the position where iron wire in body surface
Mark.And entry point or incision site will at least draw two lines, so doctor constantly repeats to operate above, until body surface marking can
To instruct subsequent procedures operating position.
Imaging device can also in the arts such as current portable C arm machine, suspension type C arm machine, console mode C arm machine or G horns
Possesses laser lamp, the important function of laser lamp is exactly auxiliary positioning.Laser lamp such as portable C arm machine can indicate imaging center
Position, but because present laser lamp can only indicate image center location, to indicate the position of interesting target, it is necessary to pass through
C arms are adjusted, interesting target are adjusted to imaging center position, then indicate the interesting target in the position of body surface by laser lamp
Put.The process operation is complicated, and patient needs more rayings during regulation, because operating process is inconvenient, clinically
Using less.
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of x-ray imaging equipment, including the detection being oppositely arranged
Device and X ray bulb, there is the receiving space that can house thing to be checked between detector and the X ray bulb, in addition to, instruction
The target-designator of target location, the target-designator are suspended near the outer rim of the receiving space.
Optionally, in the x-ray imaging equipment, detector and the X ray bulb is connected to the branch of a bending
Frame both ends.
Optionally, in the x-ray imaging equipment, the target-designator is located at detector one end.
Optionally, the rangefinder of distance between the x-ray imaging equipment, in addition to measurement detector and thing to be checked.
Optionally, in the x-ray imaging equipment, the target-designator includes point type or cross formula laser lamp.
Optionally, in the x-ray imaging equipment, the target-designator includes first laser lamp and the second ray laser
Lamp, first, second laser lamp are wire type laser lamp, and target location is indicated by the intersection point of two linear lights.
Optionally, in the x-ray imaging equipment, the detector includes rectangular shaped rim, the first laser lamp and
Dual-laser lamp, positioned at the adjacent both sides of rectangular shaped rim, orthogonal linear light is projected respectively.
Optionally, the x-ray imaging equipment, in addition to for driving first laser lamp and second laser lamp along institute
In the first drive system and the second drive system of side movement.
Optionally, in the x-ray imaging equipment, first drive system and the second drive system include respectively, drive
Driving wheel and driven pulley, the driving wheel are interlocked with driven pulley by belt, and the laser lamp is connected to the belt.
Optionally, in the x-ray imaging equipment, the laser lamp is connected to the belt by movable plate, and passes through
One fixing band is fixed on the movable plate.
Optionally, in the x-ray imaging equipment, the target-designator also includes, the 3rd laser lamp and the 4th laser
Lamp, the region that the linear light projected by first, second, third, fourth laser lamp surrounds are instruction target area.
Optionally, in the x-ray imaging equipment, described first, the 3rd laser lamp be located at same one side of rectangular shaped rim；The
3rd, the 4th laser lamp is located at adjacent same one side.
Optionally, in the x-ray imaging equipment, described first, second, third, the 4th laser lamp, respectively positioned at rectangle
Four sides of frame.
The present invention also provides a kind of Target indication method of x-ray imaging equipment, including：
To thing shooting image to be checked；
Target location is determined in described image；
Calculate thing surface location to be checked corresponding to the target location；
Calculate the driving distance of the target-designator.
The present invention also provides a kind of target area indicating means of x-ray imaging equipment, including：
To thing shooting image to be checked；
Target area is determined in described image；
Calculate the target area on examining object table corresponding to the target location；
Calculate the driving distance of the target-designator；
According to the driving distance driving target-designator.
The target location that technical solution of the present invention defines according to user on image, target-designator is driven, refers to target
Show that device indicates in image target location in the position of body surface automatically, for instructing doctor's inserting needle or carrying out incision operation, target position
It is simple to operate accurate to put, and avoids patient and doctor receives more radiation.
Further, x-ray imaging equipment of the invention carries target-designator, eliminates the auxiliary additionally positioned
Instrument；And target-designator can include one or more laser lamps to indicate target point or target area, facilitate doctor's
Therapeutic process.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the C arm machine structural representation of the x-ray imaging equipment of the present invention；
Fig. 2 is the laser lamp schematic diagram that the present invention uses；
Fig. 3 is the target-designator structural representation of first embodiment of the invention；
Fig. 4 is the driving process schematic of the target-designator of first embodiment of the invention；
Fig. 5 is the target-designator structural representation of second embodiment of the invention；
Fig. 6 is to indicate schematic diagram according to the target location of first embodiment；
Fig. 7 is the process schematic that shift position is calculated according to first embodiment；
Fig. 8 is the driving schematic flow sheet according to first embodiment；
Fig. 9 is to indicate schematic diagram according to the target area of second embodiment；
Figure 10 is the driving schematic flow sheet according to second embodiment.
Embodiment
It is understandable to enable the above objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.Detail is elaborated in the following description in order to fully understand the present invention.But
It is that the present invention can be different from other manner described here to implement with a variety of, those skilled in the art can be without prejudice to originally
Similar popularization is done in the case of invention intension.Therefore the present invention is not limited by following public embodiment.
In order to instruct operation typically in operation, it can in real time be shot, be guided by x-ray imaging equipment
And confirm the process of operation.The x-ray imaging equipment includes：For launching the X ray bulb of X ray；Receive by be checked
The detector of the X ray of thing, the X ray bulb and detector are oppositely arranged.The most frequently used x-ray imaging in surgical procedure
Equipment is C arm machine, and C arm machine is properly termed as G arms machine, U arm machines again, is primarily due to connect the support of X ray bulb and detector
Shape is as letter C.The support described in some other equipment can also make O shapes (circle), and X ray bulb and detector are located at
It is oppositely arranged on the inside of O shapes support.
Fig. 1 is the C arm machine structural representation of the x-ray imaging equipment of the present invention.As shown in figure 1, C arm machine includes C-shaped branch
Frame 10 and the X ray bulb 30 and detector 20 for being located at C-shaped support both ends respectively, X ray bulb 30 and detector 20 phase
To setting.This C-shaped configuration, which is easy to patient to be checked being moved between X ray bulb 30 and detector 20, to be shot.
The C arm machine can be divided into movable type, suspension type, console mode etc. again.It is removable that movable type is that C-shaped support is fixed on
Dolly, operating personnel can by promoting dolly mobile c-arm machine (or the drive device mobile c-arm machine having by dolly),
And patient is shot at the desired position；The C-shaped support described in suspension type can typically be slightly larger than portable C-shaped branch
Frame, and be fixed on by fixed support on ceiling, guide rail can be set on the ceiling, along institute under the driving of driving equipment
Guide rail movement is stated, in suspension type, the C-shaped support can also upper any rotation along the horizontal or vertical direction；Console mode is with moving
Dynamic formula is similar, and difference is connected with the fixed support on ground, can not be moved.
But existing various C arm machines do not possess Target indication function, especially for the imaging in surgical procedure
Speech causes certain inconvenience, therefore, the adjustable target-designator for pointing to position is provided with the present invention in C arm machine, it is described
Target-designator includes laser lamp, and the target location on patient body-surface is calculated according to the target area specified in image, and to it
Indicated, facilitate the inspection to patient and therapeutic process.
Using x-ray imaging equipment as portable C arm machine in the present invention, the target-designator includes carrying out exemplified by laser lamp
Illustrate, but technical scheme limits not to this.Laser lamp described in technical solution of the present invention is arranged on detector one
End, detector is above during imaging, because the entry of operation or the insert port of pin are also all located above body surface,
So setting can facilitate doctor to operate, but not limited to this.Laser lamp can be suspended in C arm machine in some other embodiment
Other positions, the laser lamp can be such as arranged on to C-shaped support, or when X ray bulb is above (under detector is located at
Laser lamp just) is arranged on X ray bulb one end.
Also include being used to measure ranging of the detector to thing distance to be checked in addition to the laser lamp in detector one end
Instrument, the distance of detector to thing to be checked can be used at the target location on calculating body surface, and specific calculating process will below
Middle detailed description.
The laser lamp used in the present invention can be one kind in point type laser lamp, wire type laser lamp, Cross hair laser lamp.
Fig. 2 is the laser lamp schematic diagram that the present invention uses, as shown in Fig. 2 laser lamp includes penetrating trimmed book body 2111 and light extraction adjustment portion
2112, according to adjusting or replacing light extraction adjustment portion 2112 laser lamp can be allowed to launch light of different shapes.
First embodiment
Target-designator will at least include two laser lamps, two sent with two laser lamps when using wire type laser lamp
Target location of the crosspoint of bunch light as instruction.Fig. 3 is the target-designator structural representation of first embodiment of the invention,
Fig. 4 is the driving process schematic of the target-designator of first embodiment of the invention.As shown in Figure 3, Figure 4, C-shaped support 10 and spy
Survey device 20 to connect by the connector 28 of L-shaped, the detector 20 includes rectangular shaped rim, first laser lamp 211 and second laser
Lamp 221 is located at the adjacent both sides of rectangular shaped rim respectively, orthogonal linear light is projected respectively, as shown in figure 3, first laser lamp
211 transmittings launch the second linear light parallel to Y-axis parallel to the first linear light, the second laser lamp 221 of X-axis, the first linear light and the
Two linear lights intersect vertically.
Also include being used to drive first laser in the plane where the first laser lamp 211 and second laser lamp 221
First drive system of lamp 211 and the first drive system and the second drive system for driving second laser lamp 221, described
One drive system and the driving of the second drive system are respectively used to drive the laser lamp along Y-axis or with X-direction to move back and forth.
By taking the first drive system as an example, it includes, and driving wheel 215 and driven pulley 217, driving wheel 215 and driven pulley 217 pass through belt
216 interlock, and the first laser lamp 211 is fixed on the belt 216, moved with the rotation of belt 216.In above-mentioned knot
First laser lamp described in structure 211 can be fixed on a movable plate 213, and belt 216, this connection are connected by movable plate 213
Mode can easily fix first laser lamp 211 and keep first laser lamp 211 stability on the move.Further,
The first laser lamp 211 is fixed on the movable plate 213 by fixture 212, and the fixture 212 is screwed
In the movable plate 213, to facilitate being removed and replaced for for first laser lamp 211, between the movable plate 213 and belt 216
Increase by the first backing plate 214, first backing plate 214 can be played between regulation movable plate 213 and the rectangular shaped rim of detector
Distance.
The first drive system, the second drive system can also be other driving knots in addition to above-mentioned driving structure
Structure, e.g., chain drive structure, gear drive structure, the driving structure etc. slided, as long as can meet to cause laser lamp along
The driving structure of the track movement of setting.Further, first drive system and the second drive system can also adopt
With different driving structures, the present invention is not limited the first drive system, the uniformity of the driving structure of the second drive system.
Second embodiment
Also wire type laser lamp is used in the present embodiment, and target area is indicated by the combination of multi beam linear light.Fig. 5 is this
The target-designator structural representation of invention second embodiment, the connected mode of C-shaped support 10 and detector 20 as shown in Figure 5 with
First embodiment is identical, first laser lamp 211, and the structure of second laser lamp 221 and corresponding driving system structure are also with first
Embodiment is similar, will not be repeated here.The difference of the present embodiment and first embodiment is, in first laser lamp 211 and second
Detector rectangular shaped rim side where laser lamp 221 increases the 3rd laser lamp 231 and the 4th laser lamp 241 respectively.Described
3rd, the 4th laser lamp 231,241 is also corresponding with corresponding drive system respectively, as shown in figure 5, with the 3rd laser lamp 231
The 3rd drive system exemplified by, it includes, and driving wheel 235, driven pulley 237, driving wheel 235 and driven pulley 237 pass through belt 236
Interlock, the 3rd laser lamp 231 also is secured on a movable plate 233, and the can also be included between movable plate 233 and belt 236
Three backing plates 234, in order to set two sets of drive systems on same frame, first drive system and the 3rd drive system will
Front and rear arrangement, therefore the structure of the 3rd backing plate 234 is slightly different from the structure of the first backing plate 214, close to the 3rd skin
There is the structure (not shown) put in 236 place, the structure of the 4th backing plate 244 is similar to the structure of the 3rd backing plate 234,
Here is omitted.
In the present embodiment, the 3rd laser 231 and the 3rd drive system can also be arranged on and the place of first laser lamp 211
Detector the relative frame (another frame parallel with the place frame of laser lamp 211) of rectangular shaped rim, the described 4th is swashed
The drive system of light lamp 241 and the 4th is arranged on the frame relative with the rectangular shaped rim of the detector where second laser lamp 221,
This arrangement can effectively avoid two laser lamps and two sets of drive systems from being all arranged together during caused driving
Conflict.
The present invention also provides the Target indication method according to the target-designator of first embodiment.Fig. 6 is real according to first
Apply the target location instruction schematic diagram of example；Fig. 7 is the process schematic that shift position is calculated according to first embodiment；Fig. 8 is root
According to the driving schematic flow sheet of first embodiment.Below in conjunction with Fig. 6, Fig. 7 and Fig. 8, to the x-ray imaging according to first embodiment
The Target indication method of equipment is described in detail.
Included according to the Target indication method of first embodiment：S11, thing to be checked is imaged first, X ray bulb 30
The X ray sent can pass through bracket 50 on patient 40 and be radiated at detector panel 27, detector panel 27 gathers the X ray simultaneously
For being imaged, dotted line five-pointed star is the position of thing to be checked in image in Fig. 6, and solid line five-pointed star is the position of actual thing to be checked,
Target location C' is determined in image, C' is A in the coordinate of Y-axis, and corresponding target location C' sites C Y-axis coordinate is
B；S12, the target location C' in image determine the target location C on body surface, as shown in fig. 7, △ ABC ∽ △ ADF, DE=
(distance on detector panel, it can be obtained known to BC (error is subjected to), AD distance by system operations), (X known to FD distances
The fixed range of ray tube and detector panel), to obtain DB distances need to know AB (AB distance be image in target location and
Target location on body surface Y-axis on coordinate distance) and DE distances, DE distance can approximately be surveyed by rangefinder 29
Must be a, AB distance is easily determined by the calculating can of similar triangles, and AB distance is, it is known that subtracting AB can obtain
DB is obtained, that is, determines the position (coordinate) of the B points in Y-axis；S13, calculate laser lamp driving distance and laser lamp is carried out
Drive, the position of system known laser lamp, the position of B points is had calculated that by S12, therefore according to the position of laser lamp and B points
Position can calculate driving distance.Likewise, it can also join in the calculating of the coordinate (position) of X-axis for target location C
Carried out according to above-mentioned calculating target location C in the coordinate (position) of Y-axis, it is determined that target location C is in the position of X-axis, it is possible to
The driving distance of another laser lamp is obtained in the coordinate of X-axis according to the position of another laser lamp and target location C, when two
In place, the line light intersection of two laser lamps is target location for individual laser lamp driving.
The present invention also provides the target area indicating means according to the target-designator of second embodiment.Fig. 9 is according to the
The target area instruction schematic diagram of two embodiments；Figure 10 is the driving schematic flow sheet according to second embodiment.As shown in figure 9,
Four laser lamps are located on four frames of rectangular shaped rim of detector respectively, the target area instruction side of x-ray imaging equipment
Method includes：S21, thing to be checked is imaged, and determines the target area in image, the target area is by operator in image
In select a panel region；S22, according to the target area, obtain maximum in image, minimum Y value (Y'max、Y'min) value and image
In maximum, minimum x value (X'max、X'min)；S23, maximum, minimum Y value (Y' in imagemax、Y'min) and it is maximum, most
Small X values (X'max、X'min) obtain the maximum of body surface, minimum Y value (Ymax、Ymin) and body surface maximum, minimum x value (Xmax、Xmin),
The calculating process of corresponding target location and the calculating body surface of first embodiment on body surface are calculated according to the target location on image
The calculating process of target location is similar corresponding to upper, will not be repeated here；S24, according to Ymax、YminCalculate first laser lamp 211
With the activation point of the 3rd laser lamp 231, according to Xmax、XminCalculate the driving position of second laser lamp 221 and the 4th laser lamp 241
Put.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this area
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical scheme makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, according to the present invention
Any simple modifications, equivalents, and modifications made to above example of technical spirit, belong to technical solution of the present invention
Protection domain.
Claims (15)
1. a kind of x-ray imaging equipment, including the detector and X ray bulb being oppositely arranged, detector and the X ray bulb
Between have and can house the receiving space of thing to be checked, it is characterised in that also include, indicate the target-designator of target location, institute
Target-designator is stated to be suspended near the outer rim of the receiving space.
2. x-ray imaging equipment as claimed in claim 1, it is characterised in that detector and the X ray bulb connects respectively
In the support both ends of a bending.
3. x-ray imaging equipment as claimed in claim 1 or 2, it is characterised in that the target-designator is located at detector one
End.
4. x-ray imaging equipment as claimed in claim 3, it is characterised in that also include between measurement detector and thing to be checked
The rangefinder of distance.
5. x-ray imaging equipment as claimed in claim 3, it is characterised in that the target-designator includes point type or cross
Formula laser lamp.
6. x-ray imaging equipment as claimed in claim 3, it is characterised in that the target-designator includes first laser lamp
With the second ray laser lamp, first, second laser lamp is wire type laser lamp, and target position is indicated by the intersection point of two linear lights
Put.
7. x-ray imaging equipment as claimed in claim 6, it is characterised in that the detector includes rectangular shaped rim, and described
One laser lamp and second laser lamp, positioned at the adjacent both sides of rectangular shaped rim, orthogonal linear light is projected respectively.
8. x-ray imaging equipment as claimed in claim 7, it is characterised in that also include being used to drive first laser lamp and the
Dual-laser lamp is in the first drive system and the second drive system moved along place side.
9. x-ray imaging equipment as claimed in claim 8, it is characterised in that first drive system and the second drivetrain
System includes respectively, and driving wheel and driven pulley, the driving wheel are interlocked with driven pulley by belt, and the laser lamp is connected to described
Belt.
10. x-ray imaging equipment as claimed in claim 9, it is characterised in that the laser lamp is connected to institute by movable plate
Belt is stated, and the movable plate is fixed on by a fixing band.
11. x-ray imaging equipment as claimed in claim 6, it is characterised in that the target-designator also includes, and the 3rd swashs
Light lamp and the 4th laser lamp, the region that the linear light projected by first, second, third, fourth laser lamp surrounds are instruction
Target area.
12. the x-ray imaging equipment as described in right 11, it is characterised in that described first, the 3rd laser lamp be located at rectangular shaped rim
Same one side；Three, the 4th laser lamps are located at adjacent same one side.
13. the x-ray imaging equipment as described in right 11, it is characterised in that described first, second, third, the 4th laser lamp,
It is located at four sides of rectangular shaped rim respectively.
14. a kind of Target indication method of x-ray imaging equipment, including：
To thing shooting image to be checked；
Target location is determined in described image；
Calculate thing surface location to be checked corresponding to the target location；
Calculate the driving distance of the target-designator.
15. a kind of target area indicating means of x-ray imaging equipment, including：
To thing shooting image to be checked；
Target area is determined in described image；
Calculate the target area on examining object table corresponding to the target location；
Calculate the driving distance of the target-designator；
According to the driving distance driving target-designator.
Priority Applications (10)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610640735.XA CN107693118B (en) | 2016-08-08 | 2016-08-08 | X-ray imaging apparatus and target area indication method thereof |
| EP20173789.7A EP3725228B1 (en) | 2016-06-13 | 2017-06-13 | Systems and methods for x-ray scanner positioning |
| EP20175112.0A EP3735907A1 (en) | 2016-06-13 | 2017-06-13 | Systems and methods for x-ray scanner positioning |
| US15/620,967 US10638985B2 (en) | 2016-06-13 | 2017-06-13 | Systems and methods for x-ray scanner positioning |
| EP17175783.4A EP3284410B1 (en) | 2016-06-13 | 2017-06-13 | Systems for x-ray scanner positioning |
| JP2017116324A JP7001371B2 (en) | 2016-06-13 | 2017-06-13 | X-ray scanner positioning system and method |
| US16/866,284 US11000243B2 (en) | 2016-06-13 | 2020-05-04 | Systems and methods for X-ray scanner positioning |
| US16/866,294 US11006908B2 (en) | 2016-06-13 | 2020-05-04 | Systems and methods for X-ray scanner positioning |
| US17/322,891 US11564644B2 (en) | 2016-06-13 | 2021-05-17 | Systems and methods for X-ray scanner positioning |
| JP2021211158A JP7450593B2 (en) | 2016-06-13 | 2021-12-24 | X-ray scanner positioning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610640735.XA CN107693118B (en) | 2016-08-08 | 2016-08-08 | X-ray imaging apparatus and target area indication method thereof |
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| CN107693118A true CN107693118A (en) | 2018-02-16 |
| CN107693118B CN107693118B (en) | 2020-10-16 |
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| CN201610640735.XA Active CN107693118B (en) | 2016-06-13 | 2016-08-08 | X-ray imaging apparatus and target area indication method thereof |
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| CN107714060A (en) * | 2016-08-11 | 2018-02-23 | 上海联影医疗科技有限公司 | X-ray imaging equipment |
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| CN113686906A (en) * | 2021-08-27 | 2021-11-23 | 江苏新宏大集团有限公司 | Industrial X-ray flat weld defect positioning method |
| CN115120256A (en) * | 2022-07-19 | 2022-09-30 | 邦世科技(南京)有限公司 | Automatic X-ray equipment and shooting method thereof |
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| US11006908B2 (en) | 2016-06-13 | 2021-05-18 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for X-ray scanner positioning |
| US11564644B2 (en) | 2016-06-13 | 2023-01-31 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for X-ray scanner positioning |
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| CN107714060B (en) * | 2016-08-11 | 2020-09-22 | 上海联影医疗科技有限公司 | X-ray imaging apparatus |
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| CN113418558A (en) * | 2021-06-22 | 2021-09-21 | 河南中烟工业有限责任公司 | Appearance is examined with portable point of power equipment in cigarette factory |
| CN113686906A (en) * | 2021-08-27 | 2021-11-23 | 江苏新宏大集团有限公司 | Industrial X-ray flat weld defect positioning method |
| CN115120256A (en) * | 2022-07-19 | 2022-09-30 | 邦世科技(南京)有限公司 | Automatic X-ray equipment and shooting method thereof |
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