WO2016124384A1 - Dispositif de commande de déplacement d'objet et de bras en c de système d'imagerie - Google Patents

Dispositif de commande de déplacement d'objet et de bras en c de système d'imagerie Download PDF

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Publication number
WO2016124384A1
WO2016124384A1 PCT/EP2016/050936 EP2016050936W WO2016124384A1 WO 2016124384 A1 WO2016124384 A1 WO 2016124384A1 EP 2016050936 W EP2016050936 W EP 2016050936W WO 2016124384 A1 WO2016124384 A1 WO 2016124384A1
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WO
WIPO (PCT)
Prior art keywords
arm
distance
movement
adjustment
control unit
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Ceased
Application number
PCT/EP2016/050936
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English (en)
Inventor
John Allan BRACKEN
Monica TAVANTI
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Koninklijke Philips NV
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Koninklijke Philips NV
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Publication of WO2016124384A1 publication Critical patent/WO2016124384A1/fr
Anticipated expiration legal-status Critical
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/10—Safety means specially adapted therefor
    • A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]

Definitions

  • the invention relates to a device for controlling a movement of an object and a C-arm of an imaging system relative to each other, an imaging system comprising such device, a method for controlling a movement of an object and a C-arm of an imaging system relative to each other, a computer program element for controlling such device or system for performing such method and a computer readable medium having stored such computer program element.
  • C-arm computed tomography is an imaging modality that is increasingly used to generate 3D roadmaps of patient anatomy to assist in the guidance of these procedures.
  • a medical three-dimensional X-ray imaging device comprising a C- shaped arm that can revolve around an axis of rotation through an object to be imaged is e.g. disclosed in WO 2006/070328 (Al). Therein, an X-ray source is attached to one end of the C- shaped arm, and an X-ray detector for receiving X-rays is attached to the other end of the C- shaped arm.
  • a C-arm CT scan involves a rotation of the X-ray C-arm around a patient to generate X-ray projections needed to produce a 3D reconstruction of the anatomy of the patient. This rotation is usually in excess of 160° to generate a sufficient number of image projections for the reconstruction.
  • the patient is lying on the operating table and the physician must confirm that the C-arm can rotate through the full angulation around the patient before performing the scan.
  • the confirmation that the C-arm is able to rotate fully around the patient before performing a C-arm CT scan must be verified manually by the physician.
  • the C-arm is rotated to both its starting and ending scan angles before performing the desired C-arm CT scan.
  • This is currently a rather cumbersome process due to the variation in size of patients on the table and the equipment connected to the patient and requires many patient and/or table adjustments to be carried out by the physician to ensure the C-arm is able to get around the patient for the full C-arm CT scan.
  • This is further exacerbated by the fact that these multiple manual adjustments need to be done near both the starting and ending angles for the C-arm CT scan.
  • These required manual patient or table positioning adjustments are rather disruptive to clinical workflow in the cath lab. These manual adjustments could also accidentally lead to collisions, with the potential to damage equipment or injure the patient.
  • a device for controlling a movement of an object and a C-arm of an imaging system relative to each other comprises a sensor unit and a control unit.
  • the sensor unit is configured to detect a current C- arm distance between the C-arm and the object.
  • the control unit is configured to control a movement of the C-arm on a movement path from a first position to a second position.
  • the first and second positions may be extremes, or in other words, start and end of an imaging or a preparational movement of the C-arm.
  • the first position can be a start position of a preparational movement of the C-arm and a future end position of an upcoming imaging movement of the C-arm following the preparational movement.
  • the second position can be an end position of a preparational movement of the C-arm and a future start position of an upcoming imaging movement of the C-arm following the preparational movement.
  • the control unit is further configured to compare the C-arm distance with a predefined minimum distance threshold between the C-arm and the object. In case the detected C-arm distance is smaller than the minimum distance threshold, the control unit is configured to determine an adjustment to adjust the distance between the C-arm and the object so that the C-arm distance is larger than the minimum distance threshold to achieve an adjusted movement path. The determination of the adjustment is based on the current C-arm distance and the second position to resume the movement of the C-arm to the second position. The movement may therefore end at the second or end position without any collision.
  • the determination of the adjustment is made depending on not only the current
  • a device for controlling a movement of an object and a C-arm of an imaging system relative to each other is provided, which allows avoiding collisions between the C-arm and the environment with potential damages to equipment or injuries to a patient in an easy manner.
  • the device for controlling a movement of an object and a C-arm can be used for an imaging movement of the C-arm as well as for a preparational movement for preparing the imaging movement of the imaging system.
  • the C-arm can be rotated to both its starting and ending scan angles to confirm that the C-arm is able to rotate collision free around the patient, the table and the equipment. No manual adjustments need to be done, the clinical workflow is not disturbed, the physicians and the support staff can concentrate on other things and, thereby, the use of C-arm CT in the future is secured.
  • the device according to the invention adjusts the operating table and/or the C-arm position in an optimal way to ensure that the C-arm will be able to get around the patient all the way from the starting to the ending C-arm angle for the scan.
  • This prevents the C-arm rotational motion from being interrupted and blocked as the scan is prepared and prevents the physician from having to manually make multiple positioning adjustments during C-arm scan preparation.
  • the workflow in a cath lab is simplified and improved.
  • the workflow with and the usability of interventional X-ray C-arm systems is improved.
  • the device according to the invention can be used with cardiac or non- cardiac clinical applications and C-arm systems.
  • the object may be a patient, a surface of a patient table, a surface of an equipment part and/or the like.
  • the object may be at least one of the group of a patient, a surface of a patient table, a normal to the surface of the patient table, a surface of an equipment part or a normal to the surface of the equipment part.
  • the movement path may be provided to the control unit.
  • the C-arm distance may be the distance between the object and an X-ray source and/or an X-ray detector of the C-arm.
  • the C-arm distance may be measured one, two or three dimensional.
  • the adjustment may be an adjustment motion configured to move the object and/or the C-arm to avoid a collision between the C-arm and the object.
  • the adjustment motion may be configured to move the object with a horizontal and/or a vertical component and/or the object with a horizontal and/or a vertical component.
  • determination of the adjustment can be based on a previous adjustment.
  • the device according to the invention can be used for an imaging movement of the C-arm as well as for a preparational movement for preparing the imaging movement of the imaging system.
  • the movement of the C-arm is a preparational movement for preparing an imaging movement of the imaging system and the first and second positions are end positions of the C-arm during the imaging movement.
  • control unit is then configured to control a movement of the C-arm from an arbitrary position to the first position.
  • the arbitrary position may lie somewhere and in particular between the first and second positions. In the latter case, the movement of the C-arm from the first to the second position may be in a first direction and the movement of the C-arm from the arbitrary position to the first position may be in a second direction opposite to the first direction.
  • the control unit may be configured to determine an additional adjustment to adjust the distance between the C-arm and the object so that the C-arm distance is larger than the distance threshold. The determination of the additional adjustment may be based on the C-arm distance and the first position to resume the movement of the C-arm to the first position. The determination of the additional adjustment may also be based on the C-arm distance, the first position and the second position to resume the movement of the C-arm to the first and the second position.
  • the device for controlling a movement of an object and a C-arm of an imaging system relative to each other further comprises a warning unit configured to prompt the adjustment(s) in advance.
  • a warning unit configured to prompt the adjustment(s) in advance.
  • which specific part of the system will be adjusted i.e. table or C-arm
  • the staff present in the room can anticipate the movements of the system and act accordingly, if required.
  • visual feedback can also be displayed in the form of coloured light emanating from the C-arm with e.g. shades changing and/or text updating the situation signifying whether the system is still adjusting to the proper position and/or is ready for further rotation.
  • the warning system can also recommend and display a possible alternative C-arm CT scan and/or display that a particular scan of a specific patient is not feasible.
  • the detected C-arm distance is a real time C-arm distance
  • the control unit is configured to compare the C-arm distance repetitively with the predefined threshold distance, and wherein the control unit is configured to determine the adjustment(s) automatically.
  • the adjusted movement path is smoothened.
  • the adjusted movement path may comprise abrupt changes in direction as soon e.g. an obstacle is detected. These abrupt changes can be smoothened, which means the smoothened adjusted movement path comprises softer changes in direction as they can e.g. be started earlier. Further, meanders can be omitted, whereby meanders can be evasive movements which turn out to be unsuccessful and therefore have to be retracted.
  • the device for controlling a movement of an object and a C-arm of an imaging system relative to each other further comprises a marker sensitive to radiation emitted by the sensor unit and configured to be arranged at the object to provide spatial feedback from the marker to the sensor unit.
  • a marker sensitive to radiation ie. optical, infrared, electromagnetic
  • control unit is further configured to compare the C-arm distance with a predefined collision avoiding distance between the C-arm and the object, wherein the collision warning distance is smaller than the above mentioned minimum distance threshold.
  • the control unit may be configured to stop any motion of the object and/or the C-arm.
  • the control unit can also comprise an interlock to stop C-arm and table motion if the sensor unit signal gets below a specified value below the threshold signal or immediately upon contact with a surface. The option to revert to manual C-arm and table adjustment can always remain available.
  • an imaging system comprising a C-arm and the device as described above.
  • the device is configured to control a movement of the C-arm.
  • the C-arm can be placed either at a head of an operating table, in which case the C-arm CT scan will cause the C-arm to rotate around the patient in a "propeller" acquisition, or the C-arm can be placed at a side of the table, in which case the C-arm CT scan will cause the C-arm to rotate in a "roll" acquisition around the patient.
  • the present invention also a method for controlling a movement of an object and a C-arm of an imaging system relative to each other is presented.
  • the method comprises the following steps, not necessarily in this order:
  • the determination of the adjustment is based on the C-arm distance and the second position to resume the movement of the C-arm to the second position.
  • the method controls a movement of the C-arm from an arbitrary position to the first position.
  • the arbitrary position may lie between the first and second position.
  • the movement of the C-arm from the first to the second position may be in a first direction and the movement of the C-arm from the arbitrary position to the first position may be in a second direction opposite to the first direction.
  • an additional adjustment may be determined to adjust the distance between the C-arm and the object so that the C-arm distance is larger than the distance threshold.
  • the determination of the additional adjustment may be based on the C-arm distance, the first position and the second position to resume the movement of the C-arm to the first and the second position.
  • the computer program element comprises program code means for causing the imaging system as defined in the independent claim to carry out the steps of the method as defined in the independent claim when the computer program is run on a computer controlling the imaging system.
  • the device, the imaging system, the method, the computer program element for controlling such device and the computer readable medium having stored such computer program element according to the independent claims have similar and/or identical preferred embodiments, in particular, as defined in the dependent claims. It shall be understood further that a preferred embodiment of the invention can also be any combination of the dependent claims with the respective independent claim.
  • Fig. 1 shows a schematic drawing of an example of an imaging system for controlling a movement of an object to be examined and a C-arm relative to each other.
  • Fig. 2 shows schematically and exemplarily an embodiment of a movement of the C-arm.
  • Fig. 3 shows basic steps of an example of a method for controlling a movement of an object and a C-arm of an imaging system relative to each other.
  • Fig. 4 shows a schematic overview of steps of a method for controlling a movement of an object and a C-arm of an imaging system relative to each other in more detail.
  • Fig. 1 shows schematically and exemplarily an embodiment of an imaging system 1 according to the invention for controlling a movement of an object to be examined (not shown) and a C-arm 24 relative to each other.
  • the imaging system 1 comprises the C- arm 24 and a device 10 for controlling a movement of the object and the C-arm 24 relative to each other.
  • the C-arm 24 is provided such that a movement of the C-arm 24 around an object is possible to be able to adapt the viewing direction.
  • An X-ray source 18 and an X-ray detector 20 are at least partially mounted on the C-arm 24 such that a table 22 can be arranged between the X-ray source 18 and the X-ray detector 20, and that the object can be placed between the X-ray source 18 and the X-ray detector 20.
  • the imaging system 1 may further comprise a display 28 arranged in the vicinity of the table 22 to provide information to the user, for example a surgeon. Also an interface unit 30 can be arranged to provide the possibility to further control the imaging system 1.
  • the object for example a patient, can be located on the table 22 between the X-ray source 18 and the X-ray detector 20 during a radiation procedure.
  • the X-ray detector 20 may provide detected raw image data to a processing unit 14.
  • the device 10 for controlling a movement of the object and the C-arm 24 relative to each other comprises a sensor unit 11 and a control unit 12.
  • the sensor unit 11 detects a current C-arm distance between the C-arm 24 and the object.
  • the control unit 12 controls a movement of the C-arm 24 on a movement path from a first position to a second position and compares the C-arm distance with a predefined minimum distance threshold between the C-arm 24 and the object. In case the detected C-arm distance is smaller than the minimum distance threshold, the control unit 12 determines an adjustment to adjust the distance between the C-arm 24 and the object so that the C-arm distance is larger than the minimum distance threshold to achieve an adjusted movement path. The determination of the adjustment is based on the C-arm distance and the second position to resume the movement of the C-arm 24 to the second position.
  • Fig. 2 shows schematically and exemplarily an embodiment of a movement of the C-arm 24.
  • the control unit 12 controls the movement of the C-arm 24 from an arbitrary position A to a first position B.
  • the arbitrary position A lies between the first position A and a second position C.
  • the movement of the C-arm 24 from the first position B to the second position C is in a first direction and the movement of the C-arm 24 from the arbitrary position A to the first position B is in a second direction opposite to the first direction.
  • the control unit 12 determines an additional adjustment to adjust the distance between the C-arm 24 and the object so that the C-arm distance is larger than the distance threshold.
  • the determination of the additional adjustment is based on the C-arm distance, the first position B and the second position C to resume the movement of the C-arm 24 to the first and the second position.
  • Fig. 3 shows a schematic overview of steps of a method for controlling a movement of an object and a C-arm 24 of an imaging system 1 relative to each other.
  • the method comprises the following steps, not necessarily in this order:
  • a first step S 1 controlling a movement of the C-arm 24 on a movement path from a first position to a second position.
  • a second step S2 detecting a current C-arm distance between the C- arm 24 and the object.
  • a third step S3 comparing the C-arm distance with a predefined minimum distance threshold between the C-arm 24 and the object.
  • a fourth step S4 in case the C-arm distance is smaller than the minimum distance threshold, determining an adjustment to adjust the distance between the C- arm 24 and the object so that the C-arm distance is larger than the minimum distance threshold data to achieve an adjusted movement path.
  • the determination of the adjustment is based on the C-arm distance and the second position to resume the movement of the C-arm 24 to the second position.
  • Fig. 4 shows a schematic overview of steps of a method for controlling a movement of an object and a C-arm 24 of an imaging system 1 relative to each other in more detail.
  • a button on a tableside will initiate a movement of the C-arm 24 towards an end rotation angle of a C-arm imaging scan.
  • the sensor unit 11 in either the X-ray source 18 or X-ray detector 20 (or both) will send out a signal to a control unit 12 to detect in real-time the position of the X-ray source 18 or X-ray detector 20 relative to a surface that they are close to colliding with.
  • Fig. 4 shows a solution for automatically adjusting patient position for the C- arm scan during its preparation.
  • the X-ray source 18 or X-ray detector 20
  • the current C-arm distance between the C-arm 24 and the object will be compared with a preset minimum distance threshold (given by threshold signal T) to determine if action must be taken to move the patient.
  • control unit 12 (such as a comparator) will send an output signal to the interventional X-ray system to automatically adjust the patient table position such that the X-ray source 18 or X-ray detector 20 will be able to get around the patient without collision during C-arm scan preparation.
  • the sensors in both the X-ray source 18 and detector can each have their own comparator such that the distances of either to the patient surface could be monitored simultaneously.
  • the relative amount of required height and lateral adjustment for the table 22 could be determined by using the current C-arm angle relative to the patient table surface or line perpendicular to the table surface (the normal). Since the X-ray source 18 (or X-ray detector 20) to surface distance signal S is monitored in real time, the C-arm 24 will be able to resume rotation again once the minimum distance threshold signal T is exceeded by the sensor signal S, the current C-arm distance between the C-arm 24 and the object. This feedback algorithm will continue until the final rotation angle for the C-arm scan is reached. The table position and C-arm lateral position would then be recorded in the system.
  • the algorithm will also attempt to perform a fine lateral adjustment of the C-arm position to facilitate rotation to the final angle.
  • the algorithm would be able to alternate between fine table and C-arm lateral position adjustment as needed to reach the final scan angle. Once this final angle is reached, the C-arm 24 would automatically start rotating towards the starting scan angle and this algorithm would be repeated until the C-arm 24 is at the starting angle position for the scan.
  • the algorithm will attempt to optimize patient table 22 and C-arm lateral position for both the starting and ending angles for the scan simultaneously.
  • a color-coded warning system with text updating the situation ie. green if signal is safely beyond distance threshold, yellow if approaching threshold, red if sensor signal is less than the threshold signal
  • text updating the situation ie. green if signal is safely beyond distance threshold, yellow if approaching threshold, red if sensor signal is less than the threshold signal
  • This embodiment can also include an interlock to stop C-arm 24 and table motion if the sensor signal somehow gets below a specified value below the threshold signal or immediately upon contact with a surface.
  • the option to revert to manual C-arm and table adjustment would always remain available.
  • the warning system can also display that a particular scan of a specific patient is not feasible if all of these redundancies and automatic adjustments fail.
  • the warning system can also recommend and display a possible alternative C-arm CT scan that could be attempted at reduced angulation or from a different position based on the parameters of the previously attempted C-arm scan.
  • markers sensitive to the radiation ie. optical, infrared and electromagnetic
  • these markers could be pre-installed on the table 22.
  • a computer program or a computer program element is provided that is characterized by being adapted to execute the method steps of the method according to one of the preceding embodiments, on an appropriate system.
  • the computer program element might therefore be stored on a computer unit, which might also be part of an embodiment of the present invention.
  • This computing unit may be adapted to perform or induce a performing of the steps of the method described above. Moreover, it may be adapted to operate the components of the above described apparatus.
  • the computing unit can be adapted to operate automatically and/or to execute the orders of a user.
  • a computer program may be loaded into a working memory of a data processor.
  • the data processor may thus be equipped to carry out the method of the invention.
  • This exemplary embodiment of the invention covers both, a computer program that right from the beginning uses the invention and a computer program that by means of an up-date turns an existing program into a program that uses the invention.
  • a computer readable medium such as a CD-ROM
  • the computer readable medium has a computer program element stored on it, which computer program element is described by the preceding section.
  • a computer program may be stored and/or distributed on a suitable medium, such as an optical storage medium or a solid state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.
  • a suitable medium such as an optical storage medium or a solid state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.
  • the computer program may also be presented over a network like the World Wide Web and can be downloaded into the working memory of a data processor from such a network.
  • a medium for making a computer program element available for downloading is provided, which computer program element is arranged to perform a method according to one of the previously described embodiments of the invention.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Radiology & Medical Imaging (AREA)
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Abstract

L'invention concerne un dispositif (10) pour commander un déplacement d'un objet et d'un bras en C (24) d'un système d'imagerie (1) l'un par rapport à l'autre, un système d'imagerie (1), un procédé pour commander un déplacement d'un objet et d'un bras en C (24) d'un système d'imagerie (1) l'un par rapport à l'autre, un élément de programme informatique pour commander un tel dispositif (10) ou système pour mettre en œuvre un tel procédé, et un support lisible par ordinateur stockant un tel élément de programme informatique. Le dispositif (10) comprend une unité capteur (11) et une unité de commande (12). L'unité capteur (11) est configurée pour détecter une distance de bras en C actuelle entre le bras en C (24) et l'objet. L'unité de commande (12) est configurée pour commander un déplacement du bras en C (24) et déterminer un ajustement pour ajuster la distance entre le bras en C (24) et l'objet.
PCT/EP2016/050936 2015-02-02 2016-01-19 Dispositif de commande de déplacement d'objet et de bras en c de système d'imagerie Ceased WO2016124384A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP15153453 2015-02-02
EP15153453.4 2015-02-02

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WO2016124384A1 true WO2016124384A1 (fr) 2016-08-11

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109846506A (zh) * 2017-11-30 2019-06-07 通用电气公司 接触回避装置、医用装置和程序
US20220151578A1 (en) * 2019-03-07 2022-05-19 Koninklijke Philips N.V. Apparatus for determining a control protocol for controlling a c-arm system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006070328A1 (fr) 2004-12-28 2006-07-06 Koninklijke Philips Electronics N.V. Dispositif d'imagerie par rayons x tridimensionnel medical muni d'un bras en forme de c rotatif
DE202005021106U1 (de) * 2005-10-15 2007-03-22 Ziehm Imaging Gmbh Mobile Röntgendiagnostikeinrichtung zur automatischen Erzeugung von Projektionsaufnahmen für eine Volumenrekonstruktion
US20110224904A1 (en) * 2010-03-10 2011-09-15 Wendelin Feiten Method for monitoring the spatial environment of a mobile device
DE102011084444A1 (de) * 2011-10-13 2013-04-18 Siemens Aktiengesellschaft Verfahren zur Ermittlung von Begrenzungsinformationen eines Patienten und/oder eines Objekts
US20140275998A1 (en) * 2013-03-15 2014-09-18 Mediguide Ltd. Medical device navigation system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006070328A1 (fr) 2004-12-28 2006-07-06 Koninklijke Philips Electronics N.V. Dispositif d'imagerie par rayons x tridimensionnel medical muni d'un bras en forme de c rotatif
DE202005021106U1 (de) * 2005-10-15 2007-03-22 Ziehm Imaging Gmbh Mobile Röntgendiagnostikeinrichtung zur automatischen Erzeugung von Projektionsaufnahmen für eine Volumenrekonstruktion
US20110224904A1 (en) * 2010-03-10 2011-09-15 Wendelin Feiten Method for monitoring the spatial environment of a mobile device
DE102011084444A1 (de) * 2011-10-13 2013-04-18 Siemens Aktiengesellschaft Verfahren zur Ermittlung von Begrenzungsinformationen eines Patienten und/oder eines Objekts
US20140275998A1 (en) * 2013-03-15 2014-09-18 Mediguide Ltd. Medical device navigation system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109846506A (zh) * 2017-11-30 2019-06-07 通用电气公司 接触回避装置、医用装置和程序
US20220151578A1 (en) * 2019-03-07 2022-05-19 Koninklijke Philips N.V. Apparatus for determining a control protocol for controlling a c-arm system

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